Arrival time delay estimation method, device and communication device

Abstract

The present disclosure provides a method, apparatus and communication device for estimating arrival time delay, the method includes: obtaining a first time-domain impulse response according to a positioning signal; obtaining a first-pass time-domain sample point from the first time-domain impulse response, the first time-domain sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; shifting the first time-domain impulse response to obtain a second time-domain impulse response, in which a position shift amount of the shifting amount is related to the first-pass time-domain sample point; performing a spectrum peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of arrival time delay; and obtaining a second estimate of arrival time delay according to the position shift amount and the first estimate.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This disclosure claims priority to Chinese Patent Application No. 202210195788.0, filed in China on March 1, 2022, the entire contents of which are incorporated herein by reference. The present disclosure relates to the technical field of communications, and in particular to a method, apparatus and communication device for estimating arrival time delay. [Background technology]

[0002] In recent years, the number of devices that access the Internet has gradually increased, and various application services based on the Internet of Things (IOT) have brought much convenience to people's lives. Location information has become one of the important prerequisites for the realization of these application services. Therefore, how to obtain accurate location information in real time and efficiently has become an important problem that needs to be solved urgently in promoting industrial development. In related technologies, research on positioning technologies, including time of arrival (TOA) measurement technologies such as the Multiple Signal Classification (MUSIC) time delay estimation algorithm and the maximum likelihood time delay estimation algorithm, has been actively conducted. However, all of the time delay estimation algorithms in related technologies have the problem that the dimension of the matrix is ​​too high when creating and measuring the pseudospectrum, so the complexity of the algorithm is high. Summary of the Invention [Problem to be solved by the invention]

[0003] The objective of the present disclosure is to provide an arrival time delay estimation method, apparatus and communication device that solves the problem of high complexity of time delay estimation algorithms in the related art. [Means for solving the problem]

[0004] An embodiment of the present disclosure is a method for estimating a time of arrival delay, comprising: Obtaining a first time domain impulse response according to the positioning signal; obtaining a first-pass time-domain sample point from the first time-domain impulse response, the first pass time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; Shifting the first time-domain impulse response to obtain a second time-domain impulse response, where the shifting amount is related to the time-domain sample point of the first pass; performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of a time delay of arrival; obtaining a second estimate of the arrival time delay according to the position shift and the first estimate.

[0005] Optionally, the shift processing of the first time domain impulse response to obtain a second time domain impulse response may include: The method includes shifting the first time domain impulse response in a direction smaller than the time domain position of the first time domain impulse response to obtain the second time domain impulse response.

[0006] Optionally, the first time domain impulse response is a first time domain impulse response after a maximum-based normalization process.

[0007] Optionally, obtaining a first time domain impulse response according to the positioning signal includes: Obtaining a first frequency domain impulse response of a positioning signal; and transforming the first frequency domain impulse response to the first time domain impulse response.

[0008] Optionally, the position shift amount of the shifting operation is related to the time-domain sample point of the first pass means that after the shifting operation is performed on the first time-domain impulse response, the time-domain sample point of the first pass after the shifting operation is not negative.

[0009] Optionally, the shift processing of the first time domain impulse response to obtain a second time domain impulse response may include: According to the time-domain sample points of the first pass, windowing the first time-domain impulse response with a window function to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; Shifting the target time domain impulse response in the first window in a direction smaller than the time domain position of the target time domain impulse response to obtain the second time domain impulse response.

[0010] Optionally, the window function is:

number

number

number

[0011] Optionally, the first pass time domain sample points are calculated according to the following formula:

number

number

[0012] Optionally, the step of shifting the target time domain impulse response in the first window in a direction smaller than the time domain position of the target time domain impulse response may further include: determining the position movement amount to a first time length according to the time domain sample points of the first pass; and shifting all of the target time domain impulse responses in the first window by the first time length in a direction smaller than a time domain position of the target time domain impulse response to obtain the second time domain impulse response; Here, the time domain sample value points corresponding to the second time domain impulse response are non-negative.

[0013] Optionally, the step of shifting all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse response to obtain the second time domain impulse response includes: calculating the second time domain impulse response according to the following formula:

number

number

number

[0014] Optionally, performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay, transforming the second time domain impulse response to a second frequency domain impulse response; determining a pseudospectral function according to the second frequency domain impulse response; performing a spectral peak search on the pseudospectral function to obtain a spectral peak of the pseudospectral function whose value is a first estimate of the time delay of arrival.

[0015] Optionally, obtaining a second estimate of the arrival time delay according to the position shift and the first estimate as described above further comprises: adding the position movement amount and the first estimate to obtain the second estimate; Here, the position movement amount and the first estimated value have the same unit.

[0016] An embodiment of the present disclosure is a communication device including a memory, a transceiver, and a processor, The memory is for storing a computer program, and the transceiver is for transmitting and receiving data under the control of the processor, and the processor reads the computer program in the memory and obtaining a first time domain impulse response according to the positioning signal; obtaining a first-pass time-domain sample point from the first time-domain impulse response, the first pass time-domain sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; a shift operation of the first time-domain impulse response to obtain a second time-domain impulse response, in which a position shift amount of the shift operation is related to a time-domain sample point of the first pass; performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay; and obtaining a second estimate of the arrival time delay according to the position shift and the first estimate.

[0017] Optionally, the processor reads the computer program in the memory to: The first time domain impulse response is shifted in a direction smaller than the time domain position of the first time domain impulse response to obtain the second time domain impulse response.

[0018] Optionally, the first time domain impulse response is a first time domain impulse response after a maximum-based normalization process.

[0019] Optionally, the processor reads the computer program in the memory to: obtaining a first frequency domain impulse response of the positioning signal; and converting the first frequency domain impulse response to the first time domain impulse response.

[0020] Optionally, the position shift amount of the shifting operation is related to the time-domain sample point of the first pass means that after the shifting operation is performed on the first time-domain impulse response, the time-domain sample point of the first pass after the shifting operation is not negative.

[0021] Optionally, the processor reads the computer program in the memory to: According to the time-domain sample points of the first pass, windowing the first time-domain impulse response with a window function to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; and shifting the target time domain impulse response in the first window in a direction smaller than the time domain position of the target time domain impulse response to obtain the second time domain impulse response.

[0022] Optionally, the window function is:

number

number

number

[0023] Optionally, the first pass time domain sample points are calculated according to the following formula:

number

number

[0024] Optionally, the processor reads the computer program in the memory to: determining the position movement amount as a first time length according to the time domain sample points of the first pass; and moving all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse responses to obtain the second time domain impulse response. Here, the time domain sample points corresponding to the second time domain impulse response are non-negative.

[0025] Optionally, the processor reads the computer program in the memory to: to perform an operation of calculating the second time domain impulse response according to the following formula:

number

number

number

[0026] Optionally, the processor reads the computer program in the memory to: transforming the second time domain impulse response into a second frequency domain impulse response; determining a pseudospectral function according to the second frequency domain impulse response; and performing a spectral peak search on the pseudospectral function to obtain a spectral peak of the pseudospectral function whose value is a first estimate of the arrival time delay.

[0027] Optionally, the processor reads the computer program in the memory to: and executing an operation of adding the position movement amount and the first estimate value to obtain the second estimate value, Here, the position movement amount and the first estimated value have the same unit.

[0028] An embodiment of the present disclosure is an apparatus for estimating a time delay of arrival, comprising: A first acquisition unit acquires a first time domain impulse response according to the positioning signal; a second acquisition unit for acquiring a first-pass time-domain sample point from the first time-domain impulse response, the first sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; a first processing unit for shifting the first time-domain impulse response to obtain a second time-domain impulse response, in which a position shift amount of the shifting is related to a time-domain sample point of the first pass; a second processing unit for performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of a time delay of arrival; and a third obtaining unit for obtaining a second estimate of the arrival time delay according to the position shift and the first estimate.

[0029] An embodiment of the present disclosure provides a processor-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement steps of the above-described method for estimating arrival time delay. Effect of the Invention

[0030] The beneficial effects of the above technical proposal of the present disclosure are as follows: According to the embodiment of the present disclosure, after receiving a positioning signal, the receiving end obtains a first time-domain impulse response of the positioning signal, obtains a time-domain sample point of a first path from the first time-domain impulse response, and shifts the first time-domain impulse response according to the time-domain sample point to obtain a second time-domain impulse response. When performing TOA estimation, the second time-domain impulse response is used to search for a spectral peak and then the obtained estimated value is restored. Since the first time-domain impulse response is shifted, the dimension of the Vandermonde matrix is ​​greatly reduced and the complexity of the calculation process is reduced. After the spectral peak search is completed, a back-off calculation is performed according to the position movement amount, and a final estimated TOA value is output, which can effectively reduce the complexity of peak value search in the TOA measurement algorithm. [Brief description of the drawings]

[0031] [Figure 1] 1 is a flow diagram of a method for estimating arrival time delay according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram of a time domain impulse response before shifting according to an embodiment of the present disclosure. [Diagram 3] FIG. 13 is a schematic diagram of a time domain impulse response after shifting according to an embodiment of the present disclosure. [Figure 4] 2 is a second schematic flow diagram of an arrival time delay estimation method according to an embodiment of the present disclosure. [Diagram 5] 3 is a schematic flow diagram of the arrival time delay estimation method according to an embodiment of the present disclosure. [Figure 6] This is a fourth schematic flow diagram of the arrival time delay estimation method according to an embodiment of the present disclosure. [Figure 7] This is a fifth schematic flow diagram of the arrival time delay estimation method according to an embodiment of the present disclosure. [Figure 8]FIG. 2 is a structural schematic diagram of an arrival time delay estimation device according to an embodiment of the present disclosure; [Figure 9] FIG. 2 is a structural block diagram of a communication device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] In order to clarify the problems, technical solutions and advantages of the present disclosure, the present disclosure will be described in detail below with reference to the drawings and specific embodiments. In the following description, specific details of specific configurations and components are provided to facilitate a full understanding of the embodiments of the present disclosure. Therefore, it will be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. In addition, for clarity and conciseness, descriptions of known functions and structures are omitted.

[0033] It should be noted that, throughout the specification, the term "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic associated with an embodiment is included in at least one embodiment of the disclosure. Thus, the appearances of "in one embodiment" or "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment. Furthermore, the particular feature, structure, or characteristic may be incorporated in any suitable manner in one or more embodiments.

[0034] In each embodiment of the present disclosure, it should be understood that the magnitude of the numbers of each process below does not indicate the order of execution, and the order of execution of each process is determined by its function and inherent logic, and does not limit the implementation process according to the embodiments of the present disclosure.

[0035] In the embodiments of the present disclosure, the term "and / or" merely expresses a correlation between related objects, and indicates that there are three possible relationships. For example, A and / or B may indicate three cases: only A exists, both A and B exist, and only B exists. The symbol " / " generally indicates an "or" relationship between the related objects before and after it.

[0036] In the embodiments of the present disclosure, the term "plurality" means two or more, and similarly for other quantifiers.

[0037] Hereinafter, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, but it is obvious that the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without paying creative labor shall all be within the protection scope of the present invention.

[0038] Specifically, the embodiments of the present disclosure provide a method, apparatus and communication device for estimating arrival time delay, which solves the problem of high complexity of time delay estimation algorithms in the related art.

[0039] As shown in FIG. 1, an embodiment of the present disclosure provides an arrival time delay estimation method, which specifically includes the following steps 101 to 105.

[0040] Step 101 is to obtain a first time-domain impulse response according to a positioning signal.

[0041] In this embodiment, a positioning signal is transmitted from a transmitting end to a receiving end, and the receiving end measures the channel impulse response of the received positioning signal to estimate the arrival time delay. Wherein, the transmitting end and the receiving end may be a terminal or a network side device (for example, a base station). For example, the transmitting end is a terminal, the receiving end is a base station, a positioning signal is transmitted from the terminal to the base station, the positioning signal is, for example, a Sounding Reference Signal (SRS), the base station receives the SRS and measures the impulse response of the SRS to estimate the TOA; or the transmitting end is a base station, the receiving end is a terminal, a positioning signal is transmitted from the base station to the terminal, the positioning signal is, for example, a Positioning Reference Signal (PRS), the terminal receives the PRS and measures the impulse response of the PRS to estimate the TOA.

[0042] The first time domain impulse response may be one or more time domain impulse responses associated with the positioning signal.

[0043] Step 102 is to obtain a first-pass time-domain sample point from the first time-domain impulse response, which means a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold.

[0044] The first path is a first impulse response that reaches a peak value, and in this embodiment, a first threshold is set for the first time-domain impulse response, and all the first time-domain impulse responses are traversed, and all the first time-domain impulse responses are compared with the first threshold to obtain a first peak value that is greater than the first threshold, and the time-domain sample value point corresponding to the first peak value is the time-domain sample value point of the first path. The first path may be a Line of Sight (LOS) path. The receiving end obtains the first path time-domain sample value point from the multiple first time-domain impulse responses, which is used to shift the first time-domain impulse response. The first threshold can be set according to TOA measurement requirements.

[0045] Among them, the position of the first pass is related to the dimension of the Vandermonde matrix that needs to be constructed during the spectral peak search.

[0046] Step 103 is to shift the first time-domain impulse response to obtain a second time-domain impulse response, where the position shift amount of the shifting is related to the time-domain sample point of the first pass.

[0047] Shifting the first time-domain impulse response may comprise shifting the first time-domain impulse response in a time-domain position to obtain a second time-domain impulse response after the shifting, the second time-domain impulse response differing from the first time-domain impulse response only in its time-domain position but with the same other relevant parameters.

[0048] Optionally, the shifting may be to move the first time-domain impulse response forward (i.e., in a direction smaller than the current time-domain position) by a predetermined time-domain length relative to the current time-domain position. Optionally, when shifting the first time-domain impulse response, the position shift amount is relative to a first-pass time-domain sample point.

[0049] Step 104 is to perform a spectral peak search on the pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay.

[0050] A second time-domain impulse response is obtained after shifting the first time-domain impulse response, and the second time-domain impulse response is processed with a pseudospectral function to perform a spectral peak search, and the obtained spectral peak is a first estimate of the arrival time delay.

[0051] Step 105 is to obtain a second estimate of the arrival time delay according to the position shift and the first estimate.

[0052] The first estimate is calculated after performing a shift process on the first time-domain impulse response, and therefore the value is inaccurate. A final estimate of the arrival time delay (i.e., the second estimate) is calculated according to the position shift amount of the shift process and the first estimate. Optionally, the first estimate can be relocated according to the position shift amount of the shift process, so that a true TOA estimate can be obtained.

[0053] According to the embodiment of the present disclosure, after receiving a positioning signal, the receiving end obtains a first time-domain impulse response of the positioning signal, obtains a time-domain sample point of a first path from the first time-domain impulse response, and shifts the first time-domain impulse response according to the time-domain sample point to obtain a second time-domain impulse response. When performing TOA estimation, the second time-domain impulse response is used to search for a spectral peak and then the obtained estimated value is restored. Since the first time-domain impulse response is shifted, the dimension of the Vandermonde matrix is ​​greatly reduced and the complexity of the calculation process is reduced. After the spectral peak search is completed, a back-off calculation is performed according to the position movement amount, and a final estimated TOA value is output, which can effectively reduce the complexity of peak value search in the TOA measurement algorithm.

[0054] Optionally, the first time domain impulse response is a first time domain impulse response after a maximum-based normalization process.

[0055] In this embodiment, when performing TOA estimation, the receiving end receives the positioning signal, measures a time domain impulse response of the positioning signal, and performs a normalization process on the time domain impulse response. The normalization process may be performed according to the following formula:

number

number

[0056] As one optional embodiment, obtaining a first time-domain impulse response according to the above-mentioned positioning signal includes obtaining a first frequency-domain impulse response of the positioning signal, and converting the first frequency-domain impulse response into the first time-domain impulse response.

[0057] In this embodiment, after receiving the positioning signal, the receiving end can measure the positioning signal to obtain a frequency domain impulse response vector of the positioning signal, and convert the frequency domain impulse response vector by Inverse Discrete Fourier Transform (IDFT) to obtain a corresponding time domain impulse response, i.e., the first time domain impulse response. Hereinafter, the method of obtaining the frequency domain impulse response will be described by way of example.

[0058] Optionally, the signal model employed in the embodiments of the present disclosure may be an Orthogonal Frequency Division Multiplex (OFDM) wireless communication signal, where the received signal is expressed by the following equation: y(t)=h(t)*s(t)+n(t) Here, fr, y(t) represent the received signal at the receiving end, n(t) represents the transmitted signal at the transmitting end, n(t) represents additive Gaussian white noise, h(t) represents the channel impulse response, and "*" represents the time-domain convolution process. In a multipath environment, h(t) can be expressed as follows:

number

[0059] In an OFDM system containing K subcarriers, the time-domain OFDM symbol after modulation can be expressed as:

number

[0060] According to the above formula, the time domain signal after OFDM passes through the channel can be obtained as follows:

number

[0061] After the received signal y(t) is transformed by a Fast Fourier Transform (FFT), the frequency domain impulse response estimate on the kth subcarrier is:

number

number

[0062] According to the above calculation, the time delay can be further estimated by a signal estimation algorithm (e.g., MUSIC algorithm or maximum likelihood estimation algorithm). In the analysis of the embodiments of the present disclosure, the subscript t is ignored because the wireless channel is considered to be a semi-static channel within a few OFDM symbols.

[0063] According to the above calculation, the frequency domain impulse response of the positioning signal can be obtained, and the corresponding time domain impulse response can be obtained by performing IDFT transformation on the frequency domain impulse response.

[0064] As one optional embodiment, the shifting of the first time domain impulse response to obtain a second time domain impulse response includes shifting the first time domain impulse response in a direction smaller than the time domain position of the first time domain impulse response to obtain the second time domain impulse response.

[0065] In this embodiment, shifting the first time-domain impulse response may mean moving the first time-domain impulse response forward (i.e., moving it toward a smaller position than the current time-domain position) relative to the current time-domain position, thereby advancing the time-domain position of the peak value (i.e., first pass) and reducing the dimension of the Vandermonde matrix that needs to be constructed during the spectral peak search, thereby reducing the complexity of the peak value search of such TOA measurement algorithm.

[0066] As one optional embodiment, the shift processing of the first time domain impulse response to obtain a second time domain impulse response may include: The method includes: windowing the first time-domain impulse response with a window function based on the time-domain sample points of the first pass to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; and shifting the target time-domain impulse response within the first window in a direction smaller than the time-domain position of the target time-domain impulse response to obtain the second time-domain impulse response.

[0067] Optionally, the window function is:

number

number

number

number

[0068] In this embodiment, the length of the first window for windowing can be set according to TOA estimation requirements, where Q can be half the length of the first window, and Q can be equal to 1. The windowing refers to searching for the impulse response in the corresponding time domain using a set window length, where the signal of the time domain sample value point within the window is kept, and the rest is set to zero, the advantage of this method is that it can reduce the noise and the related effects of multipath.

[0069] A windowing process is performed around the time-domain sample points of the first pass to obtain a plurality of target time-domain impulse responses located within a first window including the first pass, the target time-domain impulse response being a first time-domain impulse response located within the first window, and the time-domain sample points of the first time-domain impulse response corresponding to a first peak value in the first window that is greater than the first threshold are the time-domain sample points of the first pass.

[0070] Optionally, the first pass time domain sample points are calculated according to the following formula:

number

number

[0071] In this embodiment, according to the above formula, a first time-domain impulse response peak value that is greater than the first threshold can be obtained, and the time-domain sample value point corresponding to this peak value is the time-domain sample value point M of the first pass.

[0072] In this embodiment, after windowing the first time-domain impulse response, the time-domain impulse response in the first window may be shifted, i.e., only the time-domain impulse response in the first window may be moved toward a direction smaller than the current time-domain position to obtain a second time-domain impulse response.

[0073] It should be noted that for the first type of TOA estimation algorithm (such as the maximum likelihood time delay algorithm), the above windowing operation can be used, and for the second type of TOA estimation algorithm (such as the MUSIC algorithm), the above windowing step can be skipped. For example, when the maximum likelihood time delay algorithm is used to estimate TOA, the above windowing step can be performed to shift the target time domain impulse response located within the first window. If the MUSIC algorithm is used to estimate TOA, in order to avoid the noise subspace built by the feature value decomposition in the MUSIC calculation process from affecting the accuracy of time delay estimation, the windowing step can be ignored and all the first time domain impulse responses can be directly shifted. The advantage of the windowing process is that it can reduce the related effects of such noise and multipath.

[0074] Optionally, the position shift amount of the shifting operation is related to the first-pass time-domain sample points means that after the shifting operation is performed on the first time-domain impulse response, the first-pass time-domain sample points after the shifting operation are not negative. In this embodiment, since the position of the first-pass time-domain sample points is related to the dimension of a Vandermonde matrix that needs to be constructed during spectrum peak search, the first-pass time-domain sample points should not be negative after the shifting operation, so as to ensure the reduction of the complexity of the time delay estimation algorithm.

[0075] Optionally, the step of shifting the target time domain impulse response in the first window in a direction smaller than the time domain position of the target time domain impulse response may further include: determining the position movement amount to a first time length according to the time domain sample points of the first pass; and shifting all of the target time domain impulse responses in the first window by the first time length in a direction smaller than a time domain position of the target time domain impulse response to obtain the second time domain impulse response; Here, the time domain sample value points corresponding to the second time domain impulse response are non-negative.

[0076] Optionally, the step of shifting all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse response to obtain the second time domain impulse response includes: calculating the second time domain impulse response according to the following formula:

number

number

number

[0077] In this embodiment, when shifting the first time-domain impulse response, in order to avoid the influence of only one impulse response on the measurement value of the TOA estimation algorithm, all the time-domain impulse responses in one predetermined time-domain range may be shifted. For example, if windowing is performed when determining the time-domain sample value point of the first pass, all the first time-domain impulse responses in the first window (i.e., the target time-domain impulse response) may be shifted forward by a first time length in the time domain. It should be noted that each first time-domain impulse response in the first window is shifted forward by a first time length relative to its current time-domain position. If windowing is not performed, the time-domain range in which the shifting is performed may be the time-domain range corresponding to all the first time-domain impulse responses corresponding to the positioning signal, i.e., all the first time-domain impulse responses corresponding to the positioning signal may be shifted forward by a first time length in the time domain, and each first time-domain impulse response may be shifted by a first time length relative to its current time-domain position. The time domain range corresponding to the first time domain impulse response that needs shifting can be customized.

[0078] Optionally, the shift position shift amount is relative to the time-domain sample point of the first pass, i.e., the first time length is relative to the time-domain sample point of the first pass. In this embodiment, after the first time-domain impulse response is shifted by the first time length toward a direction smaller than the current time-domain position, the time-domain sample point of the first pass after shifting is not negative. In this embodiment, since the first time-domain impulse response is windowed before shifting, the first time length must satisfy that none of the second time-domain impulse responses obtained by shifting the target time-domain impulse response in the first window is negative.

[0079] The shifting process will be described below. Take the case where the first time domain impulse response is windowed as an example, as shown in Fig. 2 and Fig. 3, Fig. 2 is the first time domain impulse response in the first window before shifting, among which, the time domain sample value point M of the first path is the point (31, 1) shown in Fig. 2, Fig. 3 is a schematic diagram after all the first time domain impulse responses in the first window are shifted forward (i.e., toward a direction smaller than the time domain position of the first time domain impulse response in Fig. 2) by a first time length L, after shifting, a second time domain impulse response corresponding to the first time domain impulse response is obtained, and the time domain sample value point of the first path corresponding to the second time domain impulse response is ML, that is, the point (10, 1) shown in Fig. 3. The time domain sample value point ML of the first path after shifting is not a negative value.

[0080] The first time length is a configurable predefined parameter, which defines the time unit of one sample point as T S1 Then, the time domain sample value point (i.e., the spectrum peak) of the first pass shown in FIG. 2 is 10T forward in the time domain. S1 3. The parameter is configurable and is set to 10T S1 is one of the possible values, and can be set to 5T depending on the actual situation. S1 It should be noted that, considering the impact of the base station TA adjustment on the measurement algorithm, it is not recommended to move the time domain sample value point to the position where it is 0.

[0081] In this embodiment, the first time-domain impulse response is shifted in a direction smaller than the current time-domain position to obtain the second time-domain impulse response, so that the second time-domain impulse response is restored after the spectral peak search is performed during TOA estimation. The time-domain position of the peak value (i.e., the first pass) is advanced, and as a result, the dimension of the Vandermonde matrix that needs to be constructed during the spectral peak search is reduced, thereby reducing the complexity of the peak value search in the TOA measurement algorithm.

[0082] As an optional embodiment, performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of an arrival time delay, the method comprising: converting the second time-domain impulse response into a second frequency-domain impulse response; determining a pseudospectral function according to the second frequency-domain impulse response; and performing a spectral peak search on the pseudospectral function to obtain a spectral peak of the pseudospectral function, the spectral peak being a first estimate of the arrival time delay.

[0083] In this embodiment, the second time domain impulse response obtained after the shift is subjected to an FFT transformation to obtain a new frequency domain impulse response

number

[0084] It should be noted that when performing a spectral peak search on the pseudospectral function according to the second time-domain impulse response, the spectral peak obtained by the spectral peak search is an estimate corresponding to the time-domain sample point of the first pass in the second time-domain impulse response (i.e., the time-domain sample point after moving forward). For example, if a window function is used to perform windowing on the first time-domain impulse response, all the first time-domain impulse responses in the window corresponding to the windowing process are shifted forward, and a predetermined estimation algorithm (e.g., maximum likelihood time delay estimation algorithm) is used to process the frequency-domain impulse responses corresponding to all the second time-domain impulse responses after the shift, and a spectral peak search is performed to obtain the first estimate. If no windowing is performed when obtaining the time-domain sample point of the first pass, all the first time-domain impulse responses in the time domain may be shifted forward, and a predetermined estimation algorithm (e.g., MUSIC algorithm) may be used to process the frequency-domain impulse responses corresponding to all the second time-domain impulse responses after the shift, and a spectral peak search is performed to obtain the first estimate.

[0085] Below, the calculation method of TOA1 will be explained using the maximum likelihood estimation algorithm and the MUSIC algorithm as examples.

[0086] Example 1: If TOA estimation is performed using the MUSIC algorithm, performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response described above to obtain a first estimate of the arrival time delay TOA1 may include the following steps 31 to 34.

[0087] Step 31 is the estimation of the covariance matrix. In a practical situation, in the true channel frequency domain, the covariance matrix R of the frequency domain impulse response estimation vector is XX cannot be obtained directly and usually requires a new frequency domain impulse response estimate,

number

number

number

[0088] Step 32 is feature decomposition. After obtaining multiple sets of frequency domain impulse responses, the covariance matrix is ​​decomposed to obtain a signal feature matrix consisting of signal feature value vectors and a noise feature matrix consisting of noise feature vectors. The feature decomposition process is as follows:

number

number

number

number

[0089] Step 33 is the spectral peak search, and the pseudospectral function of the MUSIC time delay algorithm is defined as follows:

number

[0090] Step 34 makes it possible to determine the propagation time delay τ, ie TOA1, according to the maximum of the searched pseudospectral function.

[0091] Example 2: If the TOA estimation is performed using a maximum likelihood algorithm, performing a spectral peak search on the pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay TOA1 may include the following steps 41-42.

[0092] Step 41 is based on a maximum likelihood time delay estimation algorithm, where the likelihood function of τ is obtained as follows:

number

number

number

[0093] Step 42 performs a spectral peak search on the maximum likelihood function, and the algorithm time delay τ in the case of multipath time delay can be simplified as follows:

number

[0094] It should be noted that the above method of obtaining the first estimate of the arrival time delay by searching for the spectral peak is merely an example, and other algorithms may be used for the calculation, and are not limited thereto.

[0095] In one alternative embodiment, obtaining a second estimate of the arrival time delay according to the position shift amount and the first estimate as described above includes: Adding the amount of positional movement and the first estimate to obtain the second estimate, where the amount of positional movement and the first estimate have the same units.

[0096] In this embodiment, after obtaining the first estimate, the obtained first estimate can be restored using the position shift amount of the previous shift process to obtain a restored time delay estimate TOA2=TOA1+L, where L is the position shift amount.

[0097] It should be noted here that the position shift amount and the TOA can be added or subtracted only after the units are unified. For example, the basic units of TOA2 and TOA1 are both 1ns, and the unit of L is T. S1 After converting this to 1ns to obtain L1, it is possible to obtain the value of TOA2.

[0098] When the receiving end of the present disclosure receives a positioning signal, it uses the MUSIC algorithm or the maximum likelihood time delay estimation algorithm to process the frequency domain impulse response vector of the signal, and searches for the spectral peak of the pseudospectral function, thereby obtaining the corresponding peak value and the estimated initial value of time. Since the peak value is advanced, the dimension of the Vandermonde matrix is ​​greatly reduced. After the spectral peak search is completed, the time advance is added, and the estimated TOA value can be output, and then the time domain impulse response can be restored to its original position.

[0099] The embodiment of the present disclosure obtains the time domain sample point of the first path, moves the obtained first time domain impulse response toward a direction smaller than the current time domain position, and restores it after performing spectrum peak search in the TOA measurement algorithm, thereby reducing the complexity of searching the peak value in the TOA measurement algorithm. This method is applicable to both the user equipment (UE) positioning method based on the downlink reference signal and the UE positioning method based on the uplink reference signal, where the uplink and downlink flows are similar, and only the transmitting end and receiving end of the reference signal are different.

[0100] For the UE TOA measurement method of the downlink reference signal, both the MUSIC algorithm and the maximum likelihood time delay estimation algorithm are suitable, and both of them need to process the channel frequency domain response estimation vector and perform the pseudo-spectrum spectrum peak search operation. For the MUSIC algorithm, a full-rank covariance matrix needs to be built, and then the covariance matrix needs to be decomposed into signal subspace and noise subspace, and finally, a corresponding pseudo-spectrum function needs to be built to search for the spectrum peak value, and the searched spectrum peak value is the propagation time delay. Meanwhile, for the maximum likelihood-based time delay estimation algorithm, a corresponding likelihood function needs to be built, and then the spectrum peak search is performed, and then the time is restored to the correct value. Hereinafter, the low-complexity TOA measurement scheme is introduced by taking the MUSIC algorithm as an example.

[0101] First, the low-complexity TOA measurement scheme based on the MUSIC algorithm includes two schemes, one for downstream and one for upstream, which will be explained separately.

[0102] (1) Downlink: Take downlink as an example, when the MUSIC algorithm is used to estimate the TOA of the downlink reference signal, the flow of the positioning method using a low-complexity TOA measurement scheme is as shown in FIG.

[0103] Wherein, step 1: a transmitting end such as a base station (BS) configures to transmit a conventional PRS, and reports the configuration information of the PRS to a positioning server.

[0104] Step 2: The positioning server notifies the receiving end (UE) of the configuration information of the PRS.

[0105] Step 3: The transmitting end (BS) transmits the PRS according to the configuration information of the PRS.

[0106] Step 4: The receiving end (UE) receives the PRS according to the configuration information of the given PRS, and measures the frequency domain impulse response vector of the positioning signal.

[0107] Step 5: The receiving end processes the frequency domain impulse response, converts the frequency domain signal into a time domain signal by Inverse Fast Fourier Transform (IFFT), obtains a time domain sample value point corresponding to the first impulse response peak value greater than the first threshold, shifts all the time domain impulse responses forward in the time domain, and shifts the first impulse response peak value forward by 10T. S1 The parameter is configurable and can be moved within 10T. S1 is one of the possible values, and can be set to 5T depending on the actual situation. S1 or other values. After the shifting process, the time domain impulse response obtained after the shifting process is transformed into a frequency domain signal by Fast Fourier Transform (FFT).

[0108] Step 6: Process the frequency domain impulse response with the MUSIC algorithm, and find the spectral peak of the pseudospectrum with the pseudospectrum function of the MUSIC algorithm. For details, please refer to step 31 to step 34, and they will not be repeated here.

[0109] Step 7: After finding the spectral peak of the pseudospectrum, restore it with its previously shifted Ts value to get the estimated TOA measurement.

[0110] The receiving end reports the TOA measurement result to the positioning server, and the positioning server can traverse all locations and obtain and store the TOA measurement value sets of the reference signals of each base station corresponding to all locations. After receiving the measurement result, the positioning server determines the most probable location of the UE according to a predefined rule, and the location is regarded as the final result of positioning.

[0111] (II) Uplink: Taking uplink as an example, when the MUSIC algorithm is used to estimate the TOA of the downlink reference signal, the flow of the positioning method using a low-complexity TOA measurement scheme is as shown in FIG.

[0112] Wherein, step 1: the transmitting end (UE) configures to transmit an SRS signal, and reports the configuration information of the SRS to the positioning server.

[0113] Step 2: The positioning server notifies the receiving end (BS) of the configuration information of the SRS.

[0114] Step 3: The transmitting end (UE) transmits the SRS according to the configuration information of the SRS.

[0115] Step 4: The receiving end (BS) receives the SRS according to the configuration information of the given SRS, and measures the frequency domain impulse response vector of the positioning signal.

[0116] Step 5: The receiving end processes the frequency domain impulse response, converts the frequency domain signal into a time domain signal through IFFT transformation, obtains a time domain sample value point corresponding to the first impulse response peak value greater than the first threshold, shifts the impulse response in the time domain, and shifts the first impulse response peak value by 10T S1 The parameter is configurable and can be moved within 10T. S1 is one of the possible values, and can be set to 5T depending on the actual situation.S1 or other values, and then the time domain impulse response obtained after the shift is transformed into a frequency domain signal by FFT transformation.

[0117] Step 6: Process the frequency domain impulse response with the MUSIC algorithm, and find the spectral peak of the pseudospectrum with the pseudospectrum function of the MUSIC algorithm. For details, please refer to step 31 to step 34, and they will not be repeated here.

[0118] Step 7: After finding the spectral peak of the pseudospectrum, restore it with its previous shifted Ts value to get the estimated TOA measurement.

[0119] The receiving end reports the TOA measurement result to the positioning server, and the positioning server can traverse all locations and obtain and store the TOA measurement value sets of the reference signals of each base station corresponding to all locations. After receiving the measurement result, the positioning server determines the most probable location of the UE according to a predefined rule, and the location is regarded as the final result of positioning.

[0120] Second, the low-complexity TOA measurement scheme based on the maximum likelihood time delay estimation algorithm includes two schemes, upstream and downstream, each of which will be described.

[0121] (A) Take downlink as an example: when the maximum likelihood time delay estimation algorithm is used to estimate the TOA of the downlink reference signal, the flow of the positioning method with low complexity TOA measurement scheme is as shown in FIG.

[0122] Wherein, step a: the transmitting end (BS) configures to transmit a conventional PRS, and reports the configuration information of the PRS to the positioning server.

[0123] Step b: The positioning server notifies the receiving end (UE) of the configuration information of the PRS.

[0124] Step c: The transmitting end (BS) transmits the PRS according to the configuration information of the PRS.

[0125] Step d: The receiving end (UE) receives the PRS according to the configuration information of the given PRS, and measures the frequency domain impulse response vector of the positioning signal.

[0126] Step e: the receiving end processes the frequency domain impulse response, converts the frequency domain signal into a time domain signal through IFFT transformation, obtains a time domain sample point corresponding to the first impulse response peak value greater than the first threshold, and performs a windowing operation on all the time domain impulse responses according to the time domain sample point corresponding to the first impulse response peak value, and shifts the time domain impulse responses in the window forward in the time domain (i.e., moves them toward a direction smaller than the current time domain position), to obtain 10T. S1 The parameter is configurable and can be moved within 10T. S1 is one of the possible values, and can be set to 5T depending on the actual situation. S1 or other values, and then the shifted time domain impulse response is transformed into a frequency domain signal by FFT transformation.

[0127] Step f: The receiving end processes the frequency domain impulse response with the maximum likelihood time delay estimation algorithm, and performs a spectral peak search with the likelihood function of τ of the maximum likelihood time delay estimation algorithm to find the spectral peak of the pseudospectrum; please refer to steps 41 to 42 and will not be repeated here.

[0128] Step g: After finding the spectral peak of the pseudospectrum, restore it with its previously shifted Ts value to get the estimated TOA value.

[0129] The receiving end reports the TOA measurement result to the positioning server, and the positioning server can traverse all locations and obtain and store the TOA measurement value sets of the reference signals of each base station corresponding to all locations. After receiving the measurement result, the positioning server determines the most probable location of the UE according to a predefined rule, and the location is regarded as the final result of positioning.

[0130] (B) Uplink: Taking uplink as an example, when the maximum likelihood time delay estimation algorithm is used to estimate the TOA of the downlink reference signal, the flow of the positioning method with a low-complexity TOA measurement scheme is as shown in FIG.

[0131] Wherein, step a: the transmitting end (UE) configures to transmit an SRS signal, and reports the configuration information of the SRS to the positioning server.

[0132] Step b: The positioning server notifies the receiving end (BS) of the configuration information of the SRS.

[0133] Step c: The transmitting end (UE) transmits the SRS according to the configuration information of the SRS.

[0134] Step d: The receiving end (BS) receives the SRS according to the configuration information of the given SRS, and measures the frequency domain impulse response vector of the positioning signal.

[0135] Step e: the receiving end processes the frequency domain impulse response, converts the frequency domain signal into a time domain signal through IFFT transformation, obtains a time domain sample point corresponding to the first impulse response peak value greater than the first threshold, and performs a windowing operation on all the time domain impulse responses according to the time domain sample point corresponding to the first impulse response peak value, and shifts the time domain impulse responses in the window forward in the time domain (i.e., moves them toward a direction smaller than the current time domain position), to obtain 10T. S1 The parameter is configurable and can be moved within 10T. S1 is one of the possible values, and can be set to 5T depending on the actual situation. S1 or other values, and then the shifted time domain impulse response is transformed into a frequency domain signal by FFT transformation.

[0136] Step f: The receiving end processes the frequency domain impulse response with the maximum likelihood time delay estimation algorithm, and performs a spectral peak search with the likelihood function of τ of the maximum likelihood time delay estimation algorithm to find the spectral peak of the pseudospectrum; please refer to steps 41 to 42 and will not be repeated here.

[0137] Step g: After finding the spectral peak of the pseudospectrum, restore it with its previously shifted Ts value to get the estimated TOA value.

[0138] The receiving end reports the TOA measurement result to the positioning server, and the positioning server can traverse all locations and obtain and store the TOA measurement value sets of the reference signals of each base station corresponding to all locations. After receiving the measurement result, the positioning server determines the most probable location of the UE according to a predefined rule, and the location is regarded as the final result of positioning.

[0139] The embodiment of the present disclosure first performs IFFT transformation on the frequency domain impulse response vector of the received signal to convert it into a time domain signal, then obtains a time domain sample value point corresponding to the first peak value impulse response in the time domain, moves the obtained time domain impulse response forward, and then performs a spectrum peak search in the positioning algorithm, and then restores the obtained spectrum peak, thereby reducing the complexity of the peak value search of the TOA measurement algorithm.Compared to the algorithm in the related art, both the MUSIC and maximum likelihood time delay estimation algorithms in the related art need to process the frequency domain response vector to obtain the corresponding time delay estimation value, and the dimension of the Vandermonde matrix constructed in the algorithm is high, the space complexity of the algorithm itself is high, and the time required for the pseudo peak spectrum peak search is long, resulting in both the time complexity and space complexity of the algorithm being high.In order to further reduce the algorithm complexity in such spectrum peak search, the embodiment of the present disclosure moves the peak value forward, thereby further reducing the dimension of the Vandermonde matrix constructed in such peak value search, thereby shortening the corresponding search time, and reducing both the time complexity and space complexity of the corresponding algorithm. Moreover, if a window is used to perform time domain windowing, no modification to the window is required after finding the appropriate impulse response in the window.

[0140] According to the embodiment of the present disclosure, after receiving a positioning signal, the receiving end obtains a first time-domain impulse response of the positioning signal, obtains a time-domain sample point of a first path from the first time-domain impulse response, and shifts the first time-domain impulse response according to the time-domain sample point to obtain a second time-domain impulse response. When performing TOA estimation, the second time-domain impulse response is used to search for a spectral peak and then the obtained estimated value is restored. Since the first time-domain impulse response is shifted, the dimension of the Vandermonde matrix is ​​greatly reduced and the complexity of the calculation process is reduced. After the spectral peak search is completed, a back-off calculation is performed according to the position movement amount, and a final estimated TOA value is output, which can effectively reduce the complexity of peak value search in the TOA measurement algorithm.

[0141] The above embodiment introduces the method for estimating arrival time delay of the present disclosure. Hereinafter, the corresponding device will be further described in the present embodiment with reference to the drawings.

[0142] Specifically, as shown in FIG. 8, an embodiment of the present disclosure is an arrival time delay estimation device, which includes: A first acquisition unit 810 for acquiring a first time-domain impulse response according to the positioning signal; a second acquisition unit 820 for acquiring a first-pass time-domain sample point from the first time-domain impulse response, the first sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; a first processing unit 830 for shifting the first time-domain impulse response to obtain a second time-domain impulse response, where the shifting amount is related to the time-domain sample point of the first pass; a second processing unit 840 for performing a spectral peak search on the pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay; and a third obtaining unit 850 for obtaining a second estimate of the arrival time delay according to the position shift and the first estimate.

[0143] Optionally, the shift processing of the first time domain impulse response to obtain a second time domain impulse response may include: The method includes shifting the first time domain impulse response in a direction smaller than the time domain position of the first time domain impulse response to obtain the second time domain impulse response.

[0144] Optionally, the first time domain impulse response is a first time domain impulse response after a maximum-based normalization process.

[0145] Optionally, the first acquisition unit comprises: a first acquisition subunit for acquiring a first frequency domain impulse response of the positioning signal; a first transformation subunit for transforming the first frequency domain impulse response to the first time domain impulse response.

[0146] Optionally, the position shift amount of the shifting operation is related to the time-domain sample point of the first pass means that after the shifting operation is performed on the first time-domain impulse response, the time-domain sample point of the first pass after the shifting operation is not negative.

[0147] Optionally, the first processing unit comprises: a first processing subunit for performing windowing processing on the first time-domain impulse response with a window function according to the time-domain sample points of the first pass to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; and a second processing subunit for shifting the target time domain impulse response in the first window in a direction smaller than a time domain position of the target time domain impulse response to obtain the second time domain impulse response.

[0148] Optionally, the window function is:

number

number

number

[0149] Optionally, the first pass time domain sample points are calculated according to the following formula:

number

number

[0150] Optionally, the second processing subunit specifically comprises: determining the position movement amount as a first time length according to the time domain sample points of the first pass; shifting all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse responses to obtain the second time domain impulse response; Here, the time domain sample value points corresponding to the second time domain impulse response are non-negative.

[0151] Optionally, the second processing subunit specifically comprises: and calculating the second time domain impulse response according to the following formula:

number

number

number

[0152] Optionally, the second processing unit comprises: a second transformation subunit for transforming the second time domain impulse response into a second frequency domain impulse response; a first determination subunit for determining a pseudospectral function according to the second frequency domain impulse response; and a third processing subunit for performing a spectral peak search on the pseudospectral function to obtain a spectral peak of the pseudospectral function whose value is a first estimate of the arrival time delay.

[0153] Optionally, the third acquisition unit is specifically for adding the position movement amount and the first estimated value to obtain the second estimated value; Here, the position movement amount and the first estimated value have the same unit.

[0154] According to an embodiment of the present disclosure, a first time-domain impulse response of a positioning signal is obtained, a time-domain sample point of a first path is obtained from the first time-domain impulse response, and the first time-domain impulse response is shifted according to the time-domain sample point to obtain a second time-domain impulse response. When performing TOA estimation, the second time-domain impulse response is used to search for a spectral peak, and then the obtained estimated value is restored. Since the first time-domain impulse response is shifted, the dimension of the Vandermonde matrix is ​​greatly reduced, and the complexity of the calculation process is reduced. After the spectral peak search is completed, a back-off calculation is performed according to the position movement amount, and a final estimated TOA value is output. This effectively reduces the complexity of peak value search in the TOA measurement algorithm.

[0155] It should be noted here that the above-mentioned apparatus according to the embodiment of the present disclosure can realize all the method steps realized by the above-mentioned method embodiment and can achieve the same technical effects, but here the same parts and beneficial effects as those of the method embodiment in this embodiment will not be described in detail again.

[0156] It should be noted that the division into units in the embodiments of the present disclosure is merely schematic and is a division into logical functions, and other division methods may be used in actual implementation. In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated units may be implemented in the form of hardware or software functional units.

[0157] The integrated unit may be implemented in the form of a software functional unit and stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essential part of the technical proposal of the present disclosure, or the part that contributes to the related art, or all or a part of the technical proposal, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes some instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or a part of the steps in the method according to each embodiment of the present disclosure. The above storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0158] As shown in FIG. 9 , an embodiment of the present disclosure further provides a communication device, which may be a terminal or a network side device, and includes: a memory 920, a transceiver 900, and a processor 910; The memory 920 is for storing a computer program, and the transceiver 900 is for transmitting and receiving data under the control of the processor, and the processor 910 reads the computer program in the memory and obtaining a first time domain impulse response according to the positioning signal; obtaining a first-pass time-domain sample point from the first time-domain impulse response, the first pass time-domain sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; a shift operation of the first time-domain impulse response to obtain a second time-domain impulse response, in which a position shift amount of the shift operation is related to a time-domain sample value point of the first pass; performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay; and obtaining a second estimate of the time of arrival delay according to the position shift and the first estimate.

[0159] Optionally, the processor reads the computer program in the memory to: The first time domain impulse response is shifted in a direction smaller than the time domain position of the first time domain impulse response to obtain the second time domain impulse response.

[0160] Optionally, the first time domain impulse response is a first time domain impulse response after a maximum-based normalization process.

[0161] Optionally, the processor reads the computer program in the memory to: obtaining a first frequency domain impulse response of the positioning signal; and converting the first frequency domain impulse response to the first time domain impulse response.

[0162] Optionally, the position shift amount of the shifting operation is related to the time-domain sample point of the first pass means that after the shifting operation is performed on the first time-domain impulse response, the time-domain sample point of the first pass after the shifting operation is not negative.

[0163] Optionally, the processor reads the computer program in the memory to: According to the time-domain sample points of the first pass, windowing the first time-domain impulse response with a window function to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; and shifting the target time domain impulse response in the first window in a direction smaller than the time domain position of the target time domain impulse response to obtain the second time domain impulse response.

[0164] Optionally, the processor is adapted to read a computer program in the memory to perform the following operations: The window function is as follows:

number

number

number

[0165] Optionally, the first pass time domain sample points are calculated according to the following formula:

number

number

[0166] Optionally, the processor reads the computer program in the memory to: determining the position movement amount as a first time length according to the time domain sample points of the first pass; and moving all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse responses to obtain the second time domain impulse response. Here, the time domain sample value points corresponding to the second time domain impulse response are non-negative.

[0167] Optionally, the processor reads the computer program in the memory to: to perform the operation of calculating the second time domain impulse response according to the following formula:

number

number

number

[0168] Optionally, the processor reads the computer program in the memory to: transforming the second time domain impulse response into a second frequency domain impulse response; determining a pseudospectral function according to the second frequency domain impulse response; and performing a spectral peak search on the pseudospectral function to obtain a spectral peak of the pseudospectral function whose value is a first estimate of the arrival time delay.

[0169] Optionally, the processor reads the computer program in the memory to: and executing an operation of adding the position movement amount and the first estimate value to obtain the second estimate value; Here, the position movement amount and the first estimated value have the same unit.

[0170] According to the embodiment of the present disclosure, after receiving a positioning signal, the receiving end obtains a first time-domain impulse response of the positioning signal, obtains a time-domain sample point of a first path from the first time-domain impulse response, and shifts the first time-domain impulse response according to the time-domain sample point to obtain a second time-domain impulse response. When performing TOA estimation, the second time-domain impulse response is used to search for a spectral peak and then the obtained estimated value is restored. Since the first time-domain impulse response is shifted, the dimension of the Vandermonde matrix is ​​greatly reduced and the complexity of the calculation process is reduced. After the spectral peak search is completed, a back-off calculation is performed according to the position movement amount, and a final estimated TOA value is output, which can effectively reduce the complexity of peak value search in the TOA measurement algorithm.

[0171] In FIG. 9, the bus architecture may include any number of interconnected buses and bridges, specifically connecting various circuits between one or more processors, such as processor 910, and memory, such as memory 920. The bus architecture may also connect various other circuits, such as peripherals, voltage regulators, and power management circuits, which are known in the art and will not be described further herein. The bus interface provides an interface. The transceiver 900 may be multiple elements, i.e., includes a transmitter and a receiver, and provides a means for communicating with various other devices over a transmission medium. The processor 910 is responsible for managing the bus architecture and general processing, and the memory 920 may store data used by the processor 910 in performing operations.

[0172] The processor 910 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or a Complex Programmable Logic Device (CPLD), and the processor may employ a multi-core architecture.

[0173] It should be noted here that the communication device according to the embodiment of the present disclosure can realize all the method steps realized by the above method embodiment and can achieve the same technical effects, but here the same parts and beneficial effects as those of the method embodiment in this embodiment will not be described in detail again.

[0174] In addition, a specific embodiment of the present disclosure further provides a processor-readable storage medium storing a computer program, which, when executed by a processor, realizes the steps of the above-mentioned method for estimating arrival time delay, and can achieve the same technical effects, which will not be repeated here to avoid duplication. Among them, the readable storage medium may be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic storage devices (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage devices (e.g., optical disks (Compact Disks, CDs), digital video disks (Digital Versatile Discs, DVDs), Blu-ray (registered trademark) Discs (BDs), holographic versatile disks (High-Definition Versatile Discs, HVDs), etc.), and semiconductor storage devices (e.g., ROMs, erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), non-volatile memories (NAND FLASHs), solid state drives (Solid State Disks or Solid State Drives, SSDs)), etc.

[0175] It is understood by those skilled in the art that the embodiments of the present disclosure may be provided as a method, a system, or a computer program product. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product embodied in one or more computer usable storage mediums (including, but not limited to, magnetic disk memories, optical memories, etc.) that contain computer usable program code.

[0176] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to form a machine, and the instructions executed by the processor of the computer or other programmable data processing device form an apparatus for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0177] These computer-executable instructions may be stored in a computer-readable memory that can cause a computer or other programmable data processing device to operate in a particular manner, with the instructions stored in the computer-readable memory forming an article of manufacture that includes an instruction apparatus that implements the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0178] These computer-executable instructions may be loaded into a computer or other programmable data processing device and cause the computer or other programmable data processing device to perform a series of operational steps to form a computer-implemented process, the instructions executing on the computer or other programmable data processing device providing steps for implementing the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0179] It should be understood that the division of the modules described above is merely a division of logical functions, and that in actual implementation, all or some of the modules may be integrated into one physical entity or may be physically separated. These modules may all be implemented by a processing element calling software, or may all be implemented by hardware, or some of the modules may be implemented by a processing element calling software, while other modules may be implemented by hardware. For example, the determination module may be an independently provided processing element, or may be integrated into a chip of the device. Furthermore, the determination module may be stored in the memory of the device in the form of program code, and may be called by a processing element of the device to execute the function of the determination module. The implementation of the other modules is similar to that of the determination module. Moreover, these modules may all or some be integrated, or may be implemented separately. The processing element described in this specification may be an integrated circuit having a signal processing capability. In implementation, each step of the method or each module may be implemented by using integrated logic circuits of hardware in a processor element, or by using instructions in the form of software.

[0180] For example, each module, unit, sub-unit, or sub-module may be configured as one or more integrated circuits implementing the above method, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors (digital signal processors (DSPs)), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a certain module is implemented in a form in which a processing element calls a program code, the processing element may be a general-purpose processor such as a Central Processing Unit (CPU) or another processor capable of calling a program code. As a further example, these modules may be integrated together or implemented in the form of a system-on-a-chip (SOC).

[0181] The terms "first," "second," and the like in the present disclosure and claims are used to distinguish between similar objects and are not necessarily used to describe a particular order or sequence. It is understood that the data so used are interchangeable under appropriate circumstances, whereby the embodiments of the present disclosure described herein can be performed in an order other than that shown or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover a non-exclusive inclusion, e.g., a procedure, method, system, product, or apparatus that includes a series of steps or units is not limited to including only those steps or units that are expressly recited, but may include other steps or units that are not expressly recited, or that are inherent to the procedure, method, product, or apparatus. Incidentally, "and / or" used in the specification and claims indicates at least one of the connected objects, for example, "A and / or B and / or C" includes seven cases, namely, only A is present, only B is present, only C is present, both A and B are present, both B and C are present, both A and C are present, and all of A, B, and C are present. Similarly, "at least one of A and B" used in the specification and claims should be understood as "only A is present, only B is present, or both A and B are present."

[0182] Obviously, those skilled in the art can make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. If these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and the scope of equivalent techniques, the present disclosure also includes these modifications and variations.

Claims

1. 1. A method for estimating a time of arrival delay, comprising the steps of: Obtaining a first time domain impulse response according to the positioning signal; obtaining a first-pass time-domain sample point from the first time-domain impulse response, the first pass time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; Shifting the first time-domain impulse response to obtain a second time-domain impulse response, where the shifting amount is related to the time-domain sample point of the first pass; performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of a time delay of arrival; obtaining a second estimate of the arrival time delay according to the position shift and the first estimate.

2. Shifting the first time domain impulse response to obtain a second time domain impulse response includes:

2. The method of claim 1, comprising shifting the first time domain impulse response in a direction smaller than a time domain position of the first time domain impulse response to obtain the second time domain impulse response.

3. The method of claim 1 , wherein the first time-domain impulse response is a first time-domain impulse response after a maximum-based normalization process.

4. Obtaining a first time domain impulse response according to the positioning signal includes: Obtaining a first frequency domain impulse response of a positioning signal; and transforming the first frequency domain impulse response to the first time domain impulse response.

5. 2. The method of claim 1, wherein the position shift amount of the shifting operation is related to the time-domain sample point of the first pass means that after performing the shifting operation on the first time-domain impulse response, the time-domain sample point of the first pass after the shifting operation is not negative.

6. Shifting the first time domain impulse response to obtain a second time domain impulse response includes: According to the time-domain sample points of the first pass, windowing the first time-domain impulse response with a window function to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; 2. The method of claim 1, further comprising: shifting the target time domain impulse response in the first window toward a time domain position smaller than that of the target time domain impulse response to obtain the second time domain impulse response.

7. The window function is as follows: [0010] Where: [0025] represents the first time-domain impulse response after normalization corresponding to the nth sample point, [0030] 7. The method of claim 6, wherein n represents a target time domain impulse response corresponding to the nth windowed sample point, M represents the time domain sample points of the first pass, and Q represents a predetermined value for the length of the first window.

8. The time domain sample points of the first pass are calculated according to the following formula: [0045] Here, P ｔｈ represents a first threshold of the first time-domain impulse response, M is the time-domain sample point of the first pass, [0050] The method of claim 1 or 6, wherein x represents the first time-domain impulse response after normalization corresponding to the nth sample point.

9. Shifting the target time domain impulse response in the first window in a direction smaller than the time domain position of the target time domain impulse response may include: determining the position movement amount to a first time length according to the time domain sample points of the first pass; and shifting all of the target time domain impulse responses in the first window by the first time length in a direction smaller than a time domain position of the target time domain impulse response to obtain the second time domain impulse response; 7. The method of claim 6, wherein the time domain sample points corresponding to the second time domain impulse response are non-negative.

10. Shifting all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse responses to obtain the second time domain impulse response, calculating the second time domain impulse response according to the following formula: [006] Where: [0070] represents all the target time domain impulse responses in the first window, M represents the time domain sample points of the first path, and i represents the other time domain sample points in the first window except for the time domain sample points of the first path; [0080] 10. The method of claim 9, wherein: ∇x represents the second time domain impulse response, L represents the first time length, and Q represents a predetermined value of the length of the first window.

11. performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of an arrival time delay; transforming the second time domain impulse response to a second frequency domain impulse response; determining a pseudospectral function according to the second frequency domain impulse response; 2. The method of claim 1, further comprising performing a spectral peak search on the pseudospectral function to obtain a spectral peak of the pseudospectral function whose value is a first estimate of the time delay of arrival.

12. A communication device including a memory, a transceiver, and a processor, The memory is for storing a computer program, and the transceiver is for transmitting and receiving data under the control of the processor, and the processor reads the computer program in the memory and obtaining a first time domain impulse response according to the positioning signal; obtaining a first-pass time-domain sample point from the first time-domain impulse response, the first pass time-domain sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; a shift operation of the first time-domain impulse response to obtain a second time-domain impulse response, in which a position shift amount of the shift operation is related to a time-domain sample value point of the first pass; performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of the arrival time delay; and obtaining a second estimate of the time of arrival delay according to the position shift and the first estimate.

13. The processor reads the computer program in the memory and 13. The communication device of claim 12, further comprising: a first time domain impulse response shifting step for shifting the first time domain impulse response in a direction smaller than a time domain position of the first time domain impulse response to obtain the second time domain impulse response.

14. The communication device of claim 12 , wherein the first time-domain impulse response is a first time-domain impulse response after a maximum-based normalization process.

15. The processor reads the computer program in the memory and obtaining a first frequency domain impulse response of the positioning signal; Transforming the first frequency domain impulse response into the first time domain impulse response.

16. 13. The communication device of claim 12, wherein the position shift amount of the shifting process is related to the time-domain sample point of the first path means that after the shifting process is performed on the first time-domain impulse response, the time-domain sample point of the first path after the shifting process is not a negative value.

17. The processor reads the computer program in the memory and According to the time-domain sample points of the first pass, windowing the first time-domain impulse response with a window function to obtain at least one target time-domain impulse response located within a first window, the at least one target time-domain impulse response including a time-domain impulse response corresponding to the time-domain sample points of the first pass; and shifting the target time domain impulse response in the first window toward a time domain position smaller than that of the target time domain impulse response to obtain the second time domain impulse response.

18. The window function is as follows: [0090] Where: [0010] represents the first time-domain impulse response after normalization corresponding to the nth sample point, ##EQU00011## 20. The communication device of claim 17, wherein n represents a target time domain impulse response corresponding to the nth windowed sample point, M represents a time domain sample point of the first pass, and Q represents a predetermined value of the length of the first window.

19. The time domain sample points of the first pass are calculated according to the following formula: ##EQU00012## Here, P ｔｈ represents a first threshold of the first time-domain impulse response, M is the time-domain sample point of the first pass, ##EQU00013## 18. The communication device of claim 12 or 17, wherein: t denotes the first time domain impulse response after normalization corresponding to the nth sample point.

20. The processor reads the computer program in the memory and determining the position movement amount as a first time length according to the time domain sample points of the first pass; and moving all the target time domain impulse responses in the first window by the first time length in a direction smaller than the time domain position of the target time domain impulse responses to obtain the second time domain impulse response.

20. The communications device of claim 17, wherein the time domain sample value points corresponding to the second time domain impulse response are non-negative.

21. The processor reads the computer program in the memory and to perform an operation of calculating the second time domain impulse response according to the following formula: ##EQU00014## Where: ##EQU00015## represents all the target time domain impulse responses in the first window, M represents the time domain sample points of the first path, and i represents the other time domain sample points in the first window except for the time domain sample points of the first path; ##EQU00016## 21. The communications device of claim 20, wherein: ? represents the second time domain impulse response; L represents the first time length; and Q represents a predetermined value of the length of the first window.

22. An apparatus for estimating a time delay of arrival, comprising: A first acquisition unit acquires a first time domain impulse response according to the positioning signal; a second acquisition unit for acquiring a first-pass time-domain sample point from the first time-domain impulse response, the first sample point being a time-domain sample point corresponding to a first impulse response peak value greater than a first threshold; a first processing unit for shifting the first time-domain impulse response to obtain a second time-domain impulse response, in which a position shift amount of the shifting is related to a time-domain sample point of the first pass; a second processing unit for performing a spectral peak search on a pseudospectral function according to the second time-domain impulse response to obtain a first estimate of a time delay of arrival; and a third obtaining unit for obtaining a second estimate of the arrival time delay according to the position shift and the first estimate.

23. A processor-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for estimating arrival time delay according to any one of claims 1 to 11.

Images