Positioning method, communication device, and storage medium

Abstract

A positioning method, a communication device, and a storage medium. The positioning method comprises: acquiring N pieces of measurement information, the N pieces of measurement information being obtained by M nodes performing sensing detection on a target object, M being less than or equal to 3, and N being greater than or equal to 3; and on the basis of the N pieces of measurement information, determining the position of the target object.

Description

Positioning method, communication device, and storage medium

[0001] This disclosure claims priority to Chinese patent application No. 202410035850.9, filed on January 9, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of communication technology, and in particular to a positioning method, a communication device, and a storage medium. Background Art

[0003] Three-point positioning is a common method for sensing and locating target objects in dual-base mode. Time of Arrival (TOA) positioning is based on radio wave propagation time. When the target object has no communication capability and the system only has one measurement indicator (such as delay information), in order to complete the target positioning function in dual-base mode, at least four nodes need to be coordinated to participate in positioning. One base station transmits a sensing signal, and three terminals with known location information measure the air interface delay. The coordinate value of the target is solved according to the three-point positioning principle to achieve positioning.

[0004] Summary of the Invention

[0005] In one aspect, a positioning method is provided. The positioning method includes: obtaining N measurement information; the N measurement information is obtained by M nodes sensing and detecting a target object; M is less than or equal to 3; N is greater than or equal to 3;

[0006] Based on the N pieces of measurement information, the position of the target object is determined.

[0007] In another aspect, a communication device is provided, which includes an acquisition module and a determination module.

[0008] The acquisition module is used to obtain N measurement information; the N measurement information is obtained by M nodes sensing and detecting the target object; M is less than or equal to 3; N is greater than or equal to 3;

[0009] The determination module is used to determine the position of the target object based on N pieces of measurement information.

[0010] In yet another aspect, a communication device is provided, comprising: a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions so that the communication device performs the positioning method described in any one of the above aspects.

[0011] In another aspect, a computer-readable storage medium is provided, wherein computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the positioning method described in any one of the above aspects is implemented.

[0012] In another aspect, a computer program product is provided, which includes computer program instructions, and when the computer program instructions are executed by a processor, the positioning method according to any one of the above aspects is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] To more clearly illustrate the technical solutions of the present disclosure, the following briefly introduces the drawings required for use in some embodiments of the present disclosure. Obviously, the drawings described below are only drawings of some embodiments of the present disclosure, and those skilled in the art can also derive other drawings based on these drawings.

[0014] FIG1 is a schematic diagram of the architecture of a communication system according to some embodiments of the present disclosure.

[0015] FIG2 is a flowchart of a positioning method according to some embodiments of the present disclosure.

[0016] FIG3 is a schematic diagram of multi-node positioning according to some embodiments of the present disclosure.

[0017] FIG4 is a schematic diagram of another multi-node positioning according to some embodiments of the present disclosure.

[0018] FIG5 is a schematic diagram of yet another multi-node positioning according to some embodiments of the present disclosure.

[0019] FIG6 is a schematic diagram of yet another multi-node positioning according to some embodiments of the present disclosure.

[0020] FIG7 is a schematic diagram of yet another multi-node positioning according to some embodiments of the present disclosure.

[0021] FIG8 is a schematic diagram of yet another multi-node positioning according to some embodiments of the present disclosure.

[0022] FIG9 is a schematic diagram of yet another multi-node positioning according to some embodiments of the present disclosure.

[0023] FIG10 is a schematic diagram of yet another multi-node positioning according to some embodiments of the present disclosure.

[0024] FIG11 is a schematic structural diagram of a communication device according to some embodiments of the present disclosure.

[0025] FIG12 is a schematic diagram illustrating the structure of a communication device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0026] To help those skilled in the art better understand the technical solutions of the embodiments of the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the drawings in the present disclosure. Obviously, the embodiments described are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0027] It should be noted that in this disclosure, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this disclosure as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0028] In the following, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Therefore, a feature defined with the terms "first," "second," etc., may explicitly or implicitly include one or more of such features.

[0029] In the description of this disclosure, unless otherwise specified, " / " means "or." For example, A / B can mean A or B. "And / or" herein is merely a description of an association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: only A, only B, and both A and B. Furthermore, "at least one" means one or more, and "a plurality" means two or more.

[0030] Current three-point positioning schemes require the coordination of at least four nodes. One base station transmits a sensing signal, while three terminals with known location information measure air interface latency. The coordinates of the target object are then determined based on the three-point positioning principle. This scheme requires the coordination of multiple nodes of the same type for sensing, making node scheduling more difficult. This can lead to challenges in commercial deployment, resource coordination, privacy rights acquisition, and construction costs, limiting the use of this positioning solution.

[0031] At present, in order to solve the problem of difficulty in coordinating sensing nodes of the same type, some technologies simply combine the six basic sensing modes (base station transmits and terminal receives, terminal transmits and base station receives, terminal transmits and receives automatically, base station transmits and receives automatically, terminal-A transmits and terminal-B receives, base station A transmits and base station B receives). This is still a mixture of sensing modes between fixed nodes. The measurement information obtained in this solution can only meet the basic positioning requirements, and no additional measurement information can be obtained to further calibrate the positioning results. There may be a problem of low positioning accuracy. For the scheduling problem caused by multiple nodes belonging to the same type of equipment, it is necessary to consider solving it from two aspects. On the one hand, the total number of nodes deployed in the system is reduced, and on the other hand, the type of receiving node is adjusted. The present disclosure makes full use of the mobile characteristics of the terminal to reduce the total number of nodes required in the system for positioning. When there are multiple transmitting nodes in the system, the delay information from each node to the target object is measurable through the cooperation of different types of transceiver links. In the end, only 2 or 3 nodes need to be coordinated to achieve the positioning effect of 4 nodes in the traditional method.

[0032] Measures to reduce the total number of nodes deployed in the system include at least one of the following: (1) Mixed use of the two link modes of A-transmit A-receive and A-transmit B-receive. One A-transmit A-receive link can replace one A-transmit B-receive link, thereby saving one node for sensing. (2) Mixed use of fixed nodes (e.g., base stations) and mobile nodes (e.g., terminals). One mobile node that participates in sensing using a time-division mechanism can replace two or more fixed nodes, thereby reducing the total number of nodes deployed in the system.

[0033] The main approach to adjusting receiving node types is to mix nodes of different types (e.g., base stations and terminals). When there are a large number of type A nodes, a type B node can be used to replace a type A node. This reduces the number of nodes of the same type while maintaining the total number of nodes, facilitating scheduling.

[0034] Based on this, the embodiments of the present disclosure provide a positioning method that, by leveraging the mobility of terminals, uses three or fewer nodes to obtain at least three measurement information obtained by the nodes' perception and detection of a target object, thereby determining the target object's position based on the principle of three-point positioning. Compared to conventional three-point positioning solutions that require the coordination of at least four nodes, this method can effectively reduce the number of nodes involved in perception while ensuring positioning effectiveness, thereby reducing the difficulty of commercial deployment, coordination, privacy rights acquisition, construction costs, and other aspects, helping to expand the use scenarios of positioning methods.

[0035] The network architecture of the communication network (including but not limited to 3G, 4G, 5G and future mobile communication networks) in the embodiments of the present disclosure may include a transmitting end (for example, including but not limited to a terminal, a base station) and a receiving end (for example, including but not limited to a terminal, a base station). The transmitting end is used to send a sensing signal to sense and detect a target object, and the receiving end is used to receive an echo signal reflected by the target object in response to the sensing signal and measure it.

[0036] For example, taking the base station as the transmitter of the interaural signal, Figure 1 shows a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure. As shown in Figure 1, the communication system 10 includes a base station 11 and a terminal 12. The base station 11 and the terminal 12 can be communicatively connected.

[0037] In some embodiments, base station 11 is configured to provide wireless access services to multiple terminals 12. Specifically, a base station 11 provides a service coverage area (also referred to as a cell). Terminals 12 that enter this area can communicate with base station 11 via wireless signals, thereby receiving the wireless access services provided by base station 11. The service coverage areas of base stations 11 may overlap, and terminals 12 within the overlapping areas can receive wireless signals from multiple base stations 11.

[0038] In some embodiments, the base station 11 may be configured to send a sensing signal, receive the signal reflected by the target object, perform sensing processing, and obtain sensing information.

[0039] In some embodiments, the terminal 12 may also be used to send a perception signal, receive the signal reflected by the target object, and perform perception processing to obtain perception information.

[0040] In some embodiments, base station 11 can connect to multiple terminals 12. For example, base station 11 connects terminal 12 to terminal 12. Terminal 12 and terminal 12 can be located in the same cell, or in different cells. That is, one base station 11 can provide network services to terminal 12 in one cell, or to terminals 12 in multiple cells simultaneously.

[0041] In some embodiments, the base station 11 can be a base station or an evolved base station (eNB or eNodeB) in long term evolution (LTE), long term evolution advanced (LTEA), a base station in a 5G network, or a base station in a future communication system, etc. The base station can include various macro base stations, micro base stations, home base stations, wireless remote devices, reconfigurable intelligent surfaces (RISs), routers, wireless fidelity (WIFI) devices, or various network side devices such as primary cells and collaborative cells (secondary cells).

[0042] In some embodiments, the terminal 12 may be a device with wireless transceiver capabilities, which may be deployed on land, including indoors or outdoors, handheld, wearable, or vehicle-mounted; may also be deployed on water (e.g., ships); or may be deployed in the air (e.g., airplanes, balloons, and satellites). The terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical care, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, and the like. The embodiments of the present disclosure do not limit the application scenarios. The terminal may sometimes also be referred to as a user, user equipment (UE), access terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal, mobile device, UE terminal, wireless communication equipment, UE agent or UE device, etc., but the embodiments of the present disclosure are not limited to this.

[0043] It should be understood that Figure 1 is an exemplary structural diagram, and the total number of devices included in the communication system shown in Figure 1 in the embodiments of the present disclosure should be less than or equal to three, for example, three terminals, one terminal and two base stations, etc. Furthermore, in addition to the devices shown in Figure 1, the communication system shown in Figure 1 may also include other devices, which is not limited to this.

[0044] Figure 2 is a flow chart of a positioning method provided by an embodiment of the present disclosure. For example, the positioning method provided by the present disclosure can be applied to the network architecture shown in Figure 1 and further applied to a positioning device, which can be any node in Figure 1 or a perception server (not shown) connected to a base station and a terminal.

[0045] As shown in FIG. 2 , the positioning method provided by the present disclosure may include the following S201 - S202 .

[0046] S201: Obtain N pieces of measurement information.

[0047] N measurement information is obtained by M nodes sensing and detecting the target object. M is less than or equal to 3, and N is greater than or equal to 3.

[0048] In some embodiments, the M nodes may perform sensing measurements on the target object to obtain respective measurement information. Furthermore, the positioning device may obtain at least three pieces of measurement information from the M nodes, so as to subsequently determine the location of the target object based on the measurement information.

[0049] The positioning device may obtain the measurement information from the M nodes in an active request manner (sending requests to the M nodes and then receiving the measurement information) or in a passive reception manner (M nodes actively reporting).

[0050] In some embodiments, each piece of N measurement information includes: delay information measured by the node from an echo signal reflected from a target object, and the node's location information at the time of measurement. For example, if node 1 performs sensing detection at location 1 and obtains delay information 1, node 1 reports the coordinates of location 1 and delay information 1 as measurement information to the positioning device.

[0051] S202: Determine the position of the target object based on N pieces of measurement information.

[0052] In some embodiments, after obtaining N measurement information, the positioning device can calculate the coordinate value of the target object based on the delay information in each measurement information and the measurement position corresponding to the delay information, thereby achieving the positioning of the target object.

[0053] For example, the positioning device can use multiple round-trip time (multi-RTT) algorithms to determine the absolute address of the target object (e.g., longitude and latitude coordinates). The specific content of the algorithm can be found in the description of some technologies and is not described in detail here. In addition, other three-point positioning methods can also be used to determine the location of the target object, which is not limited by the embodiments of the present disclosure.

[0054] The following describes in detail the solutions for achieving positioning with different numbers of nodes, combined with some scenarios and the accompanying drawings.

[0055] Scenario 1:

[0056] The M nodes include a first node and a second node, and the N measurement information include at least first measurement information, second measurement information, and third measurement information.

[0057] The first measurement information is information obtained by the first node measuring the echo signal of the first perception signal at the first position.

[0058] The second measurement information is information obtained by the first node measuring the echo signal of the second perception signal at the second position.

[0059] The third measurement information is information obtained by the second node measuring the echo signal of the first perception signal or the echo signal of the second perception signal at the third position.

[0060] As can be seen, in Scenario 1, two nodes and two sensing signals are used to obtain three measurement information for positioning. The first node needs to move between the first and second locations, so the first node can be a terminal. The second node's location remains unchanged, so both the terminal and the base station can serve as the second node.

[0061] In addition, according to the different sources of the perception signals, it can be divided into the following implementation methods:

[0062] Implementation 1

[0063] The first perception signal is a perception signal sent by the first node at the first position, and the second perception signal is a perception signal sent by the first node at the second position.

[0064] For example, taking the second node measuring the echo signal of the first perception signal as an example, description will be made in conjunction with FIG3 .

[0065] (1) At time t1, the first node is at the first position and sends a sensing signal 1. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ A1 (Corresponding to the first measurement information).

[0066] (2) The second node remains in the third position. The sensing signal 1 generates an echo signal in the direction of the second node, and the full delay information sensed by the second node is τ A1 +τ B1 (Corresponding to the third measurement information).

[0067] (3) At time t2, the first node is at the second position and sends the sensing signal 2. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ A2 (Corresponding to the second measurement information).

[0068] (4) The first node sends the coordinates of the first position, the coordinates of the second position, and the delay information τ A1 , τ A2 Report to the positioning device, the second node will report the coordinates and delay information τ of the third position A1 +τ B1 Report to the positioning device.

[0069] (5) The positioning device calculates the position of the target object through three time delay information and three position coordinates.

[0070] (6) If necessary, the second node can also receive additional echo information of the sensing signal 2 and report the measured additional delay information to the positioning device, which can be used to calibrate the measurement results and improve the robustness of the positioning method.

[0071] Implementation 2

[0072] The first perception signal is a perception signal sent by the second node at the third position, and the second perception signal is a signal sent by the second node at the third position.

[0073] For example, this is described with reference to FIG4 .

[0074] (1) At time t1, the second node sends the sensing signal 1. The second node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. B1 .

[0075] (2) At the same time, the first node at the first position receives the echo signal of the sensing signal 1 reflected by the target object and records the whole delay information τ A1 +τ B1 .

[0076] (3) At time t2, the second node sends the perception signal 2. The first node, which has moved to the second position, receives the echo signal of the perception signal 2 reflected by the target object and records the entire delay information τ A2 +τ B1 .

[0077] (4) The second node sends its own coordinates and delay information τ B1 Report to the positioning device, the first node reports the coordinates of the first position, the coordinates of the second position, and the delay information τ A1 +τ B1 and τ A2 +τ B1Report to the positioning device.

[0078] (5) The positioning device obtains the position of the target object by solving the delay information and node position coordinates.

[0079] (6) If necessary, the second node may also receive an additional echo signal of the sensing signal 2 and report the additional delay information to the positioning device for calibration of the measurement results.

[0080] Implementation 3

[0081] The first perception signal is a perception signal sent by the first node at the first position, and the second perception signal is a perception signal sent by the second node at the third position.

[0082] Taking the second node measuring the echo signal of the first perception signal as an example, the following is explained in conjunction with FIG5 .

[0083] (1) At time t1, the first node is at the first position and sends a sensing signal 1. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ A1 .

[0084] (2) The second node remains in the third position and the sensing signal 1 generates an echo signal in the direction of the second node. The total delay information sensed by the second node is τ A1 +τ B1 .

[0085] (3) At time t2, the first node moves to the second position, the second node sends the perception signal 2, the first node receives the echo of the perception signal 2 and records the delay information τ A2 +τ B1 .

[0086] (4) The first node sends the first position coordinate, the second position coordinate, and the delay information τ A1 and τ A2 +τ B1 Report to the positioning device. The second node reports the position 3 coordinates and delay information τ A1 +τ B1 Report to the positioning device.

[0087] (5) The positioning device obtains the position of the target object by solving the delay information and node position coordinates.

[0088] (6) If necessary, the second node may also receive an additional echo signal of the sensing signal 2 and report the additional delay information to the positioning device, which may be used to calibrate the measurement results.

[0089] Taking the second node measuring the echo signal of the second perception signal as an example, description will be made in conjunction with FIG6 .

[0090] (1) At time t1, the first node is at the first position and sends a sensing signal 1. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ A1 .

[0091] (2) At time t2, the first node moves to the second position, and the second node remains at the third position. At this time, the second node sends the sensing signal 2 and receives the echo signal of the sensing signal 2, and calculates and records the one-way delay information τ B2 ,

[0092] (3) The first node at the second location receives the echo of the sensing signal 2 and records the entire delay information τ A2 +τ B2 ;

[0093] (4) The first node sends the coordinates of the first position, the coordinates of the second position, and the delay information τ A1 and τ A2 +τ B2 Report to the positioning device, the second node will report the coordinates of the third position, the delay information τ B2 Report to the positioning device.

[0094] (5) The positioning device obtains the position of the target object by solving the delay information and node position coordinates.

[0095] (6) If necessary, the second node may also receive an additional echo signal of the sensing signal 1 and report the additional delay information to the positioning device, which may be used to calibrate the measurement results.

[0096] Scenario 2:

[0097] The M nodes include a first node and a second node, and the N measurement information include at least first measurement information, second measurement information, and third measurement information.

[0098] The first measurement information is information obtained by the first node measuring the echo signal of the first perception signal at the first position, and the first perception signal is a perception signal sent by the first node at the first position.

[0099] The second measurement information is information obtained by the first node measuring the echo signal of the second perception signal at the second position, and the second perception signal is a perception signal sent by the first node at the second position.

[0100] The third measurement information is information obtained by the second node measuring the third perception signal at the third position; the third perception signal is a perception signal sent by the second node at the third position.

[0101] As can be seen, in Scenario 2, two nodes and three sensing signals are used to obtain three pieces of measurement information for positioning. The first node needs to move between the first and second locations, so the first node can be a terminal. The second node's location remains unchanged, so both the terminal and the base station can serve as the second node.

[0102] For example, this is described with reference to FIG7 .

[0103] (1) At time t1, the first node is at the first position and sends a sensing signal 1. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ A1 .

[0104] (2) At time t2, the first node moves to the second position and sends the sensing signal 2. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ A2 .

[0105] (3) The second node remains in the third position and sends the sensing signal 3 at time t3. The second node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. B3 .

[0106] (4) The first node sends the coordinates of the first position, the coordinates of the second position, and the delay information τ A1 and τ A2 Report to the positioning device, the second node will report the coordinates of the third position, the delay information τ B3 Report to the positioning device.

[0107] (5) The positioning device obtains the position of the target object by solving the delay information and node position coordinates.

[0108] (6) If necessary, the first node may also receive the echo signal of the sensing signal 3, and the second node may also receive the echo signals of the sensing signal 1 and the sensing signal 2, and report the above additional delay information to the positioning device, which can be used to calibrate the measurement results.

[0109] Scenario 3:

[0110] The M nodes include a first node, a second node, and a third node, and the N measurement information include at least first measurement information, second measurement information, third measurement information, and fourth measurement information.

[0111] The first measurement information is information obtained by the first node measuring the echo signal of the first perception signal at the first position.

[0112] The second measurement information is information obtained by the first node measuring the echo signal of the second perception signal at the second position.

[0113] The third measurement information is information obtained by the second node measuring the echo signal of the first perception signal or the second perception signal at the third position.

[0114] The fourth measurement information is information obtained by the third node measuring the echo signal of the first perception signal or the second perception signal at the fourth position.

[0115] As can be seen, in Scenario 3, three nodes and two sensing signals are used to obtain four measurement information points for positioning. The first node needs to move between the first and second locations, so the first node can be a terminal. The second and third nodes remain in the same location, so both the terminal and the base station can serve as the second and third nodes.

[0116] In addition, according to the different sources of the perception signals, it can be divided into the following implementation methods:

[0117] Implementation 1

[0118] The first perception signal is a perception signal sent by the first node at the first position, and the second perception signal is a perception signal sent by the first node at the second position.

[0119] For example, taking the example where the second node measures the echo signal of the first perception signal and the third node measures the echo signal of the second perception signal, description will be made in conjunction with FIG8 .

[0120] (1) At time t1, the first node sends the sensing signal 1. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. A1 .

[0121] (2) At the same time, the second node receives the echo signal reflected by the target object and records the entire delay information τ A1 +τ B1 .

[0122] (3) At time t2, the first node moves to the second position and sends the sensing signal 2. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. A2 .

[0123] (4) At the same time, the third node receives the echo of the sensing signal 2 reflected by the target object and records the whole delay information τ A2 +τ C2 .

[0124] (5) The first node sends the coordinates of the first position and the second position and the delay information τ A1 , τ A2Report to the positioning device, the second node will report the coordinates and delay information τ of the third position A1 +τ B1 Report to the positioning device, the third node will report the coordinates and delay information τ of the fourth position A2 +τ C2 Report to the positioning device.

[0125] (6) The positioning device selects the two sets of information sent by A and received by B and solves the equation for one set of information sent by A and received by B to obtain the position of the target object. The unselected set of information can be used to calibrate the measurement results.

[0126] (7) In addition, the positioning device can also selectively receive measurement information other than the above paths. For example, the third node receives the echo signal of sensing signal 1, and the second node receives the echo signal of sensing signal 2. The additional delay information obtained is also reported to the positioning device and can be used for further calibration of the measurement results.

[0127] Implementation 2

[0128] The first perception signal is a perception signal sent by the first node at the first position, and the second perception signal is a perception signal sent by the second node at the third position, or is a perception signal sent by the third node at the fourth position.

[0129] For example, taking the second node sending the perception signal at the third position as an example, description will be made in conjunction with FIG9 .

[0130] (1) At time t1, the second node sends the sensing signal 1. The second node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. B1 .

[0131] (2) At the same time, the first node receives the echo signal of the sensing signal 1 reflected by the target object at the first position and records the whole delay information τ A1 +τ B1 The third node receives the echo signal of the sensing signal 1 reflected by the target object at the fourth position and records the whole delay information τ B1 +τ C1 .

[0132] (3) At time t2, the first node moves to the second position and sends the perception signal 2. The first node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. A2 .

[0133] (4) The second node sends the coordinates of the third position and the delay information τ B1 Report to the positioning device. The third node reports the coordinates and delay information τ of the fourth position B1 +τC1 Report to the positioning device. The first node reports the coordinates and delay information τ of the first position and the second position A1 +τ B1 , τ A2 Report to the positioning device.

[0134] (5) The positioning device selects the two sets of information sent by A and received by B and one set of information sent by A and received by A as the main combination to solve the equation, thereby obtaining the position of the target object. The unselected set of information can be used to calibrate the measurement results.

[0135] (6) In addition, the positioning device can also selectively receive measurement signals other than those mentioned above. For example, the third node receives the echo signal of the sensing signal 2, and the second node receives the echo signal of the sensing signal 2. The additional delay information obtained is also reported to the positioning device and can be used for further calibration of the measurement results.

[0136] Implementation 3

[0137] The first perception signal is a perception signal sent by the second node at the third position, and the second perception signal is a perception signal sent by the third node at the fourth position.

[0138] For example, this is described with reference to FIG10 .

[0139] (1) At time t1, the second node sends the sensing signal 1. The second node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. B1 .

[0140] (2) At the same time, the first node receives the echo of the sensing signal 1 reflected by the target object at the first position and records the delay information τ A1 +τ B1 .

[0141] (3) At time t2, the third node sends the sensing signal 2 at the fourth position. The third node receives the echo signal reflected by the target object and calculates and records the one-way delay information τ. C2 .

[0142] (4) The first node moves to the second position, receives the echo of the sensing signal 2 reflected by the target object, and records the delay information τ A2 +τ C2 .

[0143] (5) The second node sends the coordinates of the third position and the delay information τ B1 Report to the positioning device, the third node will report the coordinates and delay information τ of the fourth position C2 Report to the positioning device, the first node reports the coordinates of the first position, the second position and the delay information τ A1 +τB1 , τ A2 +τ C2 Report to the positioning device.

[0144] (6) The positioning device selects the two sets of information sent by A and received by B and one set of information sent by A and received by A as the main combination to solve the equation, thereby obtaining the position of the target object. The unselected set of information can be used to calibrate the measurement results.

[0145] (7) In addition, measurement information other than the above paths can be selectively received. For example, the third node receives the echo signal of sensing signal 1, and the second node receives the echo signal of sensing signal 2. The additional delay information obtained is also reported to the positioning device and can be used for further calibration of the measurement results.

[0146] The positioning method provided in the embodiments of the present disclosure can obtain at least three measurement information obtained by the nodes sensing and detecting the target object through three or fewer nodes, and then determine the location of the target object based on the principle of three-point positioning. Compared with the conventional three-point positioning scheme that requires the coordination of at least four nodes, this method can effectively reduce the number of nodes involved in perception while ensuring positioning results, thereby reducing the pressure on commercial deployment, coordination difficulty, privacy permission acquisition difficulty, construction costs, etc.

[0147] Furthermore, the disclosed embodiments leverage the mobility of terminals to achieve the goal of obtaining more measurement information while using fewer nodes. In addition to the measurement information necessary for positioning, additional measurement information can also be used to calibrate positioning results, further improving the robustness of the positioning method.

[0148] It is understandable that, in order to realize the above functions, the communication device (which may be the above-mentioned positioning device) includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the algorithm steps of each example described in the embodiments of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0149] The embodiments of the present disclosure can divide the functional modules of the communication device according to the above-mentioned method embodiments. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one functional module. The above-mentioned integrated modules can be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. In actual implementation, there may be other division methods. The following is an example of dividing each functional module corresponding to each function.

[0150] FIG11 is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure, which can execute the positioning method provided by the above method embodiment. As shown in FIG11 , the communication device includes an acquisition module 1101 and a determination module 1102 .

[0151] The acquisition module 1101 is used to acquire N measurement information; the N measurement information is obtained by M nodes performing perception and detection on the target object; M is less than or equal to 3; and N is greater than or equal to 3.

[0152] The determination module 1102 is configured to determine the position of the target object based on N pieces of measurement information.

[0153] In some embodiments, each piece of the N measurement information includes: delay information obtained by the node measuring an echo signal reflected by the target object, and location information of the node during measurement.

[0154] In some embodiments, the M nodes include a first node and a second node; the N measurement information include at least first measurement information, second measurement information and third measurement information; the first measurement information is information obtained by the first node measuring the echo signal of the first perception signal at the first position; the second measurement information is information obtained by the first node measuring the echo signal of the second perception signal at the second position; the third measurement information is information obtained by the second node measuring the echo signal of the first perception signal or the echo signal of the second perception signal at the third position.

[0155] In some embodiments, the first perception signal is a perception signal sent by the first node at a first location; and the second perception signal is a perception signal sent by the first node at a second location.

[0156] In some embodiments, the first perception signal is a perception signal sent by the second node at the third location; the second perception signal is a signal sent by the second node at the third location.

[0157] In some embodiments, the first perception signal is a perception signal sent by the first node at a first location; and the second perception signal is a perception signal sent by the second node at a third location.

[0158] In some embodiments, the M nodes include a first node and a second node; the N measurement information include at least first measurement information, second measurement information and third measurement information; the first measurement information is information obtained by the first node measuring the echo signal of the first perception signal at the first position; the first perception signal is the perception signal sent by the first node at the first position; the second measurement information is information obtained by the first node measuring the echo signal of the second perception signal at the second position; the second perception signal is the perception signal sent by the first node at the second position; the third measurement information is information obtained by the second node measuring the third perception signal at the third position; the third perception signal is the perception signal sent by the second node at the third position.

[0159] In some embodiments, the M nodes include a first node, a second node, and a third node; the N measurement information include at least first measurement information, second measurement information, third measurement information, and fourth measurement information; the first measurement information is information obtained by the first node measuring the echo signal of the first perception signal at the first position; the second measurement information is information obtained by the first node measuring the echo signal of the second perception signal at the second position; the third measurement information is information obtained by the second node measuring the echo signal of the first perception signal or the second perception signal at the third position; and the fourth measurement information is information obtained by the third node measuring the echo signal of the first perception signal or the second perception signal at the fourth position.

[0160] In some embodiments, the first perception signal is a perception signal sent by the first node at a first location; and the second perception signal is a perception signal sent by the first node at a second location.

[0161] In some embodiments, the first perception signal is a perception signal sent by the first node at a first position; the second perception signal is a perception signal sent by the second node at a third position, or is a perception signal sent by the third node at a fourth position.

[0162] In some embodiments, the first perception signal is a perception signal sent by the second node at a third position; and the second perception signal is a perception signal sent by the third node at a fourth position.

[0163] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the embodiment of the present disclosure provides another structure of the communication device involved in the above-mentioned embodiment. As shown in Figure 12, the communication device 120 includes: a memory 1201, a processor 1202, a communication interface 1203, and a bus 1204.

[0164] The memory 1201 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store dynamic information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0165] The processor 1202 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 1202 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor 1202 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 1202 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0166] The communication interface 1203 is used to connect to other devices via a communication network, such as Ethernet, wireless access network, or wireless local area network (WLAN).

[0167] In some embodiments, the memory 1201 may exist independently of the processor 1202 and may be connected to the processor 1202 via a bus 1204 for storing instructions or program codes. When the processor 1202 calls and executes the instructions or program codes stored in the memory 1201, the positioning method provided in the embodiments of the present disclosure can be implemented.

[0168] In some embodiments, the memory 1201 may also be integrated with the processor 1202 .

[0169] Bus 1204 can be an Extended Industry Standard Architecture (EISA) bus, for example. Bus 1204 can be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, FIG12 shows bus 1204 using only a single bold line. This does not imply that there is only one bus or only one type of bus.

[0170] In some embodiments, the memory 1201 stores executable instructions. When the processor 1202 executes the executable instructions, the communication device executes the positioning method as described in any of the above embodiments.

[0171] Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), which stores computer program instructions. When the computer program instructions are executed on a computer, the computer executes the positioning method described in any of the above embodiments.

[0172] Exemplarily, the above-mentioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memories (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0173] An embodiment of the present disclosure provides a computer program product comprising instructions. When the computer program product is run on a computer, the computer is enabled to execute the positioning method described in any one of the above embodiments.

[0174] The above is only a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or replacements within the technical scope disclosed in the present disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A positioning method, comprising: Obtaining N measurement information; the N measurement information is obtained by M nodes performing sensing detection on a target object; The M is less than or equal to 3; The N is greater than or equal to 3; Based on the N measurement information, determining the position of the target object.

2. The method according to claim 1, wherein, Each of the N measurement information includes: time delay information measured from the echo signal reflected by the node from the target object, and position information of the node during measurement.

3. The method according to claim 1, wherein, The M nodes include a first node and a second node; the N measurement information at least includes first measurement information, second measurement information, and third measurement information; The first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; The third measurement information is the information obtained by the second node measuring the echo signal of the first sensing signal or the echo signal of the second sensing signal at the third position.

4. The method according to claim 3, wherein, The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the first node at the second position.

5. The method according to claim 3, wherein The first sensing signal is the sensing signal sent by the second node at the third position; the second sensing signal is the signal sent by the second node at the third position.

6. The method according to claim 3, wherein The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the second node at the third position.

7. The method according to claim 1, wherein The M nodes include a first node and a second node; the N measurement information at least includes first measurement information, second measurement information, and third measurement information; The first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; the first sensing signal is the sensing signal sent by the first node at the first position; The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; the second sensing signal is the sensing signal sent by the first node at the second position; The third measurement information is the information obtained by the second node measuring the third sensing signal at the third position; the third sensing signal is the sensing signal sent by the second node at the third position.

8. The method according to claim 1, wherein The M nodes include a first node, a second node, and a third node; the N measurement information at least includes first measurement information, second measurement information, third measurement information, and fourth measurement information; The first measurement information is the information obtained by the first node measuring the echo signal of the first sensing signal at the first position; The second measurement information is the information obtained by the first node measuring the echo signal of the second sensing signal at the second position; The third measurement information is the information obtained by the second node measuring the echo signal of the first sensing signal or the echo signal of the second sensing signal at the third position; The fourth measurement information is the information obtained by measuring the echo signal of the first sensing signal or the second sensing signal at the fourth position by the third node.

9. The method according to claim 8, wherein The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the first node at the second position.

10. The method according to claim 8, wherein, The first sensing signal is the sensing signal sent by the first node at the first position; the second sensing signal is the sensing signal sent by the second node at the third position, or the sensing signal sent by the third node at the fourth position.

11. The method according to claim 8, wherein, The first sensing signal is the sensing signal sent by the second node at the third position; the second sensing signal is the sensing signal sent by the third node at the fourth position.

12. A communication device, comprising: A processor and a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions, so that the communication device executes the positioning method according to any one of claims 1-11.

13. A computer-readable storage medium, wherein, Computer instructions are stored on the computer-readable storage medium, so that the communication device executes the positioning method according to any one of claims 1-11.

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