Los node-based positioning method and device, storage medium and electronic device

Abstract

The application provides a positioning method and device based on a LOS node, a storage medium and an electronic device, and the method comprises the following steps: acquiring parameter information of each anchor node in an anchor node set of a vehicle to a mobile terminal, wherein a plurality of anchor nodes in the anchor node set are arranged on the vehicle; dividing the anchor node set into an initial non-visual propagation path (NLOS) node set and an initial visual propagation path (LOS) node set based on the parameter information; acquiring a carrier phase of each initial NLOS node in the initial NLOS node set; reconfiguring the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain a target NLOS node set and a target LOS node set; and positioning the position information of the mobile terminal to the vehicle according to the target LOS node set. Through the embodiment of the application, the technical problem of large positioning error when positioning by the anchor node of the vehicle in the related art is solved, and the positioning error is reduced.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and more specifically, to a positioning method and apparatus, storage medium, and electronic device based on LOS nodes. Background Technology

[0002] Among related technologies, wireless positioning technology has become a crucial supporting technology for various applications in modern society, with its application areas continuously expanding from navigation and tracking to smart homes, healthcare, and industrial automation. With the rapid development of wireless communication technologies such as Wi-Fi, Bluetooth, Ultra-Wideband (UWB), and 5G, the ability to locate devices or personnel in real time has been significantly improved. Traditional positioning methods, such as the Global Positioning System (GPS), perform well in outdoor environments, but face significant challenges in indoor environments due to signal attenuation and multipath effects. To address these issues, researchers have proposed various positioning technologies, including Received Signal Strength Indication (RSSI), Time of Arrival (ToA), Angle of Arrival (AoA), and Channel State Information (CSI)-based positioning methods. These methods utilize the propagation characteristics of wireless signals to achieve high-precision location awareness, promoting the widespread application of wireless positioning in logistics management, intelligent security, and human-machine interaction. For example, wireless positioning technology plays a vital role in the development of the intelligent connected vehicle industry. Digital car keys are an important application scenario in many typical applications of intelligent connected vehicles. Most cars now come equipped with keyless entry and start, which allows for intelligent unlocking, locking, or starting of the vehicle's power system by determining the location of the key.

[0003] There are many existing positioning methods, most of which are based on direct positioning using GPS modules and do not consider using multiple nodes to collaboratively determine the area of ​​the target location, thereby further reducing positioning errors.

[0004] No efficient and accurate solution has yet been found to address the aforementioned issues in the relevant technologies. Summary of the Invention

[0005] This invention provides a positioning method and apparatus, storage medium, and electronic device based on LOS nodes to solve technical problems in related technologies.

[0006] According to an embodiment of the present invention, a positioning method based on LOS nodes is provided, comprising: acquiring parameter information from each anchor node in a set of anchor nodes of a vehicle to a mobile terminal, wherein multiple anchor nodes in the set of anchor nodes are deployed on the vehicle; dividing the set of anchor nodes into a target non-visual propagation path (NLOS) node set and a target visible propagation path (LOS) node set based on the parameter information, wherein the target NLOS node set includes a plurality of NLOS nodes and the target LOS node set includes a plurality of LOS nodes; and locating the position information of the mobile terminal from the vehicle according to the target LOS node set.

[0007] Optionally, obtaining parameter information from each anchor node in the vehicle's anchor node set to the mobile terminal includes: obtaining channel state information (CSI) data from each anchor node in the anchor node set to the mobile terminal; and calculating the time of flight (TOF) and signal power from the corresponding anchor node to the mobile terminal based on the CSI data, wherein the parameter information includes the TOF and the signal power.

[0008] Optionally, dividing the anchor node set into a target NLOS node set and a target LOS node set based on the parameter information includes: dividing the anchor node set into an initial NLOS node set and an initial LOS node set based on the parameter information; obtaining the carrier phase of each initial NLOS node in the initial NLOS node set; and reconfiguring the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain the target NLOS node set and the target LOS node set.

[0009] Optionally, the parameter information includes signal power. Dividing the anchor node set into an initial NLOS node set and an initial LOS node set based on the parameter information includes: setting a power threshold based on the scene type; comparing the signal power of each anchor node in the anchor node set with the power threshold; configuring anchor nodes with signal power less than or equal to the power threshold as initial NLOS nodes, and configuring anchor nodes with signal power greater than the power threshold as initial LOS nodes.

[0010] Optionally, the parameter information includes Time of Flight (TOF). Reconfiguring the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain the target NLOS node set and the target LOS node set includes: calculating the subcarrier phase of each initial NLOS node in the initial NLOS node set based on the TOF; generating a continuous subcarrier phase map based on the subcarrier phase; locating several sets of local peaks and local valleys appearing in the subcarrier phase map; identifying the node type of the initial NLOS node based on the local peaks and local valleys; if the initial NLOS node is a LOS node, transferring the initial NLOS node from the initial NLOS node set to the initial LOS node set to obtain the target NLOS node set and the target LOS node set.

[0011] Optionally, identifying the node type of the initial NLOS node based on the local peaks and troughs includes: calculating the fluctuation height difference of each group of local peaks and troughs; determining whether the fluctuation height difference of each group of local peaks and troughs exceeds a set threshold; if the number of times the fluctuation height difference exceeds the set threshold is greater than 1, determining that the node type of the initial NLOS node is an NLOS node; if the number of times the fluctuation height difference does not exceed the set threshold is less than or equal to 1, determining that the node type of the initial NLOS node is a LOS node.

[0012] Optionally, before locating several sets of local peaks and local troughs appearing in the subcarrier phase diagram, the method further includes: obtaining the frequency of each subcarrier in the subcarrier phase diagram and setting a smoothing window length; smoothing the phase of the corresponding subcarrier in the subcarrier phase diagram based on the frequency and the smoothing window length to obtain an updated subcarrier phase diagram.

[0013] Optionally, locating the position information of the mobile terminal relative to the vehicle based on the target LOS node set includes: locating the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set, wherein the range centered on the vehicle includes multiple areas, each area corresponding to a direction; and locating the position information of the mobile terminal relative to the vehicle within the target area.

[0014] Optionally, locating the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set includes: dividing the vehicle into multiple areas; determining whether the number of LOS nodes in the target LOS node set is greater than 1; if the number of LOS nodes in the target LOS node set is greater than 1, determining the line-of-sight range of each LOS node in the target LOS node set, wherein the line-of-sight range includes several areas; and locating the intersection area of ​​the line-of-sight ranges of multiple LOS nodes as the target area of ​​the mobile terminal relative to the vehicle.

[0015] Optionally, after determining whether the number of LOS nodes in the target LOS node set is greater than 1, the method further includes: if the number of LOS nodes in the target LOS node set is equal to 1, and the LOS nodes are deployed in the central area of ​​the vehicle, the central area is positioned as the target area of ​​the mobile terminal relative to the vehicle.

[0016] Optionally, locating the position information of the mobile terminal to the vehicle in the target area includes: generating multiple candidate search points in the target area; for each candidate search point, calculating the sum of signal amplitudes between the candidate search point and the set of anchor nodes; selecting the target search point with the largest sum of signal amplitudes among the multiple candidate search points; and determining the coordinate information of the target search point as the position information of the vehicle.

[0017] According to another embodiment of the present invention, a positioning device based on LOS nodes is provided, comprising: an acquisition module, configured to acquire parameter information from each anchor node in a set of anchor nodes of a vehicle to a mobile terminal, wherein multiple anchor nodes in the set of anchor nodes are deployed on the vehicle; a partitioning module, comprising: a partitioning unit, configured to partition the set of anchor nodes into an initial non-visual propagation path (NLOS) node set and an initial visible propagation path (LOS) node set based on the parameter information; an acquisition unit, configured to acquire the carrier phase of each initial NLOS node in the initial NLOS node set; a reconfiguration unit, configured to reconfigure the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain a target NLOS node set and a target LOS node set; and a positioning module, configured to locate the position information from the mobile terminal to the vehicle based on the target LOS node set.

[0018] Optionally, the acquisition module includes: an acquisition unit, used to acquire Channel State Information (CSI) data from each anchor node to the mobile terminal in the anchor node set; and a calculation unit, used to calculate the Time of Flight (TOF) and signal power from the corresponding anchor node to the mobile terminal based on the CSI data, wherein the parameter information includes the TOF and the signal power.

[0019] Optionally, the parameter information includes signal power, and the partitioning unit includes: a setting subunit, used to set a power threshold based on scene type; a comparison subunit, used to compare the signal power of each anchor node in the anchor node set with the power threshold; and a configuration subunit, used to configure anchor nodes with signal power less than or equal to the power threshold as initial NLOS nodes, and anchor nodes with signal power greater than the power threshold as initial LOS nodes.

[0020] Optionally, the parameter information includes Time of Flight (TOF), and the reconfiguration unit includes: a calculation subunit for calculating the subcarrier phase of each initial NLOS node in the initial NLOS node set based on the TOF; a generation subunit for generating a continuous subcarrier phase map based on the subcarrier phase; a positioning subunit for locating several sets of local peaks and local valleys appearing in the subcarrier phase map; an identification subunit for identifying the node type of the initial NLOS node based on the local peaks and local valleys; and a transfer subunit for transferring the initial NLOS node from the initial NLOS node set to the initial LOS node set if the initial NLOS node is a LOS node, thereby obtaining a target NLOS node set and a target LOS node set.

[0021] Optionally, the identification subunit is further configured to: calculate the fluctuation height difference between each group of local peaks and local troughs; determine whether the fluctuation height difference between each group of local peaks and local troughs exceeds a set threshold; if the number of times the fluctuation height difference exceeds the set threshold is greater than 1, determine that the node type of the initial NLOS node is an NLOS node; if the number of times the fluctuation height difference does not exceed the set threshold is less than or equal to 1, determine that the node type of the initial NLOS node is a LOS node.

[0022] Optionally, the reconfiguration unit further includes: an acquisition subunit, configured to acquire the frequency of each subcarrier in the subcarrier phase diagram and set a smoothing window length before the positioning subunit locates several sets of local peaks and local troughs appearing in the subcarrier phase diagram; and a smoothing subunit, configured to smooth the phase of the corresponding subcarrier in the subcarrier phase diagram based on the frequency and the smoothing window length to obtain an updated subcarrier phase diagram.

[0023] Optionally, the positioning module includes: a first positioning unit, configured to locate the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set, wherein the range centered on the vehicle includes multiple areas, each area corresponding to a direction; and a second positioning unit, configured to locate the position information of the mobile terminal to the vehicle within the target area.

[0024] Optionally, the first positioning unit includes: a division subunit, used to divide multiple regions centered on the vehicle; a judgment subunit, used to determine whether the number of LOS nodes in the target LOS node set is greater than 1; a determination subunit, used to determine the line-of-sight range of each LOS node in the target LOS node set if the number of LOS nodes in the target LOS node set is greater than 1, wherein the line-of-sight range includes several regions; and a first positioning subunit, used to locate the intersection of the line-of-sight ranges of multiple LOS nodes as the target region of the mobile terminal relative to the vehicle.

[0025] Optionally, the first positioning unit further includes: a second positioning subunit, configured to, after the judgment subunit determines whether the number of LOS nodes in the target LOS node set is greater than 1, if the number of LOS nodes in the target LOS node set is equal to 1 and the LOS nodes are deployed in the central area of ​​the vehicle, position the central area as the target area of ​​the mobile terminal relative to the vehicle.

[0026] Optionally, the second positioning unit includes: a generation subunit for generating multiple candidate search points within the target area; a calculation subunit for calculating the sum of signal amplitudes between the candidate search point and the set of anchor nodes for each candidate search point; a selection subunit for selecting the target search point with the largest sum of signal amplitudes among the multiple candidate search points; and a determination subunit for determining the coordinate information of the target search point as the position information of the vehicle.

[0027] According to another aspect of the embodiments of this application, a storage medium is also provided, the storage medium including a stored program that executes the above steps when the program is run.

[0028] According to another aspect of the embodiments of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the programs stored in the memory.

[0029] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the above-described method.

[0030] The beneficial effects of this invention are:

[0031] 1. It can effectively distinguish LOS nodes used for mobile terminal positioning, without the need for a large amount of data for model training. It can achieve differentiation with a single measurement, and the recognition success rate can reach over 95%.

[0032] 2. It can effectively solve the problem of accurate positioning of mobile terminals such as digital car keys, overcome the large positioning error caused by factors such as anchor node obstruction and surrounding interference, and achieve reliable and stable positioning of digital car keys. It can improve the positioning accuracy of applications such as digital car keys from the meter level to the decimeter level, solve the problems of traditional digital car keys such as standing still and repeated unlocking and locking, and improve the user experience. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0034] Figure 1 This is a hardware structure block diagram of a car according to an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of a localization method based on LOS nodes according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the deployment of anchor nodes in an embodiment of the present invention;

[0037] Figure 4 This is a phase unfolding diagram of the LOS node and NLOS node in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the region division in an embodiment of the present invention;

[0039] Figure 6 This is a structural block diagram of a positioning device based on LOS nodes according to an embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present application can be combined with each other.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] Example 1

[0043] The method embodiment provided in Embodiment 1 of this application can be executed in an automobile, server, processor, autonomous driving / assisted driving / intelligent driving controller, or similar processing device. Taking its operation in an automobile as an example, Figure 1 This is a hardware structure block diagram of a car according to an embodiment of the present invention. Figure 1 As shown, a car may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the vehicle may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned automobile. For example, the automobile may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0044] The memory 104 can be used to store vehicle programs, such as application software programs and modules, like the vehicle program corresponding to a LOS node-based positioning method for a vehicle in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the vehicle program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0045] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the vehicle's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can wirelessly communicate with a mobile terminal, obtain parameter information from each anchor node in the vehicle's anchor node set to the mobile terminal, and can also connect to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0046] This embodiment provides a localization method based on LOS nodes. Figure 2 This is a flowchart of a localization method based on LOS nodes according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0047] Step S202: Obtain parameter information from each anchor node in the anchor node set of the vehicle to the mobile terminal, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle.

[0048] Optionally, anchor nodes can be wireless nodes such as StarFlash, Wi-Fi, Bluetooth, or Ultra-Wideband (UWB). Anchor nodes can be deployed around the perimeter and center of the vehicle.

[0049] Figure 3 This is a schematic diagram of the deployment of anchor nodes in an embodiment of the present invention. The anchor node set includes five anchor nodes, from anchor node 1 to anchor node 5, which are respectively deployed at the left front light, right front light, left rear light, right rear light, and roof of the vehicle.

[0050] Optionally, the mobile terminal may be the vehicle's wireless key or a wireless device that controls the vehicle in a coordinated manner.

[0051] Step S204: Based on the parameter information, divide the anchor node set into an initial non-visual propagation path (NLOS) node set and an initial visible propagation path (LOS) node set.

[0052] Step S206: Obtain the carrier phase of each initial NLOS node in the initial NLOS node set;

[0053] Step S208: Reconfigure the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain the target NLOS node set and the target LOS node set;

[0054] The target NLOS node set includes several NLOS nodes, and the target LOS node set includes several LOS nodes.

[0055] In this embodiment, a LOS node is a node where there is a direct line-of-sight path between the transmitting node and the receiving node (mobile terminal), allowing the signal to propagate in a straight line from the transmitting point to the receiving point without obstruction. An NLOS node, on the other hand, is a node where the direct path between the transmitting node and the receiving node (mobile terminal) is obstructed by obstacles (such as buildings, trees, terrain, etc.), requiring the signal to reach the receiving point through reflection, diffraction, or scattering.

[0056] Step S210: Locate the location information of the mobile terminal to the vehicle based on the target LOS node set;

[0057] Through the above steps, parameter information from each anchor node in the vehicle's anchor node set to the mobile terminal is obtained, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle. Based on the parameter information, the anchor node set is divided into a target non-visual propagation path (NLOS) node set and a target visible propagation path (LOS) node set, wherein the target NLOS node set includes several NLOS nodes and the target LOS node set includes several LOS nodes. The location information from the mobile terminal to the vehicle is located according to the target LOS node set. By dividing the anchor node set into NLOS nodes and LOS nodes, and then using the LOS nodes to locate the mobile terminal, the technical problem of large errors when locating via vehicle anchor nodes in related technologies is solved, and the positioning error is reduced.

[0058] Optionally, obtaining parameter information from each anchor node in the vehicle's anchor node set to the mobile terminal includes: obtaining channel state information (CSI) data from each anchor node in the anchor node set to the mobile terminal; and calculating the time of flight (TOF) and signal power from the corresponding anchor node to the mobile terminal based on the CSI data, wherein the parameter information includes the TOF and the signal power.

[0059] Given a positioning area containing M (M>2) anchor nodes, the Channel Frequency Response (CFR) can be expressed as:

[0060]

[0061] Where L represents the number of paths, τ l and α l Let f represent the Time-of-Flight (TOF) and attenuation coefficient of the l-th path, respectively. c Representing the carrier frequency, when using a single antenna to receive low-power short-range communication signals with N subcarriers, the wireless channel can be represented as:

[0062] h = As + w (2)

[0063] Where h is a CSI vector matrix of size N×1, s represents signal attenuation, w represents noise, and A is a global direction matrix of size N×L, defined as:

[0064] A=[α(τ1),α(τ2),…,α(τ L (3)

[0065] Where the nth element of α(τ) is e -j2πΔf(n-1)τ Δf represents the frequency spacing between adjacent subcarriers. Therefore, ranging can be achieved using the following formula:

[0066]

[0067] in, It is a sparse vector, and ε is the regularization parameter. Defined as:

[0068]

[0069] in, It is an overcomplete dictionary matrix of size K, whose dimension is determined by the search range and step size of the Time-of-Flight (TOF). Each element in the array is called an atom, and the original signal can be reconstructed using the OMP (Orthogonal Matching Pursuit) algorithm. Specifically, the steps include:

[0070] 1a. Initialize residual r0 = h, index set Atomic vector set The sparsity level is set to E = L, and the number of iterations is set to i = 1.

[0071] 1b. In the t-th iteration, calculate the residual r t-1 The atomic index λ that contributes the most t :

[0072]

[0073] The contribution of each atom to the signal residual is expressed through the inner product. express.

[0074] 1c. In the t-th iteration, update the index set Λ t =Λ t-1 ∪{λ t} and the corresponding atomic set

[0075] 1d. Using least squares estimation

[0076]

[0077] At this point, the residual is updated as follows:

[0078]

[0079] 1e. Check if the iteration stopping criterion is met: If the number of iterations reaches the sparsity level L, stop the iteration and obtain the parameters of each path. If the stopping criterion is not met, repeat 1b to 1d.

[0080] The result obtained through (8) is the signal power, and the corresponding selected atom is the ToF.

[0081] In this embodiment, during the process of dividing the anchor node set into a target NLOS node set and a target LOS node set based on the parameter information, the characteristic that most NLOS nodes have lower signal power while LOS nodes have higher signal power is first utilized. By setting a reasonable threshold, NLOS nodes and LOS nodes are initially distinguished to obtain an initial NLOS node set and an initial LOS node set. Since some nodes, despite having lower power, still belong to LOS nodes, the initially selected NLOS nodes need to be further filtered. By extracting the carrier phase in the corresponding CSI data, the distinction between NLOS nodes and LOS nodes is further aided to obtain the target NLOS node set and the target LOS node set.

[0082] In one implementation, the parameter information includes signal power. Dividing the anchor node set into an initial NLOS node set and an initial LOS node set based on the parameter information includes: setting a power threshold based on scene type; comparing the signal power of each anchor node in the anchor node set with the power threshold; configuring anchor nodes with signal power less than or equal to the power threshold as initial NLOS nodes, and configuring anchor nodes with signal power greater than the power threshold as initial LOS nodes.

[0083] Power information extracted using the OMP algorithm is combined with the characteristics of the actual scene to set an appropriate power threshold. The power threshold is negatively correlated with the complexity of the scene; the simpler the scene (the less wireless signal interference), the larger the power threshold. Anchor nodes are initially classified to screen out NLOS and LOS nodes. The LOS / NLOS identification problem is formulated as a classic binary hypothesis testing problem, where H0 represents that the node is in the NLOS condition and H1 represents that the node is in the LOS condition. When the extracted power information is greater than the set power threshold, the node is considered to be in the LOS condition, and vice versa.

[0084]

[0085] In one implementation, the parameter information includes Time of Flight (TOF). Reconfiguring the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain the target NLOS node set and the target LOS node set includes: calculating the subcarrier phase of each initial NLOS node in the initial NLOS node set based on the TOF; generating a continuous subcarrier phase map based on the subcarrier phase; locating several sets of local peaks and local valleys appearing in the subcarrier phase map; identifying the node type of the initial NLOS node based on the local peaks and local valleys; if the initial NLOS node is a LOS node, transferring the initial NLOS node from the initial NLOS node set to the initial LOS node set to obtain the target NLOS node set and the target LOS node set.

[0086] Relying solely on power conditions to classify NLOS and LOS nodes results in low accuracy and an inability to completely distinguish between them; nodes with power below a threshold may also fall into the LOS category. To address this issue, a secondary screening of the initially identified NLOS nodes is needed. Therefore, a signal phase-based LOS / NLOS identification method is designed, which uses in-depth analysis of signal phase characteristics to compensate for the shortcomings of power-based screening methods.

[0087] The signal from a LOS node travels directly from the transmitter to the receiver (mobile terminal) without interference from reflection, refraction, or other factors. Therefore, the phase-frequency curve shows a relatively regular pattern with minimal fluctuations. In contrast, under NLOS conditions, the signal not only travels through a direct path but may also reach the receiver via multiple paths such as reflection, refraction, and scattering. This results in multipath response and interference, leading to greater phase fluctuations. Furthermore, when the phase change exceeds π or -π, the periodicity of the phase causes abrupt changes in the phase diagram. This embodiment provides a method for removing phase abrupt changes and obtaining a continuous phase sequence to distinguish between NLOS and LOS signals. The steps are as follows:

[0088] 3a. Extract the frequency domain response corresponding to each node from the initial NLOS node CSI data selected in the preliminary screening, and extract the phase of each subcarrier:

[0089] θ f =-2πfτ (10)

[0090] Where f is the carrier frequency, τ is the ToF, and φ f This represents the phase information corresponding to a carrier frequency of f.

[0091] 3b. Obtain a continuous subcarrier phase map. Since the phase is periodic, it usually cycles between -π and π, which can cause phase jumps. To solve this problem, phase unrolling technology is used to eliminate phase jumps, making the phase map smoother and more continuous.

[0092] That is, when Δφ n，n+1 =φ n+1 -φ n When >π,

[0093] φ n+1 =φ n+1 +2π (11)

[0094] When Δφ n，n+1 When <-π,

[0095] φ n+1 =φ n+1 -2π (12)

[0096] Finally, the filtered LOS nodes are obtained, which is the target LOS node set.

[0097] In one example, identifying the node type of the initial NLOS node based on the local peaks and troughs includes: calculating the fluctuation height difference of each set of local peaks and troughs; determining whether the fluctuation height difference of each set of local peaks and troughs exceeds a set threshold; if the number of times the fluctuation height difference exceeds the set threshold is greater than 1, determining that the node type of the initial NLOS node is an NLOS node; if the number of times the fluctuation height difference does not exceed the set threshold is less than or equal to 1, determining that the node type of the initial NLOS node is a LOS node.

[0098] In this example, there may be multiple local peaks and multiple local troughs. The fluctuation height difference can be obtained by calculating any two adjacent local peaks and local troughs. If there are at least two fluctuation height differences that exceed a set threshold, the node type of the initial NLOS node is determined to be an NLOS node. Conversely, if the fluctuation height difference of only one or zero combinations of local peaks and local troughs exceeds the set threshold, the node type of the initial NLOS node is determined to be a LOS node.

[0099] Figure 4 This is a phase unfolding diagram of LOS and NLOS nodes in an embodiment of the present invention. Under LOS conditions, the continuous phase diagram usually exhibits a linear change, while under NLOS conditions, due to multipath effects and other interference factors, the phase exhibits more complex fluctuation characteristics. Therefore, by analyzing the local peaks and troughs in the continuous phase diagram, the number of times the fluctuation height difference exceeds a certain set threshold can be calculated. If the number of times the height difference exceeds the threshold is more than once, the signal is determined to be an NLOS signal; otherwise, it is classified as a LOS signal.

[0100] Optionally, before locating several sets of local peaks and local troughs appearing in the subcarrier phase diagram, the method further includes: obtaining the frequency of each subcarrier in the subcarrier phase diagram and setting the smoothing window length; and smoothing the phase of the corresponding subcarrier in the subcarrier phase diagram based on the frequency and the smoothing window length to obtain an updated subcarrier phase diagram.

[0101] In one implementation, to further optimize the observation results, the unfolded phase is smoothed to reduce noise interference and make the phase smoother:

[0102]

[0103] Wherein, φ(f s f represents the phase of the s-th carrier. s Where is the subcarrier frequency, and W is the smoothing window length.

[0104] In this embodiment, locating the position information of the mobile terminal relative to the vehicle based on the target LOS node set includes: locating the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set, wherein the range centered on the vehicle includes multiple areas, each area corresponding to a direction; and locating the position information of the mobile terminal relative to the vehicle within the target area.

[0105] In one implementation scenario, locating the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set includes: dividing the vehicle into multiple areas; determining whether the number of LOS nodes in the target LOS node set is greater than 1; if the number of LOS nodes in the target LOS node set is greater than 1, determining the line-of-sight range of each LOS node in the target LOS node set, wherein the line-of-sight range includes several areas; and locating the intersection area of ​​the line-of-sight ranges of multiple LOS nodes as the target area of ​​the mobile terminal relative to the vehicle.

[0106] Taking the application scenarios of digital car keys as an example, Figure 5 This is a schematic diagram illustrating the division of areas in an embodiment of the present invention, showing the numbering and arrangement of the vehicle's anchor nodes, and how the environment surrounding the vehicle (e.g., within a 10-meter radius around the vehicle's geometric center or center of mass) is divided into nine sub-regions based on the positions of these nodes. Each sub-region is controlled by nodes with different numbers, thereby enabling accurate determination of the target area for the point to be located.

[0107] By selecting the LOS node, the specific area where the point to be located is located can be determined. The area can be selected based on anchor nodes 1, 2, 3, 4, and 5. The following example illustrates this:

[0108] 4a. When the LOS node contains node 1, node 2, and node 3, the intersection region is region 1 to 3:

[0109] (1) If node 4 is also an LOS node, the line-of-sight range of node 4 includes regions 3 to 7, and the intersection of the line-of-sight ranges is region 3, then the point to be located is determined to be in region 3.

[0110] (2) If node 5 is also an LOS node, and the line-of-sight range of node 5 includes regions 5 to 8 and 1, then the point to be located is determined to be in region 1.

[0111] (3) If none of the above conditions are met and there are no other LOS nodes, the point to be located is determined to be in region 2.

[0112] 4b. When the LOS node contains node 3, node 4, and node 5:

[0113] (1) If node 2 is also an LOS node, then the point to be located is determined to be in region 5.

[0114] (2) If node 1 is also an LOS node, then the point to be located is determined to be in region 7.

[0115] (3) If none of the above conditions are met and there are no other LOS nodes, the point to be located is determined to be in region 6.

[0116] 4c. If nodes 2, 3 and 4 are LOS nodes, then the point to be located is determined to be in region 4.

[0117] 4d. When nodes 1, 3, and 5 are LOS nodes, the point to be located is determined to be in region 8.

[0118] 4e. If only node 3 is an LOS node, then the location point is determined to be region 9.

[0119] According to the above method, the more nodes there are, the more detailed the area division will be, and the more accurate the determination area of ​​the undetermined point will be.

[0120] In another implementation scenario, after determining whether the number of LOS nodes in the target LOS node set is greater than 1, the method further includes: if the number of LOS nodes in the target LOS node set is equal to 1, and the LOS nodes are deployed in the central area of ​​the vehicle, the central area is positioned as the target area of ​​the mobile terminal relative to the vehicle.

[0121] In one embodiment of this example, locating the position information of the mobile terminal to the vehicle in the target area includes: generating multiple candidate search points in the target area; for each candidate search point, calculating the sum of signal amplitudes between the candidate search point and the set of anchor nodes; selecting the target search point with the largest sum of signal amplitudes from the multiple candidate search points; and determining the coordinate information of the target search point as the position information of the vehicle.

[0122] Positioning is performed based on the selected area, assuming each anchor node is located at position p. m =[x m y m The specific direct location estimation steps are as follows: generate candidate search points; construct the target search function; search for the maximum value; output the location coordinates; output the location coordinates, i.e., the vehicle's location information. A detailed description follows:

[0123] Generate candidate search points p within the selected target area. u =[x u y u ],

[0124] x u ={x min x min +Δd,x min +2Δd, …, x max}

[0125] y u ={y min y min +Δd, y min +2Δd, ...,y max} (14)

[0126] Where Δd is the search step size, x min x max y min and y max It depends on the scope of the target area.

[0127] Since the sum of signal amplitudes from the actual location to all anchor nodes is maximum, the target search function is:

[0128]

[0129] in, p represents the time difference between the u-th position and the m-th anchor node. u f(p) represents the search point location. u For each search point, a maximum value function is used. Based on this principle, the location where the signal amplitude corresponding to the time matching index of each search point is the largest is the location information of the vehicle obtained through localization.

[0130]

[0131] in, The location information of the vehicle obtained through positioning.

[0132] This embodiment provides a method for identifying the location area of ​​a mobile terminal based on LOS nodes, which can be used to identify the target area of ​​a mobile terminal. This method can identify NLOS and LOS signals, and then achieve target area identification through the cooperation of multiple nodes. Unlike traditional methods, this method does not require a large amount of data for model training; it can accurately distinguish between NLOS and LOS signals using a single measurement. Furthermore, it can utilize the NLOS and LOS propagation relationships between nodes to determine the area where the target terminal is located. This method greatly improves the accuracy and efficiency of mobile target terminal positioning, increasing the wireless positioning accuracy of mobile terminals such as digital car keys from meter-level to decimeter-level. The method includes the following steps:

[0133] Step 1: Collect data from the positioning point (mobile terminal), obtain the corresponding anchor node CSI data, and perform parameter estimation using the OMP algorithm to extract the corresponding flight time and signal power;

[0134] Step 2: Taking advantage of the fact that most NLOS nodes have lower signal power while LOS nodes have higher signal power, a reasonable threshold is set to initially distinguish between NLOS nodes and LOS nodes.

[0135] Step 3: Since some nodes, despite their low power, are still considered LOS nodes, further screening of the initially selected NLOS nodes is necessary. Simultaneously, carrier phase data extracted from the corresponding CSI data is used to help distinguish between NLOS and LOS nodes.

[0136] Step 4: Divide the surrounding area into several zones based on the node placement. Then, determine and select the corresponding target area based on the selected LOS node number, and pinpoint the exact location of the latitude and longitude mobile terminal within the target area.

[0137] The solution in this embodiment can effectively distinguish LOS nodes used for mobile terminal positioning without requiring a large amount of data for model training. Discrimination can be achieved with a single measurement, achieving a recognition success rate of over 95%. It effectively solves the problem of accurate positioning for mobile terminals such as digital car keys, overcoming factors such as anchor node obstruction and surrounding interference that cause large positioning errors (typically on the order of several meters). It achieves reliable and stable positioning of digital car keys. Using this patented method, the positioning accuracy of applications such as digital car keys can be improved from the meter level to the decimeter level, solving problems such as the inability to stand still and repeated unlocking / locking of traditional digital car keys, thus improving the user experience.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0139] Example 2

[0140] This embodiment also provides a positioning device based on LOS nodes, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0141] Figure 6 This is a structural block diagram of a positioning device based on LOS nodes according to an embodiment of the present invention, as shown below. Figure 6 As shown, the device includes:

[0142] The acquisition module 60 is used to acquire parameter information from each anchor node in the anchor node set of the vehicle to the mobile terminal, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle.

[0143] The partitioning module 62 includes: a partitioning unit, configured to partition the anchor node set into an initial non-visual propagation path (NLOS) node set and an initial visible propagation path (LOS) node set based on the parameter information; an acquisition unit, configured to acquire the carrier phase of each initial NLOS node in the initial NLOS node set; and a reconfiguration unit, configured to reconfigure the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain a target NLOS node set and a target LOS node set.

[0144] The positioning module 64 is used to locate the location information of the mobile terminal to the vehicle based on the target LOS node set.

[0145] Optionally, the acquisition module includes: an acquisition unit, used to acquire Channel State Information (CSI) data from each anchor node to the mobile terminal in the anchor node set; and a calculation unit, used to calculate the Time of Flight (TOF) and signal power from the corresponding anchor node to the mobile terminal based on the CSI data, wherein the parameter information includes the TOF and the signal power.

[0146] Optionally, the parameter information includes signal power, and the partitioning unit includes: a setting subunit, used to set a power threshold based on scene type; a comparison subunit, used to compare the signal power of each anchor node in the anchor node set with the power threshold; and a configuration subunit, used to configure anchor nodes with signal power less than or equal to the power threshold as initial NLOS nodes, and anchor nodes with signal power greater than the power threshold as initial LOS nodes.

[0147] Optionally, the parameter information includes Time of Flight (TOF), and the reconfiguration unit includes: a calculation subunit for calculating the subcarrier phase of each initial NLOS node in the initial NLOS node set based on the TOF; a generation subunit for generating a continuous subcarrier phase map based on the subcarrier phase; a positioning subunit for locating several sets of local peaks and local valleys appearing in the subcarrier phase map; an identification subunit for identifying the node type of the initial NLOS node based on the local peaks and local valleys; and a transfer subunit for transferring the initial NLOS node from the initial NLOS node set to the initial LOS node set if the initial NLOS node is a LOS node, thereby obtaining a target NLOS node set and a target LOS node set.

[0148] Optionally, the identification subunit is further configured to: calculate the fluctuation height difference between each group of local peaks and local troughs; determine whether the fluctuation height difference between each group of local peaks and local troughs exceeds a set threshold; if the number of times the fluctuation height difference exceeds the set threshold is greater than 1, determine that the node type of the initial NLOS node is an NLOS node; if the number of times the fluctuation height difference does not exceed the set threshold is less than or equal to 1, determine that the node type of the initial NLOS node is a LOS node.

[0149] Optionally, the reconfiguration unit further includes: an acquisition subunit, configured to acquire the frequency of each subcarrier in the subcarrier phase diagram and set a smoothing window length before the positioning subunit locates several sets of local peaks and local troughs appearing in the subcarrier phase diagram; and a smoothing subunit, configured to smooth the phase of the corresponding subcarrier in the subcarrier phase diagram based on the frequency and the smoothing window length to obtain an updated subcarrier phase diagram.

[0150] Optionally, the positioning module includes: a first positioning unit, configured to locate the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set, wherein the range centered on the vehicle includes multiple areas, each area corresponding to a direction; and a second positioning unit, configured to locate the position information of the mobile terminal to the vehicle within the target area.

[0151] Optionally, the first positioning unit includes: a division subunit, used to divide multiple regions centered on the vehicle; a judgment subunit, used to determine whether the number of LOS nodes in the target LOS node set is greater than 1; a determination subunit, used to determine the line-of-sight range of each LOS node in the target LOS node set if the number of LOS nodes in the target LOS node set is greater than 1, wherein the line-of-sight range includes several regions; and a first positioning subunit, used to locate the intersection of the line-of-sight ranges of multiple LOS nodes as the target region of the mobile terminal relative to the vehicle.

[0152] Optionally, the first positioning unit further includes: a second positioning subunit, configured to, after the judgment subunit determines whether the number of LOS nodes in the target LOS node set is greater than 1, if the number of LOS nodes in the target LOS node set is equal to 1 and the LOS nodes are deployed in the central area of ​​the vehicle, position the central area as the target area of ​​the mobile terminal relative to the vehicle.

[0153] Optionally, the second positioning unit includes: a generation subunit for generating multiple candidate search points within the target area; a calculation subunit for calculating the sum of signal amplitudes between the candidate search point and the set of anchor nodes for each candidate search point; a selection subunit for selecting the target search point with the largest sum of signal amplitudes among the multiple candidate search points; and a determination subunit for determining the coordinate information of the target search point as the position information of the vehicle.

[0154] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0155] Example 3

[0156] Embodiments of the present invention also provide a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0157] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0158] S1, obtain parameter information from each anchor node in the anchor node set of the vehicle to the mobile terminal, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle;

[0159] S2, based on the parameter information, the anchor node set is divided into a target non-visual propagation path NLOS node set and a target visible propagation path LOS node set, wherein the target NLOS node set includes a number of NLOS nodes and the target LOS node set includes a number of LOS nodes;

[0160] S3, locate the location information of the mobile terminal to the vehicle based on the target LOS node set.

[0161] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0162] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0163] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0164] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0165] S1, obtain parameter information from each anchor node in the anchor node set of the vehicle to the mobile terminal, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle;

[0166] S2, based on the parameter information, the anchor node set is divided into a target non-visual propagation path NLOS node set and a target visible propagation path LOS node set, wherein the target NLOS node set includes a number of NLOS nodes and the target LOS node set includes a number of LOS nodes;

[0167] S3, locate the location information of the mobile terminal to the vehicle based on the target LOS node set.

[0168] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0169] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0170] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0171] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0172] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A localization method based on LOS nodes, characterized in that, include: Obtain parameter information from each anchor node in the anchor node set of the vehicle to the mobile terminal, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle; Based on the parameter information, the anchor node set is divided into an initial non-visual propagation path (NLOS) node set and an initial visible propagation path (LOS) node set; Obtain the carrier phase of each initial NLOS node in the initial NLOS node set; Based on the carrier phase, the initial NLOS node set and the initial LOS node set are reconfigured to obtain the target NLOS node set and the target LOS node set; The location information of the mobile terminal to the vehicle is located based on the target LOS node set.

2. The method according to claim 1, characterized in that, The parameter information from each anchor node in the vehicle's anchor node set to the mobile terminal includes: Obtain the Channel State Information (CSI) data from each anchor node in the anchor node set to the mobile terminal; The time of flight (TOF) and signal power from the corresponding anchor node to the mobile terminal are calculated based on the CSI data, wherein the parameter information includes the TOF and the signal power.

3. The method according to claim 1, characterized in that, The parameter information includes signal power. Based on the parameter information, the anchor node set is divided into an initial NLOS node set and an initial LOS node set, including: Set power thresholds based on scenario type; For each anchor node in the set of anchor nodes, the signal power of the anchor node is compared with the power threshold; Anchor nodes with signal power less than or equal to the power threshold are configured as initial NLOS nodes, and anchor nodes with signal power greater than the power threshold are configured as initial LOS nodes.

4. The method according to claim 1, characterized in that, The parameter information includes TOF. Based on the carrier phase, the initial NLOS node set and the initial LOS node set are reconfigured to obtain the target NLOS node set and the target LOS node set, which include: The subcarrier phase of each initial NLOS node in the initial NLOS node set is calculated based on the TOF. A continuous subcarrier phase diagram is generated based on the subcarrier phase; Locate several sets of local peaks and local troughs appearing in the subcarrier phase diagram; The node type of the initial NLOS node is identified based on the local peaks and local troughs; If the initial NLOS node is a LOS node, the initial NLOS node is transferred from the initial NLOS node set to the initial LOS node set to obtain the target NLOS node set and the target LOS node set.

5. The method according to claim 4, characterized in that, The node type of the initial NLOS node is identified based on the local peaks and local troughs, including: Calculate the wave height difference between local peaks and local troughs for each group; Determine whether the height difference between local peaks and local troughs in each group exceeds a set threshold; If the number of times the fluctuation height difference exceeds the set threshold is greater than 1, the node type of the initial NLOS node is determined to be an NLOS node; if the number of times the fluctuation height difference does not exceed the set threshold is less than or equal to 1, the node type of the initial NLOS node is determined to be a LOS node.

6. The method according to claim 4, characterized in that, Before locating several sets of local peaks and local troughs appearing in the subcarrier phase map, the method further includes: Obtain the frequency of each subcarrier in the subcarrier phase diagram and set the smoothing window length; The phase of the corresponding subcarrier in the subcarrier phase diagram is smoothed based on the frequency and the smoothing window length to obtain an updated subcarrier phase diagram.

7. The method according to claim 1, characterized in that, The location information of the mobile terminal to the vehicle based on the target LOS node set includes: The target area of ​​the mobile terminal relative to the vehicle is located based on the target LOS node set, wherein the range centered on the vehicle includes multiple areas, each area corresponding to a direction; The location information of the mobile terminal to the vehicle is located in the target area.

8. The method according to claim 7, characterized in that, Locating the target area of ​​the mobile terminal relative to the vehicle based on the target LOS node set includes: Divide the area into multiple zones centered on the vehicle; Determine whether the number of LOS nodes in the target LOS node set is greater than 1; If the number of LOS nodes in the target LOS node set is greater than 1, the line-of-sight range of each LOS node in the target LOS node set is determined, wherein the line-of-sight range includes several regions; The intersection of the line-of-sight ranges of multiple LOS nodes is defined as the target area of ​​the mobile terminal relative to the vehicle.

9. The method according to claim 8, characterized in that, After determining whether the number of LOS nodes in the target LOS node set is greater than 1, the method further includes: If the number of LOS nodes in the target LOS node set is equal to 1, and the LOS nodes are deployed in the central area of ​​the vehicle, the central area is positioned as the target area of ​​the mobile terminal relative to the vehicle.

10. The method according to claim 7, characterized in that, The location information for locating the mobile terminal to the vehicle within the target area includes: Multiple candidate search points are generated within the target area; For each candidate search point, calculate the sum of signal amplitudes between the candidate search point and the set of anchor nodes; Select the target search point with the largest signal amplitude from the plurality of candidate search points; The coordinates of the target search point are determined as the location information of the vehicle.

11. A positioning device based on LOS nodes, characterized in that, include: The acquisition module is used to acquire parameter information from each anchor node in the anchor node set of the vehicle to the mobile terminal, wherein multiple anchor nodes in the anchor node set are deployed on the vehicle. The partitioning module includes: a partitioning unit, configured to partition the anchor node set into an initial non-visible propagation path (NLOS) node set and an initial visible propagation path (LOS) node set based on the parameter information; an acquisition unit, configured to acquire the carrier phase of each initial NLOS node in the initial NLOS node set; and a reconfiguration unit, configured to reconfigure the initial NLOS node set and the initial LOS node set according to the carrier phase to obtain a target NLOS node set and a target LOS node set. The positioning module is used to locate the location information of the mobile terminal to the vehicle based on the target LOS node set.

12. A storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 10 when it is run.

13. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 10.

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