Multi-base station cooperative positioning system and method thereof, storage medium

Abstract

The present disclosure provides a multi-base station cooperative positioning system and a method thereof, and a storage medium. The multi-base station cooperative positioning system comprises: grouping a first base station group in a first time period; the first base station group comprises a first main base station and at least two first auxiliary base stations; the first main base station reports a first beam direction in the first time period and a first sensing intensity in a second time period; the first auxiliary base station reports a second beam direction in the first time period and a second sensing intensity in the second time period; a control terminal determines target positioning information of a target device according to the first beam direction and the second beam direction in the first time period; in the second time period, in a case where the first sensing intensity is lower than a first set threshold, a second main base station is selected from the first auxiliary base stations according to the second sensing intensity of each first auxiliary base station on the target device; and the first base station group is updated by using the second main base station and a plurality of peripheral base stations adjacent to the second main base station.

Description

Technical Field

[0001] This disclosure belongs to the field of wireless communication and positioning technology, specifically relating to a multi-base station cooperative positioning system and method, and a storage medium. Background Technology

[0002] As services become increasingly diverse and performance requirements become more demanding, the functional and performance requirements of communication and sensing systems continue to rise. Communication systems, which were originally considered independent domains, are gradually merging with sensing systems to better meet the high requirements of services in terms of speed, latency, and reliability.

[0003] Integrated Sensing and Communication (ISAC) emerged in this context. ISAC aims to integrate communication and sensing functions into a single system, achieving resource sharing, functional synergy, and improving system efficiency and performance. In an ISAC system, the localization algorithm plays a crucial role, requiring the integration of communication and sensing characteristics to achieve precise target localization. Summary of the Invention

[0004] This disclosure aims to at least solve one of the technical problems existing in the prior art, and to provide a multi-base station cooperative positioning system and method, and storage medium, which can adapt to the changing environment in real time and dynamically select the optimal base station combination, thereby achieving high-precision positioning in various complex environments.

[0005] Firstly, the technical solution adopted to solve the technical problem of this disclosure is a multi-base station cooperative positioning system, including multiple base stations, a control terminal and a target device; the control terminal establishes a first base station group for the target device in a first time period; the first base station group includes a first main base station and at least two first auxiliary base stations adjacent to the first main base station;

[0006] The first main base station is configured to: acquire the first beam direction of the first sensing signal transmitted to the target device in a first time period, and send it to the control terminal; acquire the first sensing intensity of the target device in a second time period, and send it to the control terminal; the second time period is later than the first time period.

[0007] The first auxiliary base station is configured to acquire the second beam direction of the second sensing signal transmitted to the target device in a first time period; and acquire the second sensing intensity of the target device in a second time period and send it to the control terminal.

[0008] The control terminal is configured to: determine the target location information of the target device based on the first beam direction of the first sensing signal transmitted by the first primary base station in the first base station group to the target device and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device during a first time period; and, during a second time period, if the first sensing intensity is lower than a first preset threshold, select a second primary base station from at least two first auxiliary base stations based on the second sensing intensity of each of the first auxiliary base stations to the target device; and update the first base station group using the second primary base station and a plurality of surrounding base stations adjacent to the second primary base station, so as to relocate the target device using the updated second base station group.

[0009] Secondly, this disclosure also provides a multi-base station cooperative positioning method, including:

[0010] In the first time period, the target positioning information of the target device is determined based on the first beam direction of the first sensing signal transmitted by the first main base station in the first base station group to the target device, and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device; wherein, the first base station group is a base station group established for the target device in the first time period; the first base station group includes a first main base station and at least two first auxiliary base stations adjacent to the first main base station;

[0011] In a second time period, the first sensing intensity of the first main base station on the target device is acquired; the second time period is later than the first time period.

[0012] If the first sensing strength of the first main base station to the target device is lower than the first set threshold, at least one second main base station shall be selected from at least two first auxiliary base stations based on the second sensing strength of each of the first auxiliary base stations to the target device.

[0013] The first base station group is updated using the second main base station and multiple surrounding base stations adjacent to the second main base station, so as to relocate the target device using the updated second base station group.

[0014] Thirdly, embodiments of this disclosure also provide a computer non-transient readable storage medium, wherein a computer program is stored on the computer non-transient readable storage medium, and the computer program is executed by a processor to perform the steps of the multi-base station cooperative positioning method as described in any one of the first aspects. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a multi-base station cooperative positioning system provided in an embodiment of the present disclosure.

[0016] Figure 2 This is a schematic diagram of multi-base station cooperative positioning provided for embodiments of this disclosure.

[0017] Figure 3 This is a schematic diagram of screening a second auxiliary base station provided for an embodiment of this disclosure.

[0018] Figure 4 This is a schematic diagram of the structure of a base station provided in an embodiment of this disclosure.

[0019] Figure 5 This is a flowchart of a multi-base station cooperative positioning method provided in an embodiment of this disclosure.

[0020] Figure 6 This is a schematic diagram of a multi-base station cooperative positioning device provided in an embodiment of the present disclosure. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments.

[0022] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components.

[0023] In related technologies, traditional multi-base station cooperative positioning methods typically employ fixed base station combinations, which cannot be dynamically adjusted according to changes in target location and environment, leading to numerous problems in practical applications. For example, fixed base station combinations are easily affected by signal multipath effects and obstruction in complex environments (such as urban canyons or indoor spaces), thus reducing positioning accuracy. Simultaneously, fixed base station selection may introduce unnecessary signal interference, increasing communication energy consumption and impacting positioning efficiency. Most existing solutions lack dynamic base station selection mechanisms, making it difficult to adapt to real-time environmental changes, and their positioning algorithms are highly complex, failing to meet real-time requirements.

[0024] Therefore, embodiments of this disclosure provide a multi-base station cooperative positioning system. Figure 1 This is a schematic diagram of a multi-base station cooperative positioning system provided in an embodiment of the present disclosure, as shown below. Figure 1As shown, the multi-base station cooperative positioning system includes multiple base stations, a control terminal 200, and a target device 300. For example, the control terminal can be hardware or software. When the control terminal is hardware, it can be various electronic devices with communication functions, including but not limited to smartphones, tablets, laptops, and desktop computers. When the control terminal is software, it can be installed in the aforementioned electronic devices. It can be implemented as multiple software programs or software modules (e.g., multiple software programs or software modules used to provide distributed services) or as a single software program or software module. No specific limitations are made here. For example, the target device is a mobile device that may experience various complex environments during its movement. The target device's runtime includes a first time period and a second time period, with the second time period later than the first time period; the first time period includes at least one moment, and the second time period includes at least one moment.

[0025] The control terminal 200 can communicate with multiple base stations, and adjacent base stations can also communicate with each other. The target device can communicate with multiple base stations adjacent to it. In the first time period, the control terminal 200 establishes a first base station group 100 for the target device 300; specifically, it can be based on the detection results of all base stations in the multi-base station cooperative positioning system, selecting at least three base stations within a relatively close range of the target device and with strong sensing strength of the target device, to form a first base station group. The first base station group includes a first main base station and at least two first auxiliary base stations adjacent to the first main base station. The first base station group 100 includes a first main base station 101 and at least two first auxiliary base stations 102 adjacent to the first main base station 101.

[0026] The first main base station 101 is configured to acquire the first beam direction of the first sensing signal transmitted to the target device 300 in a first time period; acquire the first sensing intensity of the target device 300 in a second time period and send it to the control terminal 200; the second time period is later than the first time period.

[0027] The first auxiliary base station 102 is configured to acquire the second beam direction of the second sensing signal transmitted to the target device 300 in a first time period; and to acquire the second sensing intensity of the target device 300 in a second time period and send it to the control terminal 200.

[0028] The control terminal 200 is configured to: determine the target location information of the target device 300 based on the first beam direction of the first sensing signal transmitted by the first main base station 101 to the target device 300 within the first base station group 100 and the second beam direction of the second sensing signal transmitted by the first auxiliary base station 102 to the target device 300 within the first base station group 100 during a first time period; and, in a second time period, if the first sensing intensity is lower than a first preset threshold, select a second main base station 400 from at least two first auxiliary base stations 102 based on the second sensing intensity of each first auxiliary base station 102 to the target device 300; and update the first base station group 100 using the second main base station 400 and multiple surrounding base stations adjacent to the second main base station 400, so as to relocate the target device 300 using the updated second base station group 45.

[0029] Specifically, the control terminal 200 can determine the beamwidth range of the target device in the first beam direction based on the first beam direction and the first beam pattern of the first main base station; it can determine the beamwidth range of the target device in the second beam direction based on the second beam direction and the second beam pattern of the first auxiliary base station; and finally, it determines the target positioning information of the target device based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction.

[0030] A beam pattern is a graphical representation of the intensity of a signal radiated or received by a base station antenna as a function of spatial direction; it represents known information about the base station. A beam pattern encompasses multiple beam directions, including the main lobe, side lobes, and back lobe. The sensing signal transmitted by the first main base station 101 is not unique; it is transmitted in various directions. The beam direction of the first sensing signal actively received by the target device or passively reflected by the target device is the first beam direction. Similarly, the sensing signal transmitted by the first auxiliary base station 102 is not unique; it is transmitted in various directions. The beam direction of the second sensing signal actively received by the target device 300 or passively reflected by the target device 300 is the second beam direction.

[0031] Therefore, based on the width range of each beam direction and its radiation lobe covered in the first beam pattern, the width range of the radiation lobe corresponding to the beam direction that is the same as the first beam direction is determined, which is the beamwidth range of the target device under the first beam direction. Similarly, based on the width range of each beam direction and its radiation lobe covered in the second beam pattern, the width range of the radiation lobe corresponding to the beam direction that is the same as the second beam direction is determined, which is the beamwidth range of the target device under the second beam direction.

[0032] By fusing the beamwidth ranges under the first beam direction and the beamwidth ranges under the second beam direction, the first intersection range can be determined. For example... Figure 2 As shown, the first base station group 100 includes one first main base station 101 and two first auxiliary base stations (denoted as 102-1 and 102-2 respectively), with a first beam direction of 03 and a second beam direction of 04. The beamwidth range corresponding to each of the three base stations in the first base station group 100 can be used to determine the first intersection range, and the target device is located within the first intersection range. The target positioning information can be the regional location information of the first intersection range, or it can be the center coordinate information of the specific first intersection range.

[0033] The first sensing strength manifests differently depending on the type of the target device 300. In one case, the target device 300 is a device capable of active communication, meaning it is a communication device with signal receiving and transmitting capabilities. The first main base station 101 sends a first sensing signal to the target device 300, thereby obtaining a first feedback signal from the target device 300. This first feedback signal carries the received power of the first sensing signal, which characterizes the first sensing strength of the target device 300 perceived by the first main base station 101. Thus, by reporting the received power of the first sensing signal to the control terminal 200, the control terminal 200 can determine the first sensing strength. In another case, the target device 300 is a device unable to perform active communication, meaning it lacks signal receiving and transmitting capabilities. The first main base station 101 sends a first sensing signal to the target device 300. At this time, the target device 300 can form a first echo signal through passive reflection or scattering. The first main base station 101 takes the intensity of the first echo signal as the first sensing intensity and reports it to the control terminal 200. The control terminal 200 can then determine the first sensing intensity.

[0034] It should be noted that the first sensing intensity here refers to the sensing intensity of the first main base station 101 in the second time period.

[0035] If the first sensing intensity is determined to be lower than the first set threshold, it means that the target device 300 is moving further away from the first main base station 101. The first set threshold is a critical value of signal strength or receiving power set by technicians based on the strength of the base station's sensing signal in the actual scenario, the complexity of the real scenario, and experience. If it is lower than the critical value, it can be understood that the target device 300 has left the coverage area of ​​the sensing signal.

[0036] Therefore, when the initial sensing intensity of the first primary base station 101 on the target device 300 is lower than the first preset threshold, it is necessary to update the first base station group and further filter out the optimal base station combination that meets the requirements of the second time period. Updating the first base station group consists of two parts: the first part is to replace the first primary base station 101 at this time, that is, to filter out the second primary base station 400; the second part is to use the second primary base station 400 as a reference to further filter out at least two second auxiliary base stations adjacent to the second primary base station 400 to form the second base station group.

[0037] The process of selecting the second primary base station 400 specifically includes: First, determining the second sensing strength of each first auxiliary base station 102 for the target device 300. The process of determining the second sensing strength is based on the same principle as determining the first sensing strength. For example, the target device 300 is a communication device with signal receiving and transmitting functions. The first auxiliary base station 102 can obtain the second feedback signal fed back by the target device 300 by sending a second sensing signal to the target device 300. The second feedback signal carries the received power of the second sensing signal, which is used to characterize the second sensing strength of the first auxiliary base station 102 for the target device 300. Thus, the first auxiliary base station 102 reports the received power of the second sensing signal to the control terminal 200, and the control terminal 200 can determine the second sensing strength. In another case, the target device 300 is a device without signal receiving and transmitting functions. The first auxiliary base station 102 sends a second sensing signal to the target device 300. At this time, the target device 300 can form a second echo signal through passive reflection or scattering. The first auxiliary base station 102 takes the intensity of the second echo signal as the second sensing intensity and reports it to the control terminal 200. The control terminal 200 can then determine the second sensing intensity.

[0038] Subsequently, the control terminal 200 can select the first auxiliary base station 102 with the strongest sensing strength and / or the closest distance as the second main base station 400 based on the second sensing strength of each first auxiliary base station 102 to the target device 300 and / or the distance between each first auxiliary base station 102 and the target device 300.

[0039] It should be noted that the second sensing intensity here refers to the sensing intensity of the first auxiliary base station 102 in the second time period.

[0040] Based on the already determined second main base station 400, the control terminal 200 can query multiple surrounding base stations adjacent to the second main base station 400 according to the pre-stored location list, and determine the second auxiliary base station from them. Together with the first main base station 101, they form a second base station group, which is the optimal base station combination after optimization in the second time period.

[0041] This disclosed multi-base station cooperative positioning system, through the collaborative operation of multiple base stations, utilizes the beam direction detection of different base stations to determine the beamwidth range, and performs comprehensive analysis of the beamwidth range to more accurately determine the location of the target device 300. Furthermore, in this embodiment, the second base station group 45 is the optimal combination of base stations established in the second time period. Therefore, this second base station group 45 is most suitable for the environment in which the target device 300 operates during the second time period, eliminating the impact of positioning errors caused by signal obstruction and / or multipath effects due to environmental variations. Simultaneously, the method of updating the base station group in real time can adapt to different terrain environments and communication scenarios, exhibiting strong versatility and adaptability. Whether in cities, suburbs, or mountainous areas, accurate target perception and positioning can be achieved through the collaborative operation of multiple base stations.

[0042] Furthermore, the multi-base station cooperative positioning system disclosed herein integrates Integrated Sensing and Communication (ISAC) technology. Through multi-base station collaboration, it achieves functional complementarity, improving positioning accuracy and reliability. Simultaneously, by leveraging the fusion advantages of communication and sensing, it reduces system complexity, minimizes communication latency, and meets the high requirements for positioning accuracy and real-time performance in various application scenarios.

[0043] In some embodiments, the target device 300 is a communication device with signal receiving and transmitting functions, such as a mobile phone.

[0044] The first master base station 101 is specifically configured to transmit multiple first sensing signals in a second time period. The target device 300 is configured to, in response to a received first sensing signal, determine the received power (e.g., RSRP) of the first sensing signal and send a first feedback signal to the first master base station 101; the first feedback signal carries the received power of a unique first sensing signal. The first master base station 101 is further configured to receive the first feedback signal from the target device 300, determine the received power of the unique first sensing signal carried in the first feedback signal, use the received power of the unique first sensing signal as the first sensing intensity, and report it to the control terminal 200.

[0045] The first auxiliary base station 102 is specifically configured to transmit multiple second sensing signals in a second time period. The target device 300 is also configured to, in response to a received second sensing signal, determine the received power of the second sensing signal and send a second feedback signal to the first auxiliary base station 102; the second feedback signal carries the received power of the unique second sensing signal. The first auxiliary base station 102 is further configured to receive the second feedback signal from the target device 300, determine the received power of the unique second sensing signal carried by the second feedback signal, use the received power of the unique second sensing signal as the second sensing intensity, and report it to the control terminal 200.

[0046] In this embodiment, the first primary base station 101 reports the first sensing intensity to the control terminal 200 during the second time period, and the first auxiliary base station 102 reports the second sensing intensity to the control terminal 200 during the second time period. The control terminal 200 receives the first and second sensing intensities to prepare for selecting the optimal base station combination during the second time period.

[0047] In some embodiments, the target device 300 is a device that does not have signal receiving and transmitting functions.

[0048] The first main base station 101 is specifically configured to periodically transmit multiple first sensing signals according to a preset cycle during a second time period; and to receive a first echo signal passively reflected by the target device 300 based on a first sensing signal; and to use the intensity of the first echo signal as the first sensing intensity and report it to the control terminal 200. The first auxiliary base station 102 is specifically configured to periodically transmit a second sensing signal according to a preset cycle during a second time period; and to receive a second echo signal passively reflected by the target device 300 based on a second sensing signal; and to use the intensity of the second echo signal as the second sensing intensity and report it to the control terminal 200.

[0049] The first callback signal of passive reflection can be understood as the signal reflected back by the target device 300 after the first sensing signal hits it. The second callback signal of passive reflection can be understood as the signal reflected back by the target device 300 after the second sensing signal hits it. The preset period can be data designed based on experience, such as 20ms.

[0050] In this embodiment, the first primary base station 101 reports the first sensing intensity to the control terminal 200 during the second time period, and the first auxiliary base station 102 reports the second sensing intensity to the control terminal 200 during the second time period. The control terminal 200 receives the first and second sensing intensities to prepare for selecting the optimal base station combination during the second time period.

[0051] In some embodiments, the target device 300 is a communication device with signal receiving and transmitting functions, such as a mobile phone.

[0052] The sensing signals transmitted by the first main base station 101 are not unique; they are transmitted in all directions, and only a portion of them are received by the target device 300. It should be noted that the signals transmitted by the first main base station 101 in both the first and second time periods are both first sensing signals. The signals transmitted by the first auxiliary base station 102 in both the first and second time periods are both second sensing signals.

[0053] The first main base station 101 is also configured to transmit multiple first sensing signals in a first time period. The target device 300 is configured to, in response to a received first sensing signal, send a first feedback signal to the first main base station 101; the first feedback signal carries unique identification information of the first sensing signal. The first main base station 101 is further configured to determine a unique first sensing signal based on the identification information carried by the first feedback signal; and to use the beam direction of the unique first sensing signal as the first beam direction, and report it to the control terminal 200. Here, the identification information can be understood as information used to characterize the identity of the first sensing signal received by the target device 300, thereby determining a unique signal from multiple first sensing signals within the same time period, and thus determining the first beam direction.

[0054] Similarly, the first auxiliary base station 102 is also configured to send multiple second sensing signals in a first time period. The target device 300 is also configured to send a second feedback signal to the first auxiliary base station 102 in response to a received second sensing signal; the second feedback signal carries unique identification information of the second sensing signal. The first auxiliary base station 102 is also configured to determine a unique second sensing signal based on the identification information carried by the second feedback signal; and to use the beam direction of the unique second sensing signal as the second beam direction and report it to the control terminal 200.

[0055] The control terminal 200 is specifically configured to: determine the beamwidth range of the target device 300 in the first beam direction based on the first beam direction and the first beam pattern of the first main base station 101; determine the beamwidth range of the target device 300 in the second beam direction based on the second beam direction and the second beam pattern of the first auxiliary base station 102; and determine the target positioning information of the target device 300 based on the beamwidth range of the target device 300 in the first beam direction and the beamwidth range of the target device 300 in the second beam direction.

[0056] In this embodiment, the first main base station 101 reports the first beam direction (and may also report the first beam pattern at the same time) to the control terminal 200 within the first time. The first auxiliary base station 102 reports the second beam direction (and may also report the second beam pattern at the same time) to the control terminal 200 within the first time. The control terminal 200 receives the first beam direction and the second beam direction to prepare for determining the beamwidth range under the first beam direction and to prepare for determining the beamwidth range under the second beam direction.

[0057] Furthermore, during the first time period, the first main base station 101 is also configured to determine a first distance between the first main base station 101 and the target device 300 based on the delay duration of the first feedback signal sent by the target device 300 and the speed of light, and report this distance to the control terminal 200. The first auxiliary base station 102 is also configured to determine a second distance between the first auxiliary base station 102 and the target device 300 based on the delay duration of the second feedback signal sent by the target device 300 and the speed of light, and report this distance to the control terminal 200.

[0058] The control terminal 200 is specifically configured to determine a first cross range based on the beamwidth range of the target device 300 in the first beam direction and the beamwidth range of the target device 300 in the second beam direction; and to determine target positioning information based on the first cross range, the first distance between the first main base station 101 and the target device 300, and the second distance between the first auxiliary base station 102 and the target device 300.

[0059] Since the first sensing signal and the second sensing signal are signals with wide beamwidths, the first intersection range that is finally determined is a wide range. The target device may fall into any position within the first intersection range. Therefore, the accurate target positioning information is further determined by the first distance in the first beam direction and the second distance in the second beam direction.

[0060] When the target device is a communication device with signal receiving and transmitting capabilities, the first distance is determined based on the delay of the first feedback signal sent by the target device and the speed of light, i.e., the first distance d1 = (c × τ) / 2, where c represents the speed of light and τ represents the total time from when the target device sends the first feedback signal to when the first main base station receives the first feedback signal, which is also the delay of the target device sending the first feedback signal. Similarly, the second distance is determined based on the delay of the second feedback signal sent by the target device and the speed of light, i.e., the second distance d2 = (c × τ) / 2, where c represents the speed of light and τ represents the total time from when the target device sends the second feedback signal to when the first auxiliary base station receives the second feedback signal, which is also the delay of the target device sending the second feedback signal.

[0061] Specifically, based on the known location information of the first intersection range, the first distance between the first main base station and the target device, and the second distance between the first auxiliary base station and the target device, the location coordinates of the target device are accurately calculated using a geometric intersection algorithm (such as triangulation or polygonal positioning).

[0062] This embodiment only requires a simple calculation of a rough area, and by combining multiple positioning distances, the location coordinates of the target device can be accurately calculated. This simplifies the traditional positioning algorithm, reduces system complexity, and thus saves costs.

[0063] In some embodiments, the target device 300 is a device that does not have signal receiving and transmitting functions.

[0064] The first main base station 101 is also configured to periodically send multiple first sensing signals according to a preset cycle during a first time period, and to receive a first echo signal passively reflected by the target device 300 based on a first sensing signal to determine a unique first sensing signal; and to take the beam direction of the unique first sensing signal as the first beam direction and report it to the control terminal 200.

[0065] Similarly, the first auxiliary base station 102 is also configured to periodically send a second sensing signal according to a preset cycle during a first time period; and to receive a second echo signal passively reflected by the target device 300 based on a second sensing signal to determine a unique second sensing signal; and to take the beam direction of the unique second sensing signal as the second beam direction and report it to the control terminal 200.

[0066] The control terminal 200 is specifically configured to: determine the beamwidth range of the target device 300 in the first beam direction based on the first beam direction and the first beam pattern of the first main base station 101; determine the beamwidth range of the target device 300 in the second beam direction based on the second beam direction and the second beam pattern of the first auxiliary base station 102; and determine the target positioning information of the target device 300 based on the beamwidth range of the target device 300 in the first beam direction and the beamwidth range of the target device 300 in the second beam direction.

[0067] In this embodiment, the first main base station 101 reports the first beam direction (and may also report the first beam pattern at the same time) to the control terminal 200 within the first time. The first auxiliary base station 102 reports the second beam direction (and may also report the second beam pattern at the same time) to the control terminal 200 within the first time. The control terminal 200 receives the first beam direction and the second beam direction to prepare for determining the beamwidth range under the first beam direction and to prepare for determining the beamwidth range under the second beam direction.

[0068] For example, such as Figure 4 As shown, the first main base station 101 and the second auxiliary base station 42 both include an antenna array 51, a noise amplifier 52 (e.g., a low noise amplifier LNA), a filter 53, an analog-to-digital converter 54 (ADC), a signal processing unit 55, and a clock synchronization unit 56.

[0069] For the first main base station 101, antenna array 51 receives a first echo signal. Noise amplifier 52 is configured to amplify the received first echo signal. Filter 53 is configured to remove noise interference from the amplified first echo signal, allowing signals within a specific frequency range to pass. Analog-to-digital converter 54 is configured to convert the analog signal into a digital signal for digital signal processing. Signal processing unit 55 is configured to compare the processed digital first echo signal with a local first sensing signal to determine the beam direction carried in the first echo signal, i.e., the unique first beam direction of the first sensing signal.

[0070] For the first auxiliary base station 102, the antenna array 51 receives the second echo signal. The noise amplifier 52 is configured to amplify the received second echo signal. The filter 53 is configured to remove noise interference from the amplified second echo signal, allowing signals within a specific frequency range to pass through. The analog-to-digital converter 54 (ADC) is configured to convert the analog signal into a digital signal for digital signal processing. The signal processing unit 55 is configured to compare the processed digital second echo signal with a local second sensing signal to determine the beam direction carried in the second echo signal, i.e., the unique second beam direction of the second sensing signal.

[0071] The clock synchronization unit is configured to control the base station to use the same clock and crystal oscillator for both receiving and transmitting signals, eliminating the need for additional time synchronization schemes and thus reducing system complexity.

[0072] In addition, the power consumption of the entire system can be reduced by dynamically adjusting the transmission frequency of the sensing signal according to the load level (that is, reducing the preset period).

[0073] Furthermore, during the first time period, the first primary base station 101 is also configured to determine a first distance between itself and the target device 300 based on the delay duration and speed of light of the received first echo signal, and report this distance to the control terminal 200. The first auxiliary base station 102 is also configured to determine a second distance between itself and the target device 300 based on the delay duration and speed of light of the received second echo signal, and report this distance to the control terminal 200. Specifically, the control terminal 200 is configured to determine a first intersection range based on the beamwidth range of the target device 300 in the first beam direction and the beamwidth range of the target device 300 in the second beam direction; and to determine target positioning information based on the first intersection range, the first distance between the first primary base station 101 and the target device 300, and the second distance between the first auxiliary base station 102 and the target device 300. Here, the process of determining the first distance d1 and the second distance d2 can be found in the above formulas; repeated parts will not be elaborated further.

[0074] It should be noted that if the beamwidth range is large, the resulting intersection area will be large, which is not conducive to achieving high-precision positioning of the target device. This disclosure further improves positioning accuracy by dividing the beamwidth range to determine a smaller area where the target device is located.

[0075] In some embodiments, the control terminal 200 is specifically configured to: divide the beamwidth range under the first beam direction into multiple first sub-ranges according to a preset number of parts; divide the beamwidth range under the second beam direction into multiple second sub-ranges according to a preset number of parts; select the second sub-range with the strongest beam intensity as the second target range according to the beam intensity corresponding to each second sub-range; and determine the target positioning information according to the second intersection range of the first target range and the second target range.

[0076] The preset number of sub-ranges can be determined based on the beamwidth range of each beam direction of the base station in the actual scenario, the complexity of the real scenario, the size of the target device, and experience. This ensures that the evenly divided sub-ranges are not too large or too small, and meet the conditions of covering the target device and achieving accurate positioning. For example, if the beamwidth range of the first beam direction is x degrees to y degrees, the number of multiple first sub-ranges is the preset number of sub-ranges, assuming it is N. Then, the beamwidth represented by each first sub-range is |xy| / N, where N is a positive integer greater than 1. Therefore, the first sub-range must be smaller than the beamwidth range of the first beam direction, but it needs to be greater than the degree that can cover the target device. For example, the minimum value of the first sub-range cannot be less than 5°.

[0077] Similarly, the minimum value of the second sub-range cannot be less than 5°, and the maximum value cannot be greater than the beamwidth range under the second beam direction.

[0078] Given the strength of the first feedback signal fed back by the target device or the strength of the first passively reflected echo signal within the beamwidth range, the beam intensity corresponding to each first sub-range within the beamwidth range can be determined. Based on the beam intensity, the first sub-range with the strongest intensity is taken as the first target range.

[0079] Given the strength of the second feedback signal fed back by the target device or the strength of the second echo signal passively reflected within the beamwidth range, the beam intensity corresponding to each second sub-range within the beamwidth range can be determined. Based on the beam intensity, the second sub-range with the strongest intensity is taken as the second target range.

[0080] The second intersection range is the area where the first target range and the second target range intersect; it is a smaller area than the first intersection range. The beamwidth range is known, the coordinates of the area corresponding to the beamwidth range are known, and the coordinates of the intersection area after the intersection are known. Therefore, the position coordinates of the second intersection range are known. The target positioning information is the position coordinates of the second intersection range.

[0081] This embodiment narrows the first intersection range by subdividing the beamwidth range determined by the base station, resulting in a smaller second intersection range. The location coordinates of this second intersection range are the positioning coordinates of the target device. Furthermore, this embodiment only requires dividing a coarsely calculated range into a reasonable number of equal parts to refine the target device's location coordinates, simplifying traditional positioning algorithms, reducing system complexity, and thus saving costs.

[0082] In some embodiments, a second primary base station 400 is selected. The control terminal 200 is specifically configured to determine the perception trend information of each first auxiliary base station towards the target device based on the second perception intensity of each first auxiliary base station at multiple times within a second time period. When the perception trend information indicates that the second perception intensity is gradually increasing and has a maximum value within the second time period, the first auxiliary base station corresponding to the perception trend information is selected as the second primary base station.

[0083] The perception trend information includes the second perception intensity corresponding to multiple moments within the second time period, which can be understood as a trend graph of time and perception intensity.

[0084] If the second sensing intensity in the trend chart shows a gradually increasing trend, it means that the target device is getting closer and closer to the first auxiliary base station corresponding to the current trend chart. However, it is very likely that multiple trend charts reflect an upward trend. Therefore, based on the strength of the second sensing intensity, the first auxiliary base station corresponding to the largest second sensing intensity can be further determined. This base station is the one closest to the target device and is used as the second main base station.

[0085] It should be noted that since the first auxiliary base station is a surrounding base station adjacent to the first main base station, the target device needs to pass through the surrounding base station adjacent to it to leave the first main base station. The first auxiliary base station is the base station closest to the target device selected from the surrounding base stations. Therefore, the target device will most likely need to pass through the first auxiliary base station to leave the first main base station. Therefore, the second main base station corresponding to the second time period can be directly selected from the first auxiliary base station.

[0086] This embodiment uses a perception trend chart to reflect the overall trend of the target device within the second time period, which can avoid misjudgment.

[0087] In some embodiments, a second primary base station 400 is selected. The control terminal 200 is specifically configured to determine, based on the second sensing intensity of each first auxiliary base station on the target device, a first auxiliary base station whose second sensing intensity is greater than a second preset threshold, as a first candidate base station; the first candidate base station includes multiple base stations; if there is only one first candidate base station, then the first candidate base station is used as the second primary base station; if there are multiple first candidate base stations, then based on the distance from each first candidate base station to the target device, the closest first candidate base station is determined as the second primary base station.

[0088] Sensing intensity is the most reliable indicator of a target device's distance from a base station. Therefore, by assessing the strength of the second sensing intensity, it can be determined whether the target device is within the base station's signal coverage area; or whether the target device is within the base station's strong signal coverage area or weak signal coverage area.

[0089] The second threshold is a critical value for signal strength or received power set based on the strength of the base station's sensed signal in the actual scenario, the complexity of the real scenario, and experience. A value greater than the critical value can be understood as the target device being located in the base station's signal coverage area or a strong signal coverage area.

[0090] Therefore, the first candidate base station selected by using the strength of the second sensing intensity will definitely cover the target device with its signal coverage area (strong signal coverage area).

[0091] The distance from the first candidate base station to the target device, which is also the second distance from the first auxiliary base station to the target device, is determined by the following embodiment, which will not be described in detail here.

[0092] The second time period includes multiple moments. The average distance within this second time period can be calculated, and the candidate base station with the closest average distance can be selected as the second primary base station. Alternatively, the distance calculated at the last moment of the second time period can be compared, and the candidate base station with the closest average distance can be selected as the second primary base station. Figure 2 As shown, during the second time period, target device 300 moves to the position indicated by the dashed box, denoted as 300A. Since the first candidate base station is selected from the first auxiliary base stations 102-1 and 102-2, the second main base station is selected from the first auxiliary base stations 102-1 and 102-2. Assuming that both 102-1 and 102-2 are first candidate base stations, the distances from 102-1 and 102-2 to target device 300A are calculated respectively. It can be seen that the distance from the first candidate base station 102-2 to target device 300A is the shortest. Therefore, the first candidate base station 102-2 is selected as the second main base station for target device 300A during the second time period.

[0093] In some embodiments, based on the already determined second primary base station, at least two second auxiliary base stations are further screened to determine the optimal base station combination optimized within the second time period. Specifically, the control terminal 200 is configured to determine the azimuth angle between each peripheral base station and the second primary base station based on the location information of the second primary base station and the location information of multiple peripheral base stations adjacent to the second primary base station; determine the beamwidth range of the target device under the third beam direction based on the third beam direction of the third sensing signal transmitted by the second primary base station to the target device and the second beam pattern of the second primary base station; designate peripheral base stations whose azimuth angles fall within the beamwidth range under the third beam direction as second candidate base stations; screen at least two second auxiliary base stations from multiple second candidate base stations based on the third sensing intensity of each second candidate base station to the target device; and form a second base station group using the second primary base station and multiple second auxiliary base stations.

[0094] The location information of the second primary base station is known, namely, the location coordinates pre-reported by the second primary base station. The control terminal pre-stores a location list corresponding to each base station, which includes the location information of its corresponding base station and its adjacent surrounding base stations. Therefore, by querying the location list corresponding to the second primary base station, the location information of multiple surrounding base stations adjacent to the second primary base station can be determined.

[0095] The process of establishing a location list for any base station includes the following steps: First, receiving location information reported by each base station. Then, based on the location information of each base station, calculating the distance between any two base stations, and determining the two closest base stations as adjacent base stations based on the magnitude of the distance, thus identifying each base station and its surrounding adjacent base stations. Finally, based on the location information of each base station and the location information of its adjacent surrounding base stations, establishing a location list for each base station; each base station's location list records the location information of that base station and the location information of its adjacent surrounding base stations.

[0096] Of course, the location list can also be established by each base station and then reported to the control terminal. For the process of establishing the location list by the base station, please refer to the following description of the multi-base station cooperative positioning system. Repeated parts will not be repeated.

[0097] like Figure 3 As shown, given the coordinates of the second main base station 400 and the coordinates of its four adjacent peripheral base stations 201, a geometric algorithm is used to determine the directional angles between each peripheral base station 401 and the second main base station 400, such as a1, a2, and a3. The "directional angle" is the angle of each peripheral base station 201 relative to the second main base station 400, with the second main base station 400 as the reference; it characterizes the direction of each peripheral base station 401 relative to the second main base station 400.

[0098] It should be noted that the second main base station is obtained by filtering the first auxiliary base station. Therefore, the second sensing signal transmitted by the first auxiliary base station in the second time period is the third sensing signal transmitted by the second main base station in the second time period. In fact, the third sensing signal is essentially the same as the second sensing signal. This disclosure is only for the purpose of distinguishing the third beam direction and the second beam direction. Therefore, the second sensing signal actually transmitted by the second main base station is recorded as the third sensing signal.

[0099] The multi-base station cooperative positioning system disclosed below details the process by which the first auxiliary base station transmits the second sensing signal and interacts with the target device. Therefore, the process of obtaining the third beam direction corresponding to the third sensing signal will not be discussed in detail here. Since the second main base station and the first auxiliary base station are essentially the same, the beam pattern of the second main base station is the second beam pattern of the first auxiliary base station.

[0100] Based on the width range of each beam direction and its radiation lobe covered in the second beam pattern, the width range of the radiation lobe corresponding to the beam direction that is the same as the third beam direction is determined, which is the beam width range of the target device under the third beam direction.

[0101] The beamwidth range within the direction of the third beam indicates that the target device is roughly located near the line connecting the second main base station and surrounding base stations. Therefore, this surrounding base station is selected as the second candidate base station. Figure 3 As shown, azimuth angles a2 and a3 fall within the beamwidth range of the third beam direction 05.

[0102] Further determine the third sensing strength of each second candidate base station for the target device. The process of determining the third sensing strength in this step is the same as the principle of determining the first or second sensing strength, as can be seen in the following discussion; repeated parts will not be repeated.

[0103] In one possible implementation, based on the third perception strength of each second candidate base station to the target device, the second candidate base station with a perception strength greater than the third preset value is designated as the second auxiliary base station, and it is necessary to ensure that the number of second auxiliary base stations is not less than 2.

[0104] In one possible implementation, the perception trend information of each second candidate base station towards the target device is determined based on the third perception intensity at multiple times within a second time period. If the perception trend information indicates a gradual increase in the third perception intensity, the second candidate base station corresponding to the perception trend information is designated as a second auxiliary base station, and the number of second auxiliary base stations must be at least two.

[0105] In some embodiments, following S143, based on the distances from each second candidate base station to the target device, arranged from largest to smallest, the two or three second candidate base stations with the closest distances are selected as second auxiliary base stations.

[0106] In some embodiments, before the establishment of the first base station group 100, the multi-base station cooperative positioning system further includes a process of establishing the first base station group 100 in a first time period. Specifically, this includes: each base station in the multi-base station cooperative positioning system is configured to send multiple fourth sensing signals at the moment preceding the first time period; receiving a third feedback signal from the target device 300 and determining the received power of the unique fourth sensing signal carried by the third feedback signal; using the received power of the unique fourth sensing signal as the fourth sensing intensity and reporting it to the control terminal 200; the target device 300 is configured to, in response to the received multiple fourth sensing signals, determine the received power of the fourth sensing signal and feed back the third feedback signal to each base station respectively; the third feedback signal carries the received power of the unique fourth sensing signal; the control terminal 200 is further configured to determine the maximum intensity based on the fourth sensing intensity reported by each base station. The value is determined; the base station corresponding to the maximum intensity is designated as the first main base station 101; the azimuth angle between each surrounding base station and the first main base station 101 is determined based on the location information of the first main base station 101 and the location information of multiple surrounding base stations adjacent to the first main base station 101 obtained through the azimuth list; the beamwidth range of the target device 300 under the fourth beam direction is determined based on the fourth beam direction of the fourth sensing signal transmitted by the first main base station 101 to the target device 300 and the first beam pattern of the first main base station 101; the surrounding base stations whose azimuth angles fall within the beamwidth range under the fourth beam direction are designated as third candidate base stations; at least two first auxiliary base stations 102 are selected from multiple fourth candidate base stations based on the fourth sensing intensity of each third candidate base station to the target device 300; and a first base station group 100 is formed using the first main base station 101 and multiple first auxiliary base stations 102.

[0107] The above describes the multi-base station cooperative positioning system provided in the embodiments of this disclosure. This system, through the collaborative work of multiple base stations, utilizes the signals received by different base stations for comprehensive analysis, enabling more accurate determination of the target's location. It selects the optimal base station combination in real time based on target location and environmental changes, avoiding positioning errors caused by signal obstruction or multipath effects. Furthermore, by establishing a base station cluster, positioning no longer relies on complex positioning algorithms but indirectly determines the target's location through parameters inherent in the communication signals, saving on the complexity of positioning algorithms. Moreover, this disclosure can adapt to different terrain environments and communication scenarios, exhibiting strong versatility and adaptability. Whether in cities, suburbs, or mountainous areas, accurate target perception and positioning can be achieved through the collaborative work of multiple base stations. Therefore, it can solve the problems of resource conflicts and interference in overlapping areas caused by the lack of cooperative communication between single base stations in existing technologies; it can solve the limitations of single-base station systems in terms of positioning accuracy and environmental perception; and it can solve the problems of traditional multi-base station cooperative positioning methods that fix the base station combination, failing to adapt to changes in target location and environment, leading to signal interference, decreased positioning accuracy, and increased energy consumption.

[0108] Furthermore, this disclosure also provides a multi-base station cooperative positioning method. The executing entity of this multi-base station cooperative positioning method can be a computer device with certain computing capabilities, such as the control terminal 200 in the multi-base station cooperative positioning system described above (or the multi-base station cooperative positioning device described below). Since the principle of solving the problem by the multi-base station cooperative positioning method in this disclosure is similar to that of the control terminal 200 in the multi-base station cooperative positioning system described above, the implementation of each step in the multi-base station cooperative positioning method can refer to the processing procedure of the control terminal 200, and repeated parts will not be described again.

[0109] The multi-base station cooperative positioning method is mainly applied to multi-base station cooperative positioning systems, which include a control terminal for executing the multi-base station cooperative positioning method and multiple base stations that have pre-established communication connections with the control terminal. The multiple base stations can also communicate with each other. The multi-base station cooperative positioning method provided in this disclosure can perform real-time positioning of target devices within the coverage area of ​​the base station signals and can overcome interference under complex environmental changes. To demonstrate the real-time effect, the following description uses two time periods (or two different times) as examples for positioning the target device. However, this disclosure is not limited to only two time periods; those skilled in the art will understand that positioning at any time that conforms to the above design principles falls within the protection scope of this disclosure.

[0110] The target device is a mobile device that may experience various complex environments during its movement. The target device's runtime includes a first time period and a second time period, with the second time period occurring later than the first time period. The first time period includes at least one moment, and the second time period includes at least one moment.

[0111] The following section uses the operation of the target device in the first and second time periods as examples to explain the multi-base station cooperative positioning method in detail. Figure 5 The flowchart of the multi-base station cooperative positioning method provided in the embodiments of this disclosure is as follows: Figure 5 As shown, it includes steps S11 to S14.

[0112] S11. In the first time period, the target positioning information of the target device is determined based on the first beam direction of the first sensing signal transmitted by the first main base station in the first base station group to the target device and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device.

[0113] The first base station group refers to the base station group established for the target device within the first time period. Specifically, it can be formed by selecting at least three base stations within a relatively close range of the target device and with strong detection strength of the target device based on the detection results of all base stations in the multi-base station cooperative positioning system, and establishing a first base station group. The first base station group includes a first primary base station and at least two first auxiliary base stations adjacent to the first primary base station.

[0114] Specifically, based on the first beam direction and the first beam pattern of the first main base station, the beamwidth range of the target device in the first beam direction can be determined; based on the second beam direction and the second beam pattern of the first auxiliary base station, the beamwidth range of the target device in the second beam direction can be determined; finally, based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction, the target positioning information of the target device is determined.

[0115] A beam pattern is a graphical representation of the intensity of a signal radiated or received by a base station antenna as a function of spatial direction; it represents known information about the base station. A beam pattern encompasses multiple beam directions, including the main lobe, side lobes, and back lobe. The sensing signal transmitted by the first primary base station is not unique; it is transmitted in various directions. The beam direction of the first sensing signal actively received by the target device or passively reflected by the target device is the first beam direction. Similarly, the sensing signal transmitted by the first auxiliary base station is not unique; it is transmitted in various directions. The beam direction of the second sensing signal actively received by the target device or passively reflected by the target device is the second beam direction.

[0116] Therefore, based on the width range of each beam direction and its radiation lobe covered in the first beam pattern, the width range of the radiation lobe corresponding to the beam direction that is the same as the first beam direction is determined, which is the beamwidth range of the target device under the first beam direction. Similarly, based on the width range of each beam direction and its radiation lobe covered in the second beam pattern, the width range of the radiation lobe corresponding to the beam direction that is the same as the second beam direction is determined, which is the beamwidth range of the target device under the second beam direction.

[0117] By fusing the beamwidth ranges under the first beam direction and the beamwidth ranges under the second beam direction, the first intersection range can be determined. For example... Figure 2 As shown, the first base station group includes one primary base station 01 and two auxiliary base stations (denoted as 02-1 and 02-2 respectively), with a first beam direction of 03 and a second beam direction of 04. The beamwidth range of each of the three base stations in the first base station group can be used to determine the first intersection range, and the target device is located within the first intersection range. The target positioning information can be the regional location information of the first intersection range, or it can be the center coordinate information of the specific first intersection range.

[0118] S12. In the second time period, obtain the first sensing strength of the first main base station for the target device.

[0119] The manifestation of the first sensing strength varies depending on the type of target device. In one scenario, the target device is capable of active communication, meaning it has signal receiving and transmitting capabilities. The first master base station sends a first sensing signal to the target device, thereby acquiring a first feedback signal from the target device. This feedback signal carries the received power of the first sensing signal, which characterizes the first master base station's first sensing strength of the target device. The first master base station then reports the received power of the first sensing signal to the control terminal, allowing the control terminal to determine the first sensing strength. In another scenario, the target device is unable to perform active communication, meaning it lacks signal receiving and transmitting capabilities. The first master base station sends a first sensing signal to the target device, which then generates a first echo signal through passive reflection or scattering. The first master base station uses the strength of this echo signal as the first sensing strength and reports it to the control terminal, allowing the control terminal to determine the first sensing strength.

[0120] It should be noted that the first sensing intensity here refers to the sensing intensity of the first main base station in the second time period.

[0121] S13. If the first sensing intensity of the first main base station to the target device is lower than the first set threshold, at least one second main base station shall be selected from at least two first auxiliary base stations based on the second sensing intensity of each first auxiliary base station to the target device.

[0122] If the initial sensing strength is determined to be lower than a first set threshold, it means that the target device is moving further away from the first main base station. The first set threshold is a critical value for signal strength or received power set by technicians based on the strength of the base station's sensing signal in actual scenarios, the complexity of the real scenario, and experience. If the value is lower than the critical value, it can be understood that the target device has left the coverage area of ​​the sensing signal.

[0123] Therefore, if the initial sensing strength of the target device by the first primary base station is lower than the first set threshold, the first base station group needs to be updated to further select the optimal base station combination that meets the requirements of the second time period. Updating the first base station group consists of two parts: the first part is to replace the current primary base station, i.e., to select the second primary base station; the second part is to use the second primary base station as a reference to further select at least two second auxiliary base stations adjacent to the second primary base station to form the second base station group.

[0124] The process of selecting the second primary base station specifically includes: First, determining the second sensing strength of each first auxiliary base station for the target device. The principle of determining the second sensing strength is the same as that of determining the first sensing strength. For example, the target device is a communication device with signal receiving and transmitting functions. The first auxiliary base station sends a second sensing signal to the target device, thereby obtaining the second feedback signal fed back by the target device. The second feedback signal carries the received power of the second sensing signal, which is used to characterize the second sensing strength of the first auxiliary base station for the target device. Thus, the first auxiliary base station reports the received power of the second sensing signal to the control terminal, and the control terminal can determine the second sensing strength. In another case, the target device is a device without signal receiving and transmitting functions. The first auxiliary base station sends a second sensing signal to the target device. In this case, the target device can form a second echo signal through passive reflection or scattering. The first auxiliary base station uses the strength of the second echo signal as the second sensing strength and reports it to the control terminal; the control terminal can then determine the second sensing strength.

[0125] Subsequently, based on the second sensing strength of each first auxiliary base station to the target device and / or the distance between each first auxiliary base station and the target device, the first auxiliary base station with the strongest sensing strength and / or the closest distance can be selected as the second main base station.

[0126] It should be noted that the second sensing intensity here refers to the sensing intensity of the first auxiliary base station in the second time period.

[0127] S14. Using the second main base station and multiple surrounding base stations adjacent to the second main base station, update the first base station group so as to relocate the target device using the updated second base station group.

[0128] Based on the established second primary base station, multiple surrounding base stations adjacent to the second primary base station can be queried according to the pre-stored location list, and the second auxiliary base station can be identified from them. Together with the first primary base station, they form a second base station group, which serves as the optimal base station combination for the second time period.

[0129] This disclosure utilizes the collaborative operation of multiple base stations to determine the beamwidth range by analyzing the beam directions detected by different base stations. By comprehensively analyzing the beamwidth range, the location of the target device can be determined more accurately. Furthermore, in this embodiment, the second base station group is the optimal combination of base stations established during the second time period. This means that the second base station group is most suitable for the environment in which the target device operates during the second time period, eliminating the impact of positioning errors caused by signal obstruction and / or multipath effects due to environmental changes. Simultaneously, the method of updating the base station group in real time can adapt to different terrain environments and communication scenarios, exhibiting strong versatility and adaptability. Whether in cities, suburbs, or mountainous areas, accurate target perception and positioning can be achieved through the collaborative operation of multiple base stations.

[0130] In some embodiments, S11 further includes S11-1-1 to S11-1-2.

[0131] S11-1-1. Determine the first cross range based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction.

[0132] S11-1-2. Determine the target location information based on the first intersection range, the first distance between the first main base station and the target device, and the second distance between the first auxiliary base station and the target device.

[0133] This embodiment only requires a simple calculation of a rough area, and by combining multiple positioning distances, the location coordinates of the target device can be accurately calculated. This simplifies the traditional positioning algorithm, reduces system complexity, and thus saves costs.

[0134] It should be noted that if the beamwidth range is large, the resulting intersection area will be large, which is not conducive to achieving high-precision positioning of the target device. This disclosure further improves positioning accuracy by dividing the beamwidth range to determine a smaller area where the target device is located.

[0135] In some embodiments, S11 further includes S11-2-1 to S11-2-5.

[0136] S11-2-1. Divide the beamwidth range under the first beam direction into multiple first sub-ranges according to the preset number of parts.

[0137] S11-2-2. Divide the beamwidth range under the second beam direction into multiple sub-ranges according to the preset number of parts.

[0138] S11-2-3. Based on the beam intensity corresponding to each first sub-range, the first sub-range with the strongest intensity is taken as the first target range.

[0139] S11-2-4. Based on the beam intensity corresponding to each second sub-range, the second sub-range with the strongest intensity is taken as the second target range.

[0140] S11-2-5. Determine the target positioning information based on the second intersection range of the first target range and the second target range.

[0141] This embodiment narrows the first intersection range by subdividing the beamwidth range determined by the base station, resulting in a smaller second intersection range. The location coordinates of this second intersection range are the positioning coordinates of the target device. Furthermore, this embodiment only requires dividing a coarsely calculated range into a reasonable number of equal parts to refine the target device's location coordinates, simplifying traditional positioning algorithms, reducing system complexity, and thus saving costs.

[0142] In some embodiments, the step of screening the second main base station for S13 includes S13-1-1 to S13-1-2.

[0143] S13-1-1. Based on the second sensing intensity of each first auxiliary base station at multiple times during the second time period, determine the sensing trend information of each first auxiliary base station for the target device.

[0144] S13-1-2. When the sensing trend information indicates that the second sensing intensity is gradually increasing and has the maximum value of the second sensing intensity in the second time period, the first auxiliary base station corresponding to the sensing trend information shall be used as the second main base station.

[0145] This embodiment uses a perception trend chart to reflect the overall trend of the target device within the second time period, which can avoid misjudgment.

[0146] In some embodiments, the step of screening the second main base station for S13 includes S13-2-1 to S13-2-3.

[0147] S13-2-1. Based on the second sensing intensity of each first auxiliary base station to the target device, determine the first auxiliary base station whose second sensing intensity is greater than the second set threshold, and use it as the first candidate base station; the first candidate base station includes multiple base stations.

[0148] S13-2-2 If there is only one first candidate base station, then the first candidate base station shall be used as the second main base station.

[0149] S13-2-3 If there are multiple first candidate base stations, the first candidate base station with the closest distance to the target device shall be determined as the second main base station based on the distance of each first candidate base station to the target device.

[0150] In some embodiments, for S14, based on the already determined second primary base station, at least two second auxiliary base stations are further screened to determine the optimal base station combination after optimization within the second time period, specifically including S141 to S145.

[0151] S141. Based on the location information of the second main base station and the location information of multiple surrounding base stations adjacent to the second main base station, determine the azimuth angle between each surrounding base station and the second main base station.

[0152] S142. Based on the third beam direction of the third sensing signal transmitted by the second main base station to the target device and the second beam pattern of the second main base station, determine the beamwidth range of the target device in the third beam direction.

[0153] S143. Select the surrounding base stations within the beamwidth range of the direction angle falling into the third beam direction as the second candidate base station.

[0154] S144. Based on the third perception strength of each second candidate base station for the target device, select at least two second auxiliary base stations from multiple second candidate base stations.

[0155] S145. A second base station group is formed by using the second main base station and multiple second auxiliary base stations.

[0156] The above describes the multi-base station cooperative positioning method provided in the embodiments of this disclosure. This method, through the collaborative work of multiple base stations, utilizes the signals received by different base stations for comprehensive analysis, enabling more accurate determination of the target's location. It selects the optimal base station combination in real time based on target location and environmental changes, avoiding positioning errors caused by signal obstruction or multipath effects. Furthermore, by establishing a base station cluster, positioning no longer relies on complex positioning algorithms but indirectly determines the target's location through parameters inherent in the communication signals, saving on the complexity of positioning algorithms. Moreover, this disclosure can adapt to different terrain environments and communication scenarios, exhibiting strong versatility and adaptability. Whether in cities, suburbs, or mountainous areas, accurate target perception and positioning can be achieved through the collaborative work of multiple base stations. Therefore, it can solve the problems of resource conflicts and interference in overlapping areas caused by the lack of cooperative communication between single base stations in existing technologies; it can solve the limitations of single-base station systems in terms of positioning accuracy and environmental perception; and it can solve the problems of traditional multi-base station cooperative positioning methods that fix the base station combination, failing to adapt to changes in target location and environment, leading to signal interference, decreased positioning accuracy, and increased energy consumption.

[0157] In addition, this disclosure also provides a multi-base station cooperative positioning device corresponding to the multi-base station cooperative positioning method. Since the principle of the device in this disclosure is similar to the multi-base station cooperative positioning method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0158] Figure 6 This is a schematic diagram of a multi-base station cooperative positioning device provided in an embodiment of the present disclosure, as shown below. Figure 6 As shown, the multi-base station collaborative positioning device includes a positioning module 61 and a base station update module 62.

[0159] The positioning module 61 is configured to determine the target positioning information of the target device in a first time period based on the first beam direction of the first sensing signal transmitted by the first main base station in the first base station group to the target device and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device; wherein, the first base station group is a base station group established for the target device in the first time period; the first base station group includes a first main base station and at least two first auxiliary base stations adjacent to the first main base station.

[0160] The base station update module 62 is configured to acquire the first sensing intensity of the first main base station for the target device in a second time period; the second time period is later than the first time period; if the first sensing intensity of the first main base station for the target device is lower than a first set threshold, at least one second main base station is selected from at least two first auxiliary base stations based on the second sensing intensity of each first auxiliary base station for the target device; the first base station group is updated using the second main base station and multiple surrounding base stations adjacent to the second main base station, so as to relocate the target device using the updated second base station group.

[0161] For example, the multi-base station cooperative positioning device can be the control terminal in the multi-base station cooperative positioning system described above.

[0162] For example, a multi-base station cooperative positioning device can be either hardware or software. When the multi-base station cooperative positioning device is hardware, it can be various electronic devices with communication functions, including but not limited to smartphones, tablets, laptops, and desktop computers. When the multi-base station cooperative positioning device is software, it can be installed in the electronic devices listed above. It can be implemented as multiple software programs or software modules (e.g., multiple software programs or software modules used to provide distributed services) or as a single software program or software module. No specific limitations are made here.

[0163] In addition, embodiments of this disclosure also provide a computer non-transient readable storage medium, wherein a computer program is stored on the computer non-transient readable storage medium, and the computer program is executed by a processor to perform the steps of the multi-base station cooperative positioning method as described in any of the first aspects.

[0164] It should be noted that the computer-readable non-transient readable medium disclosed herein may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any non-transient readable computer storage medium other than a computer-readable storage medium, which can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the non-transient readable computer storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0165] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two adjacent blocks may actually represent substantially parallel execution, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0166] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A multi-base station cooperative positioning system, wherein, It includes multiple base stations, a control terminal, and a target device; the control terminal forms a first base station group for the target device in a first time period; The first base station group includes a first main base station and at least two first auxiliary base stations adjacent to the first main base station; The first main base station is configured to acquire the first beam direction of the first sensing signal transmitted to the target device in a first time period and send it to the control terminal. In the second time period, the first sensing intensity of the target device is acquired and sent to the control terminal; The second time period is later than the first time period; The first auxiliary base station is configured to acquire the second beam direction of the second sensing signal transmitted to the target device in a first time period; In the second time period, the second sensing intensity of the target device is acquired and sent to the control terminal; The control terminal is configured to, in a first time period, determine the target location information of the target device based on the first beam direction of the first sensing signal transmitted by the first main base station in the first base station group to the target device and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device; and in a second time period, when the first sensing intensity is lower than a first set threshold, select a second main base station from at least two first auxiliary base stations based on the second sensing intensity of each of the first auxiliary base stations to the target device. The first base station group is updated using the second main base station and multiple surrounding base stations adjacent to the second main base station, so as to relocate the target device using the updated second base station group.

2. The multi-base station cooperative positioning system according to claim 1, wherein, The target device is a communication device with signal receiving and transmitting functions; The first main base station is specifically configured to send multiple first sensing signals in a second time period; and to receive a first feedback signal from the target device and determine the received power of the unique first sensing signal carried by the first feedback signal; and to use the received power of the unique first sensing signal as the first sensing intensity and report it to the control terminal. The first auxiliary base station is specifically configured to transmit multiple second sensing signals in a second time period; and to receive a second feedback signal from the target device and determine the receiving power of the unique second sensing signal carried by the second feedback signal. The received power of the unique second sensing signal is taken as the second sensing intensity and reported to the control terminal. The target device is configured to, in response to a received first sensing signal, determine the received power of the first sensing signal and send a first feedback signal to the first main base station; The first feedback signal carries the unique received power of the first sensing signal; In response to a received second sensing signal, the receiver power of the second sensing signal is determined, and a second feedback signal is sent to the first auxiliary base station; the second feedback signal carries the receiver power of the second sensing signal.

3. The multi-base station cooperative positioning system according to claim 1, wherein, The target device is a communication device with signal receiving and transmitting functions; The first main base station is specifically configured to send multiple first sensing signals in a first time period; Furthermore, based on the identification information carried by the first feedback signal, a unique first sensing signal is determined; the beam direction of the unique first sensing signal is taken as the first beam direction and reported to the control terminal. The first auxiliary base station is specifically configured to send multiple second sensing signals in a first time period; And, based on the identification information carried by the second feedback signal, a unique second sensing signal is determined; The beam direction of the unique second sensing signal is taken as the second beam direction and reported to the control terminal. The target device is configured to send a first feedback signal to the first main base station in response to a received first sensing signal; The first feedback signal carries unique identification information of the first sensing signal; In addition, in response to a received second sensing signal, a second feedback signal is sent to the first auxiliary base station; the second feedback signal carries unique identification information of the second sensing signal. The control terminal is specifically configured to determine the beamwidth range of the target device in the first beam direction based on the first beam direction and the first beam pattern of the first main base station; and to determine the beamwidth range of the target device in the second beam direction based on the second beam direction and the second beam pattern of the first auxiliary base station. The target positioning information of the target device is determined based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction.

4. The multi-base station cooperative positioning system according to claim 3, wherein, The first main base station is further configured to determine a first distance between the first main base station and the target device based on the delay duration of the first feedback signal sent by the target device and the speed of light, and report it to the control terminal. The first auxiliary base station is further configured to determine a second distance between the first auxiliary base station and the target device based on the delay duration and the speed of light of the second feedback signal sent by the target device, and report it to the control terminal. The control terminal is specifically configured to determine a first intersection range based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction; and to determine the target positioning information based on the first intersection range, the first distance between the first main base station and the target device, and the second distance between the first auxiliary base station and the target device.

5. The multi-base station cooperative positioning system according to claim 1, wherein, The target device is a device that does not have signal receiving and transmitting functions; The first main base station is specifically configured to periodically send multiple first sensing signals according to a preset cycle during a second time period; and to receive a first echo signal passively reflected by the target device based on a first sensing signal. The intensity of the first echo signal is used as the first sensing intensity and reported to the control terminal. The first auxiliary base station is specifically configured to periodically send a second sensing signal according to the preset cycle during a second time period; and to receive a second echo signal passively reflected by the target device based on a second sensing signal. The intensity of the second echo signal is used as the second sensing intensity and reported to the control terminal.

6. The multi-base station cooperative positioning system according to claim 1, wherein, The target device is a device that does not have signal receiving and transmitting functions; The first main base station is specifically configured to periodically send multiple first sensing signals according to a preset cycle during a first time period, and to receive a first echo signal passively reflected by the target device based on a first sensing signal to determine a unique first sensing signal; The beam direction of the unique first sensing signal is taken as the first beam direction and reported to the control terminal. The first auxiliary base station is specifically configured to periodically send a second sensing signal according to the preset cycle during a first time period; and to receive a second echo signal passively reflected by the target device based on a second sensing signal, determine a unique second sensing signal; and to take the beam direction of the unique second sensing signal as the second beam direction and report it to the control terminal. The control terminal is specifically configured to determine the beamwidth range of the target device in the first beam direction based on the first beam direction and the first beam pattern of the first main base station; and to determine the beamwidth range of the target device in the second beam direction based on the second beam direction and the second beam pattern of the first auxiliary base station. The target positioning information of the target device is determined based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction.

7. The multi-base station cooperative positioning system according to claim 6, wherein, The first main base station is also configured to determine a first distance between the first main base station and the target device based on the delay duration and the speed of light of the received first echo signal, and report it to the control terminal. The first auxiliary base station is further configured to determine a second distance between the first auxiliary base station and the target device based on the delay duration and the speed of light of the received second echo signal, and report it to the control terminal; The control terminal is specifically configured to determine a first intersection range based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction; and to determine the target positioning information based on the first intersection range, the first distance between the first main base station and the target device, and the second distance between the first auxiliary base station and the target device.

8. A multi-base station cooperative positioning method, wherein, include: In the first time period, the target positioning information of the target device is determined based on the first beam direction of the first sensing signal transmitted by the first main base station in the first base station group to the target device, and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device; wherein, the first base station group is a base station group established for the target device in the first time period; the first base station group includes a first main base station and at least two first auxiliary base stations adjacent to the first main base station; In a second time period, the first sensing intensity of the first main base station on the target device is acquired; the second time period is later than the first time period. If the first sensing strength of the first main base station to the target device is lower than the first set threshold, at least one second main base station shall be selected from at least two first auxiliary base stations based on the second sensing strength of each of the first auxiliary base stations to the target device. The first base station group is updated using the second main base station and multiple surrounding base stations adjacent to the second main base station, so as to relocate the target device using the updated second base station group.

9. The multi-base station cooperative positioning method according to claim 8, wherein, Based on the first beam direction of the first sensing signal transmitted by the first primary base station in the first base station group to the target device, and the second beam direction of the second sensing signal transmitted by the first auxiliary base station in the first base station group to the target device, the target positioning information of the target device is determined, including: Based on the first beam direction and the first beam pattern of the first main base station, the beam width range of the target device under the first beam direction is determined; Based on the second beam direction and the second beam pattern of the first auxiliary base station, the beamwidth range of the target device under the second beam direction is determined; The target positioning information of the target device is determined based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction.

10. The multi-base station cooperative positioning method according to claim 9, wherein, Based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction, the target positioning information of the target device is determined, including: The first intersection range is determined based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction; The target location information is determined based on the first intersection range, the first distance between the first main base station and the target device, and the second distance between the first auxiliary base station and the target device.

11. The multi-base station cooperative positioning method according to claim 9, wherein, The step of determining the target positioning information of the target device based on the beamwidth range of the target device in the first beam direction and the beamwidth range of the target device in the second beam direction includes: The beamwidth range under the first beam direction is divided equally according to a preset number of parts to obtain multiple first sub-ranges; According to the preset number of parts, the beamwidth range under the second beam direction is divided equally to obtain multiple second sub-ranges; Based on the beam intensity corresponding to each of the first sub-ranges, the first sub-range with the strongest intensity is taken as the first target range; Based on the beam intensity corresponding to each of the second sub-ranges, the second sub-range with the strongest intensity is taken as the second target range; The target positioning information is determined based on the second intersection range of the first target range and the second target range.

12. The multi-base station cooperative positioning method according to claim 8, wherein, Based at least on the second sensing strength of each of the first auxiliary base stations for the target device, a second main base station is selected from at least two first auxiliary base stations, including: Based on the second sensing intensity of each of the first auxiliary base stations at multiple times during the second time period, the sensing trend information of each of the first auxiliary base stations for the target device is determined; When the perception trend information indicates that the second perception intensity is gradually increasing and has a maximum value of the second perception intensity within the second time period, the first auxiliary base station corresponding to the perception trend information is designated as the second main base station.

13. The multi-base station cooperative positioning method according to claim 8, wherein, The first auxiliary base station corresponding to the maximum strength value includes multiple base stations, all of which are denoted as the first candidate base station; The multi-base station cooperative positioning method also includes: Based on the second sensing intensity of each of the first auxiliary base stations to the target device, the first auxiliary base stations whose second sensing intensity is greater than a second set threshold are determined as the first candidate base stations; If there is only one first candidate base station, then the first candidate base station shall be used as the second main base station; If there are multiple first candidate base stations, the first candidate base station with the closest distance to the target device is determined as the second main base station based on the distance of each first candidate base station to the target device.

14. The multi-base station cooperative positioning method according to claim 8, wherein, The step of updating the first base station group using the second main base station and multiple surrounding base stations adjacent to the second main base station includes: Based on the location information of the second main base station and the location information of multiple surrounding base stations adjacent to the second main base station, the directional angle between each of the surrounding base stations and the second main base station is determined; Based on the third beam direction of the third sensing signal transmitted by the second main base station to the target device and the second beam pattern of the second main base station, the beam width range of the target device under the third beam direction is determined; The surrounding base stations whose directional corners fall within the beamwidth range of the third beam direction are designated as second candidate base stations. Based on the third sensing strength of each second candidate base station for the target device, at least two second auxiliary base stations are selected from a plurality of second candidate base stations; The second base station group is formed by using the second main base station and multiple second auxiliary base stations.

15. A computer-defined non-transient readable storage medium, wherein, The computer has a computer program stored on a non-transient readable storage medium, which, when executed by a processor, performs the steps of the multi-base station cooperative positioning method as described in any one of claims 8 to 14.

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