Positioning method, positioning device and electronic device

Abstract

Provided in the present disclosure are a positioning method, a positioning device, and an electronic device. The method comprises: acquiring received signal values respectively received by a plurality of antennas on the same test site from an object to be measured; on the basis of the received signal values respectively corresponding to the plurality of antennas, determining the horizontal azimuth angle between said object and the test site and the vertical pitch angle between said object and the test site; determining the spatial distance between said object and the test site; and, on the basis of the horizontal azimuth angle, the vertical pitch angle, and the spatial distance, determining the spatial position of said object. The present disclosure solves the problem that positioning methods in the prior art known to the inventor cannot take into account both low complexity and high precision.

Description

Positioning methods, positioning devices, and electronic devices Technical Field

[0001] This disclosure relates to the field of indoor positioning, and more specifically, to a positioning method, a positioning device, a computer-readable storage medium, and an electronic device. Background Technology

[0002] Existing positioning technologies require multiple non-collinear or non-coplanar test sites for positioning or angle estimation, such as positioning using multiple routers in a shopping mall. However, this method is not suitable for smaller scenarios like indoors where only a few routers are used. Furthermore, due to the complexity of indoor scenarios, distances calculated using RSSI are typically highly complex.

[0003] Therefore, there is an urgent need for a method that can solve the problem that positioning methods in the related technologies known to the inventors cannot simultaneously achieve low complexity and high accuracy.

[0004] Summary of the Invention

[0005] The main objective of this disclosure is to provide a positioning method, positioning device, computer-readable storage medium, and electronic device to at least solve the problem that positioning methods in the related art known to the inventors cannot simultaneously achieve low complexity and high accuracy.

[0006] According to one aspect of this disclosure, a positioning method is provided, comprising: acquiring received signal values ​​from a target under test received by multiple antennas at the same test site; determining the horizontal azimuth angle between the target under test and the test site and the vertical elevation angle between the target under test and the test site based on the received signal values ​​corresponding to the multiple antennas; determining the spatial distance between the target under test and the test site; and determining the spatial position of the target under test based on the horizontal azimuth angle, the vertical elevation angle, and the spatial distance.

[0007] Optionally, determining the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas includes: selecting the received signal values ​​of at least two antennas in a first target dimension from the received signal values ​​corresponding to the plurality of antennas; and determining the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​of at least two antennas in the first target dimension.

[0008] Optionally, determining the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​of at least two antennas in the first target dimension includes: obtaining a first ratio between the received signal values ​​of at least two antennas in the first target dimension; determining a first angle between the first target dimension and the direction of the target under test based on the first ratio; and determining the horizontal azimuth angle between the target under test and the test station based on the first angle.

[0009] Optionally, determining the first angle between the first target dimension and the direction of the measured target based on the first ratio includes: acquiring a plurality of first predetermined ratio thresholds, wherein the plurality of first predetermined ratio thresholds are used to determine a plurality of first ratio ranges, and different first ratio ranges correspond to different first predetermined angles; determining a first target ratio range corresponding to the first ratio based on a comparison between the first ratio and the plurality of first ratio ranges; and determining the first predetermined angle corresponding to the first target ratio range as the first angle between the first target dimension and the direction of the measured target.

[0010] Optionally, determining the horizontal azimuth angle between the target under test and the test station based on the first included angle includes: when there are at least two first target dimensions, obtaining the first included angles corresponding to at least two first target dimensions respectively; selecting the same included angle among the first included angles corresponding to the at least two first target dimensions as the horizontal azimuth angle between the target under test and the test station.

[0011] Optionally, determining the vertical pitch angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas includes: selecting the received signal values ​​of at least two antennas in the second target dimension from the received signal values ​​corresponding to the plurality of antennas; and determining the vertical pitch angle between the target under test and the test station based on the received signal values ​​of at least two antennas in the second target dimension.

[0012] Optionally, selecting the received signal values ​​of at least two antennas in the second target dimension from the received signal values ​​corresponding to the plurality of antennas respectively includes: selecting the dimension whose normal direction does not coincide with the direction of the target being measured as the second target dimension.

[0013] Optionally, determining the vertical pitch angle between the target under test and the test station based on the received signal values ​​of at least two antennas in the second target dimension includes: obtaining a second ratio between the received signal values ​​of at least two antennas in the second target dimension; adjusting the angles of the at least two antennas to change the radiation pattern of the antennas; obtaining a third ratio between the adjusted received signal values ​​of the at least two antennas in the second target dimension; determining a second angle between the second target dimension and the direction of the target under test based on the second ratio and the third ratio; and determining the second angle as the vertical pitch angle between the target under test and the test station.

[0014] Optionally, determining the second angle between the second target dimension and the direction of the measured target based on the second ratio and the third ratio includes: acquiring a plurality of second predetermined ratio thresholds, wherein the plurality of second predetermined ratio thresholds are used to determine a plurality of second ratio ranges, and different second ratio ranges correspond to different second predetermined angles; determining a second target ratio range based on the difference between the second ratio and the third ratio and the plurality of second ratio ranges; and determining the second predetermined angle corresponding to the second target ratio range as the second angle between the second target dimension and the direction of the measured target.

[0015] Optionally, determining the spatial distance between the target under test and the test station includes: determining the antenna gain of the corresponding antenna based on the horizontal azimuth angle, the vertical elevation angle, and the direction of the target under test and the corresponding antenna; determining the path loss between the corresponding antenna and the target under test based on the antenna gain of the corresponding antenna, the transmitted signal value of the target under test, and the received signal value of the corresponding antenna; determining the distance between the target under test and the corresponding antenna based on the path loss corresponding to the corresponding antenna; and determining the spatial distance between the target under test and the test station based on the distances corresponding to the plurality of antennas at the test station.

[0016] Optionally, determining the spatial position of the target under test based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance includes: establishing a spatial coordinate system with the geometric center of the test station as the origin; calculating the three-dimensional coordinates of the target under test in the spatial coordinate system based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance to obtain the spatial position of the target under test.

[0017] According to another aspect of this disclosure, a positioning device is provided, comprising: an acquisition unit configured to acquire received signal values ​​from a target under test received by a plurality of antennas at the same test site; a first determination unit configured to determine a horizontal azimuth angle between the target under test and the test site and a vertical elevation angle between the target under test and the test site based on the received signal values ​​corresponding to the plurality of antennas; a second determination unit configured to determine a spatial distance between the target under test and the test site; and a third determination unit configured to determine a spatial position of the target under test based on the horizontal azimuth angle, the vertical elevation angle, and the spatial distance.

[0018] According to another aspect of this disclosure, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls any of the positioning methods described above in the device where the computer-readable storage medium is located.

[0019] According to another aspect of this disclosure, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to perform any of the methods described by the computer program.

[0020] By applying the technical solution of this disclosure, firstly, the received signal values ​​from the target under test are obtained from multiple antennas at the same test site; then, based on the received signal values ​​corresponding to the multiple antennas, the horizontal azimuth angle and the vertical elevation angle between the target under test and the test site are determined; next, the spatial distance between the target under test and the test site is determined; finally, the spatial position of the target under test is determined based on the horizontal azimuth angle, the vertical elevation angle, and the spatial distance. This solution calculates the azimuth and elevation angles using the communication performance indicators of multiple antennas at the same wireless access point, requiring only a single site, eliminating the need for data synchronization, and reducing the complexity of deployment and calculation; furthermore, since the distance estimation error based on communication performance indicators is large when the antenna directional gain is uncertain, this disclosure does not directly use communication performance indicators to estimate the distance, but instead uses the ratio of the communication performance indicators of different antennas to estimate the azimuth and elevation angles corresponding to that dimension, thus estimating accurate angles and solving the problem that positioning methods in related technologies known to the inventor cannot simultaneously achieve low complexity and high accuracy. Attached Figure Description

[0021] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are configured to explain this disclosure and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 shows a hardware structure block diagram of a mobile terminal performing a positioning method according to an embodiment of the present disclosure;

[0023] Figure 2 shows a schematic flowchart of a positioning method provided according to an embodiment of the present disclosure;

[0024] Figure 3 shows a structural block diagram of a test site provided according to an embodiment of the present disclosure;

[0025] Figure 4 shows a structural block diagram of another test site provided according to an embodiment of the present disclosure;

[0026] Figure 5 shows a structural block diagram of another test site provided according to an embodiment of the present disclosure;

[0027] Figure 6 shows a schematic diagram of determining a horizontal azimuth angle according to an embodiment of the present disclosure;

[0028] Figure 7 shows a schematic diagram of determining a vertical pitch angle according to an embodiment of the present disclosure;

[0029] Figure 8 shows a structural block diagram of a positioning device provided according to an embodiment of the present disclosure.

[0030] The above figures include the following reference numerals:

[0031] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 301. Test station; 302. Mechanical antenna; 303. First antenna; 304. Second antenna; 305. Third antenna; 306. Fourth antenna; 307. Electrically adjustable antenna; 308. Adjustable antenna. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] To enable those skilled in the art to better understand the present disclosure, the technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present disclosure.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] As described in the background section, existing technologies known to the inventors require the use of multiple non-collinear or non-coplanar test sites for positioning or angle estimation, such as positioning using multiple routers in a shopping mall. However, this method is unsuitable for smaller scenarios like indoors where only a few routers are available. Furthermore, due to the complexity of indoor environments, distance calculations using RSSI are typically highly complex. To address these issues, embodiments of this disclosure provide a positioning method, a positioning device, a computer-readable storage medium, and an electronic device.

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0037] The method embodiments provided in this disclosure can be executed in a mobile terminal, computer terminal, or similar computing device. Taking a mobile terminal as an example, FIG1 is a hardware structure block diagram of a mobile terminal for a positioning method according to an embodiment of the present invention. As shown in FIG1, the mobile terminal may include one or more (only one is shown in FIG1) processors 102 (processor 102 may include, but is not limited to, processing devices such as microprocessors MCUs or programmable logic devices FPGAs) and a memory 104 configured to store data. The mobile terminal may also include a transmission device 106 configured for communication functions and an input / output device 108. It will be understood by those skilled in the art that the structure shown in FIG1 is only illustrative and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG1, or have a different configuration than shown in FIG1.

[0038] The memory 104 can be configured to store computer programs, such as application software programs and modules, like the computer program corresponding to the positioning method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is configured to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one instance, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module configured to communicate wirelessly with the Internet.

[0039] This embodiment provides a positioning method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] Figure 2 is a flowchart of a positioning method according to an embodiment of the present disclosure. As shown in Figure 2, the method includes the following steps:

[0041] Step S201: Obtain the received signal values ​​from the target under test received by multiple antennas at the same test site;

[0042] Specifically, this disclosure does not impose any restrictions on the type of antenna or the arrangement of multiple antennas at the same test site. The antennas can be mechanical antennas or omnidirectional antennas, etc., and the multiple antennas can be arranged in a regular or irregular pattern. As shown in Figure 3, test site 301 has four identical mechanical antennas 302, namely the first antenna 303, the second antenna 304, the third antenna 305, and the fourth antenna 306. The four mechanical antennas 302 are arranged in a rectangular pattern on the same plane and can be adjusted in elevation at least in the vertical direction. Moreover, the antennas are conventional omnidirectional antennas, that is, the antenna gain is the same at all angles in the horizontal direction and is symmetrically distributed with a higher gain in the middle and lower gain on both sides in the vertical direction. As shown in Figure 4, test site 301 has four identical electrically adjustable antennas 307. The four electrically adjustable antennas 307 are arranged in a rectangular pattern on the same plane. The antenna gain is the same at all angles in the horizontal direction, and the antenna gain directivity can be adjusted electrically in the vertical direction. As shown in Figure 5, test site 301 has three identical adjustable antennas 308, which are arranged in a triangle on the same plane. The antenna gain is the same at all angles in the horizontal direction, and the antenna gain directivity can be adjusted in the vertical direction by electronic adjustment or mechanical adjustment. The received signal values ​​mentioned above can include Received Signal Strength Indication (RSSI), Received Channel Power Indicator (RCPI), and Time of Flight (TOF). RSSI is an indicator used to measure the strength of radio signals, representing the strength of the received wireless signal to assess signal quality and stability. The unit of RSSI is decibel-milliwatt (dBm), and a higher value indicates a stronger signal. RCPI refers to the power level of the received signal in a wireless communication system, typically used to measure the strength and quality of the received signal for evaluation and optimization of the wireless signal. The unit of RCPI is also decibel-milliwatt (dBm). Time of Flight (TOF) refers to the time required for a signal to travel from the transmitter to the receiver in wireless communication. It is used to evaluate the transmission delay and stability of wireless signals. The unit of TOF is nanosecond (ns) or microsecond (μs).

[0043] Step S202: Based on the received signal values ​​corresponding to the multiple antennas, determine the horizontal azimuth angle between the target under test and the test station and the vertical elevation angle between the target under test and the test station.

[0044] Specifically, the horizontal azimuth angle is the angle of an object relative to the horizon, used to describe the object's position in the horizontal direction. The vertical pitch angle is the angle of an object relative to the horizontal plane, used to describe the object's position in the vertical direction. In actual measurements, there may be some error, and the measurement results can be further corrected and adjusted appropriately.

[0045] Step S203: Determine the spatial distance between the target being tested and the test station.

[0046] Specifically, after determining the horizontal azimuth angle and the vertical pitch angle, the square root of the sum of the squares of the horizontal and vertical distances can be calculated, which is the distance between the test station and the object to be located.

[0047] Step S204: Determine the spatial position of the target being measured based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance.

[0048] Specifically, the spatial position of the target being measured refers to its position within a predetermined coordinate system, which is established with the geometric center of the test site as its origin. In the actual process of establishing the predetermined coordinate system, the geometric center of the test site's antenna can be used as the origin to establish the spatial coordinate system, and the three-dimensional coordinates to be located can be calculated based on parameters such as azimuth, elevation, and spatial distance. Alternatively, other origin positions can be used to establish other coordinate systems.

[0049] This embodiment first acquires the received signal values ​​from the target under test received by multiple antennas at the same test site; then, based on the received signal values ​​corresponding to the multiple antennas, it determines the horizontal azimuth angle and the vertical elevation angle between the target under test and the test site; next, it determines the spatial distance between the target under test and the test site; finally, it determines the spatial position of the target under test based on the horizontal azimuth angle, the vertical elevation angle, and the spatial distance. This solution calculates the azimuth and elevation angles using the communication performance indicators of multiple antennas at the same wireless access point, requiring only a single site, eliminating the need for data synchronization, and reducing the complexity of deployment and calculation. Furthermore, since distance estimation based on communication performance indicators has a large error when the antenna directional gain is uncertain, this disclosure does not directly use communication performance indicators to estimate the distance. Instead, it uses the ratio of the communication performance indicators of different antennas to estimate the azimuth and elevation angles corresponding to that dimension, thus estimating accurate angles and solving the problem in related technologies that the inventors are aware of, where positioning methods cannot simultaneously achieve low complexity and high accuracy.

[0050] In specific implementation, step S202 can be achieved through the following steps: Step S2021, selecting the received signal values ​​of at least two antennas in the first target dimension from the received signal values ​​corresponding to the plurality of antennas; Step S2022, determining the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​of the at least two antennas in the first target dimension. This method can further accurately determine the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas.

[0051] Specifically, the first target dimension can be a one-dimensional straight line or a two-dimensional plane. That is to say, at least two antennas in the first target dimension can be at least two antennas on the same straight line or at least two antennas on the same plane.

[0052] To further accurately determine the horizontal azimuth angle between the target under test and the test station, step S2022 of this disclosure can be implemented through the following steps: Step S20221, obtaining a first ratio between the received signal values ​​of at least two antennas in the first target dimension; Step S20222, determining a first angle between the first target dimension and the direction of the target under test based on the first ratio; Step S20223, determining the horizontal azimuth angle between the target under test and the test station based on the first angle.

[0053] Specifically, when there are two antennas, the first ratio can be directly calculated as the ratio between the received signal values ​​of the two antennas. When there are more than two antennas, the ratio between the received signal values ​​of any two antennas is calculated, resulting in multiple ratios. Then, the average of these multiple ratios is calculated to obtain the first ratio. This disclosure does not impose specific limitations on the formula for calculating the above ratio; for example: or Where Ratio is the first ratio mentioned above, R i Let R be the received signal value of the i-th antenna. j Let R be the received signal value of the j-th antenna. ave It is the average value of the received signal values ​​from at least two antennas.

[0054] Step S20222 above can be implemented through the following steps: Step S202221, obtaining multiple first predetermined ratio thresholds, wherein the multiple first predetermined ratio thresholds are used to determine multiple first ratio ranges, and different first ratio ranges correspond to different first predetermined angles; Step S202222, based on the comparison between the first ratio and the multiple first ratio ranges, determining the first target ratio range corresponding to the first ratio; Step S202223, determining the first predetermined angle corresponding to the first target ratio range as the first angle between the first target dimension and the direction of the measured target. This method can further accurately determine the first angle between the first target dimension and the direction of the measured target based on the first ratio.

[0055] Specifically, the aforementioned first proportional range can be determined by quantizing the angle space and using a first predetermined proportional threshold, or it can be determined by establishing a piecewise mapping function between the first proportional range and the first ratio. This disclosure does not impose strict limitations on this. Furthermore, this technical solution does not limit the number of the aforementioned first proportional ranges.

[0056] Step S20223 above can be implemented through the following steps: Step S202231, when there are at least two first target dimensions, obtain the first included angles corresponding to at least two first target dimensions respectively; Step S202232, select the same included angle among the first included angles corresponding to the at least two first target dimensions as the horizontal azimuth angle between the target under test and the test station. Based on the first included angle, this method further accurately determines the horizontal azimuth angle between the target under test and the test station.

[0057] Specifically, when there are at least two first target dimensions, since the two antennas are only in one dimension, the angle estimation on the plane will inevitably be fuzzy, meaning the estimated angles are two angles symmetrical about the line they lie on. Therefore, another non-parallel dimension is needed for differentiation. Thus, by combining the first included angles corresponding to at least two first target dimensions, the horizontal azimuth angle can be finally determined. In another embodiment, when there are at least two first target dimensions and the first target dimensions are not orthogonal to each other, the angles of the two first target dimensions can be corrected through Euclidean space transformation.

[0058] Step S202 above can be achieved through the following steps: Step S2023, selecting the received signal values ​​of at least two antennas in the second target dimension from the received signal values ​​corresponding to the plurality of antennas respectively; Step S2024, determining the vertical elevation angle between the target under test and the test station based on the received signal values ​​of the at least two antennas in the second target dimension. This method can further accurately determine the vertical elevation angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas respectively.

[0059] Specifically, the second target dimension can be a one-dimensional straight line or a two-dimensional plane. That is to say, at least two antennas in the second target dimension can be at least two antennas on the same straight line or at least two antennas on the same plane.

[0060] Step S2023 above can be achieved through the following steps: Step S20231, select the dimension whose normal direction does not coincide with the direction of the target being measured as the second target dimension. This method can quickly determine the second target dimension, further improving the accuracy of determining the vertical pitch angle.

[0061] In practical applications, the normal direction and the direction of the target being measured may not be adjacent. By selecting a dimension where the normal direction and the direction of the target being measured do not coincide as the second target dimension, at least two antennas can be quickly selected along the second target dimension, thereby improving the accuracy of determining the vertical elevation angle.

[0062] To further improve the accuracy of the vertical pitch angle determination, step S2024 can be implemented through the following steps: Step S20241, obtaining a second ratio between the received signal values ​​of at least two antennas in the second target dimension; Step S20242, adjusting the angles of the at least two antennas to change the radiation pattern of the antennas; Step S20243, obtaining a third ratio between the received signal values ​​of the at least two antennas in the adjusted second target dimension; Step S20244, determining a second angle between the second target dimension and the direction of the target under test based on the second and third ratios; Step S20245, determining the second angle as the vertical pitch angle between the target under test and the test station.

[0063] Specifically, adjusting the angles of at least two antennas can be done using symmetrical or opposite polarization adjustments, or directional adjustments of equally spaced antennas, and the adjustment methods can be electronic or mechanical, etc., without strict limitations in this disclosure. The calculation methods for the second and third ratios are similar to those for the first ratio, and will not be repeated here.

[0064] Step S20244 can be implemented through the following steps: Step S202441, obtaining multiple second predetermined ratio thresholds, wherein the multiple second predetermined ratio thresholds are used to determine multiple second ratio ranges, and different second ratio ranges correspond to different second predetermined angles; Step S202442, determining a second target ratio range based on the comparison between the difference between the second ratio and the third ratio and the multiple second ratio ranges; Step S202443, determining the second predetermined angle corresponding to the second target ratio range as the second angle between the second target dimension and the direction of the measured target. This method, based on the second ratio and the third ratio, further accurately determines the second angle between the second target dimension and the direction of the measured target.

[0065] Specifically, the aforementioned second proportional range can be determined by quantizing the angle space and using a second predetermined proportional threshold, or it can be determined by establishing a piecewise mapping function between the second proportional range and the second ratio or the third ratio. This disclosure does not impose strict limitations on this. Furthermore, this technical solution does not limit the number of the aforementioned second proportional ranges. Based on the difference between the aforementioned second ratio and the aforementioned third ratio and a comparison with the aforementioned multiple second proportional ranges, the second target proportional range is determined. This comparison can be based solely on the difference between the second ratio and the aforementioned third ratio, or it can be based on the ratio of this difference to a correction parameter.

[0066] Step S203 above can be achieved through the following steps: Step S2031, determine the antenna gain of the corresponding antenna based on the horizontal azimuth angle, the vertical elevation angle, and the direction of the target under test and the corresponding antenna; Step S2032, determine the path loss between the corresponding antenna and the target under test based on the antenna gain of the corresponding antenna, the transmitted signal value of the target under test, and the received signal value of the corresponding antenna; Step S2033, determine the distance between the target under test and the corresponding antenna based on the path loss corresponding to the corresponding antenna; Step S2034, determine the spatial distance between the target under test and the test station based on the distances corresponding to the multiple antennas at the test station. This method can further quickly calculate the spatial distance.

[0067] Specifically, the antenna gain includes both transmit antenna gain and receive antenna gain, which can be approximately the same. The antenna gain value corresponding to the measured horizontal azimuth and vertical elevation angles can be found using antenna charts or parameter tables provided by the antenna manufacturer. Based on the measured angles, the corresponding antenna gain value can be found in the chart. This is based on the known horizontal azimuth θ and vertical elevation angles. And by taking into account the antenna's directivity, the corresponding antenna gain is calculated. Furthermore, according to the formula PL i=P t +G t +G r -RSSI i The path loss PL was calculated. i , where P t For transmission power, G t For transmit antenna gain, RSSI i This represents the received signal value for the corresponding antenna. Then, according to the formula PL... i =α+10βlog 10 (d i The spatial distance mentioned above is calculated, where α and β are fitting coefficients.

[0068] Step S204 above can be achieved through the following steps: Step S2041, establish a spatial coordinate system with the geometric center of the test site as the origin; Step S2042, calculate the three-dimensional coordinates of the target in the spatial coordinate system based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance, thereby obtaining the spatial position of the target. This method can further and quickly determine the spatial position of the target.

[0069] Specifically, in the actual process of establishing a predetermined coordinate system, the geometric center of the antenna of the target being measured can be used as the origin to establish a spatial coordinate system, and the three-dimensional coordinates of the object to be located can be calculated based on parameters such as azimuth, elevation, and distance; other coordinate systems can also be established using other origin positions.

[0070] As shown in Figure 3, the test site 301 in this embodiment includes four identical mechanical antennas 302. The four mechanical antennas 302 are arranged in a rectangular pattern on the same plane and can be adjusted in pitch at least in the vertical direction. Moreover, the antennas are conventional omnidirectional antennas, meaning that the antenna gain is the same at all angles in the horizontal direction and is symmetrically distributed with a higher gain in the middle and lower gain on both sides in the vertical direction. This embodiment relates to a specific positioning method, including the following steps:

[0071] Step S11: Collect the real-time RSSI of the four antennas once, i.e., RSSI i (i = 1, 2, 3, 4), the distance d between it and the measured point i The relationship (i = 1, 2, 3, 4) can be represented as: RSSI i =P t +G t +G r -PL i i = 1, 2, 3, 4, where the four antennas receive the same signal, P t G represents the antenna's transmit power. t For the transmit antenna gain, G ris the receiving antenna gain, G t and G r can be considered approximately the same, and the path loss PL i = α + 10β log 10 (d i ), where α and β are fitting coefficients, then RSSI can be expressed as: RSSI i = A - 10β log 10 (d i ), i = 1, 2, 3, 4, where A is a real number, that is, the sum of terms independent of the distance d i ;

[0072] Step S12: According to the formula calculate the RSSI ratio of the first antenna 303 and the third antenna 305, and then map the RSSI ratio to the corresponding angular region, and set the corresponding proportional thresholds TH1 and TH2. As shown in Figure 6, when 0 < Ratio 1,3 < TH1, the azimuth angle is angle H1; when TH1 ≤ Ratio 1,3 < TH2 ≤ 1, the azimuth angle is angle H2 or H8; when , the azimuth angle is angle H3 or H7; when , the azimuth angle is angle H4 or H6; when , the azimuth angle is angle H5;

[0073] Step S13: Since the two antennas are only in one dimension, there must be ambiguity in the angle estimation on the plane, that is, the estimated angle is two angles symmetric about the line where they are located. Therefore, another non-parallel dimension is needed to distinguish. According to the formula calculate the RSSI ratio of the second antenna 304 and the fourth antenna 306;

[0074] Step S14: By synthesizing Ratio 1,3 and Ratio 2,4 the final horizontal angle, that is, the azimuth angle θ, can be finally determined;

[0075] Step S15: Select the antenna pair according to the azimuth angle in Step S12. The azimuth angle should not be in the adjacent area to the normal of the antenna pair. Since the azimuth angle is in angle H1, select the first antenna 303 and the third antenna 305 for vertical angle estimation. When the first antenna 303 and the third antenna 305 are in state 1, collect the real-time RSSI of these 2 antennas once and calculate their RSSI ratio where, B = A - G r ;

[0076] Step S16: Since the antenna has a certain directionality in the vertical direction, that is, the antenna gain is high in the middle and low at both ends, adjusting the antenna in the vertical direction will significantly change the receiving antenna gain G. r This changes RSSI and Ratio, and then adjusts the antenna angle to state 2, where the first antenna 303 and the third antenna 305 are adjusted in opposite directions, and the antenna gain G... r The direction of change will also be reversed; collect the real-time RSSI of these two antennas again and calculate their RSSI ratio.

[0077] Step S17: As shown in Figure 7, according to the formula Calculate the difference between the RSSI ratios of states 1 and 2, then map the RSSI ratios to the corresponding angular regions, and set the corresponding proportional threshold TH. v >0, if the measured point is located in the right plane of the z-axis, then when Δ ratio <-TH v When -TH, the pitch angle is angle V1; when -TH v ≤Δ ratio <TH v When TH is at the pitch angle, the angle is V2; when TH is at the pitch angle, the angle is V2. v ≤Δ ratio When the pitch angle is angle V3, if the measured point is located in the left plane of the z-axis, then when Δ ratio <-TH v When -TH, the pitch angle is angle V3; when -TH v ≤Δ ratio <TH v When TH is at the pitch angle, the angle is V2; when TH is at the pitch angle, the angle is V2. v ≤Δ ratio At that time, the pitch angle is angle V1, and the vertical angle is finally determined, which is the pitch angle.

[0078] Step S18: Calculate the three-dimensional distance based on the known azimuth θ and elevation angle of the measured point. And by taking into account the antenna's directivity, the corresponding antenna gain is calculated. Then, based on the relationship between RSSI and distance and path loss, the three-dimensional distance between the test site and the location to be determined is calculated;

[0079] Step S19: Based on the azimuth θ and elevation angle of the measured point The three-dimensional spatial location of the measured point can be determined by its three-dimensional spatial distance from the test site.

[0080] This disclosure also provides a positioning device. It should be noted that the positioning device of this disclosure can be configured to execute the positioning method provided in this disclosure. The device is configured to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0081] The positioning device provided in the embodiments of this disclosure will be described below.

[0082] Figure 8 is a schematic diagram of a positioning device according to an embodiment of the present disclosure. As shown in Figure 8, the device includes:

[0083] The acquisition unit 10 is configured to acquire the received signal values ​​from the target under test received by multiple antennas at the same test site.

[0084] Specifically, this disclosure does not impose any restrictions on the type of antenna or the arrangement of multiple antennas at the same test site. The antennas can be mechanical antennas or omnidirectional antennas, etc., and the multiple antennas can be arranged in a regular or irregular pattern. As shown in Figure 3, the test site has four identical mechanical antennas, which are arranged in a rectangular distribution on the same plane and can be adjusted in elevation at least in the vertical direction. Moreover, the antennas are conventional omnidirectional antennas, meaning that the antenna gain is the same at all angles in the horizontal direction and is symmetrically distributed with a higher center and lower sides in the vertical direction. As shown in Figure 4, the test site can have four identical electrically adjustable antennas, which are arranged in a rectangular distribution on the same plane. The antenna gain is the same at all angles in the horizontal direction, and the antenna gain directivity can be adjusted electrically in the vertical direction. As shown in Figure 5, the test site can have three identical adjustable antennas, which are arranged in a triangular distribution on the same plane. The antenna gain is the same at all angles in the horizontal direction, and the antenna gain directivity can be adjusted electrically or mechanically in the vertical direction. The received signal values ​​mentioned above can include Received Signal Strength Indication (RSSI), Received Channel Power Indicator (RCPI), and Time of Flight (TOF). RSSI is an indicator used to measure the strength of a received wireless signal, used to assess signal quality and stability. The unit of RSSI is decibel-milliwatt (dBm), with higher values ​​indicating stronger signals. RCPI refers to the power level of the received signal in a wireless communication system, typically used to measure the strength and quality of the received signal for evaluation and optimization. The unit of RCPI is also decibel-milliwatt (dBm). TOF refers to the time it takes for a signal to travel from the transmitter to the receiver in wireless communication, used to assess transmission delay and stability. The unit of TOF is nanoseconds (ns) or microseconds (μs).

[0085] The first determining unit 20 is configured to determine the horizontal azimuth angle between the target under test and the test station and the vertical elevation angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas respectively.

[0086] Specifically, the horizontal azimuth angle is the angle of an object relative to the horizon, used to describe the object's position in the horizontal direction. The vertical pitch angle is the angle of an object relative to the horizontal plane, used to describe the object's position in the vertical direction. In actual measurements, there may be some error, and the measurement results can be further corrected and adjusted appropriately.

[0087] The second determining unit 30 is configured to determine the spatial distance between the target under test and the test station.

[0088] Specifically, after determining the horizontal azimuth angle and the vertical pitch angle, the square root of the sum of the squares of the horizontal and vertical distances can be calculated, which is the distance between the test station and the object to be located.

[0089] The third determining unit 40 is configured to determine the spatial position of the target being measured based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance.

[0090] Specifically, the spatial position of the target being measured refers to its position within a predetermined coordinate system, which is established with the geometric center of the test site as its origin. In the actual process of establishing the predetermined coordinate system, the geometric center of the test site's antenna can be used as the origin to establish the spatial coordinate system, and the three-dimensional coordinates to be located can be calculated based on parameters such as azimuth, elevation, and spatial distance. Alternatively, other origin positions can be used to establish other coordinate systems.

[0091] In this embodiment, the acquisition unit acquires the received signal values ​​from the target under test received by multiple antennas at the same test site; the first determination unit determines the horizontal azimuth angle and the vertical elevation angle between the target under test and the test site based on the received signal values ​​corresponding to the multiple antennas; the second determination unit determines the spatial distance between the target under test and the test site; and the third determination unit determines the spatial position of the target under test based on the horizontal azimuth angle, the vertical elevation angle, and the spatial distance. By calculating the azimuth and elevation angles using the communication performance indicators of multiple antennas at the same wireless access point, only a single site is required, data synchronization is not needed, and the complexity of deployment and calculation is low. Furthermore, since the distance estimation error based on communication performance indicators is large when the antenna directional gain is uncertain, this disclosure does not directly use communication performance indicators to estimate the distance. Instead, it uses the ratio of the communication performance indicators of different antennas to estimate the azimuth and elevation angles corresponding to that dimension, thus estimating accurate angles and solving the problem that positioning methods in related technologies known to the inventor cannot simultaneously achieve low complexity and high accuracy.

[0092] In its specific implementation, the first determining unit includes a first selection module and a first determining module. The first selection module is configured to select the received signal values ​​of at least two antennas along a first target dimension from the received signal values ​​corresponding to the plurality of antennas. The first determining module is configured to determine the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​of the at least two antennas along the first target dimension. This device can further accurately determine the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas.

[0093] Specifically, the first target dimension can be a one-dimensional straight line or a two-dimensional plane. That is to say, at least two antennas in the first target dimension can be at least two antennas on the same straight line or at least two antennas on the same plane.

[0094] To further accurately determine the horizontal azimuth angle between the target under test and the test station, the first determining module of this disclosure includes a first acquiring module, a second determining module, and a third determining module. The first acquiring module is configured to acquire a first ratio between the received signal values ​​of at least two antennas along the first target dimension. The second determining module is configured to determine a first angle between the first target dimension and the direction of the target under test based on the first ratio. The third determining module is configured to determine the horizontal azimuth angle between the target under test and the test station based on the first angle.

[0095] Specifically, when there are two antennas, the first ratio can be directly calculated as the ratio between the received signal values ​​of the two antennas. When there are more than two antennas, the ratio between the received signal values ​​of any two antennas is calculated, resulting in multiple ratios. Then, the average of these multiple ratios is calculated to obtain the first ratio. This disclosure does not impose specific limitations on the formula for calculating the above ratio; for example: or Where Ratio is the first ratio mentioned above, R i Let R be the received signal value of the i-th antenna. j Let R be the received signal value of the j-th antenna. ave It is the average value of the received signal values ​​from at least two antennas.

[0096] The aforementioned second determining module includes a first acquisition submodule, a first determining submodule, and a second determining submodule. The first acquisition submodule is configured to acquire multiple first predetermined ratio thresholds, wherein the multiple first predetermined ratio thresholds are configured to determine multiple first ratio ranges, with different first ratio ranges corresponding to different first predetermined angles. The first determining submodule is configured to determine a first target ratio range corresponding to the first ratio value based on a comparison between the first ratio value and the multiple first ratio ranges. The second determining submodule is configured to determine that the first predetermined angle corresponding to the first target ratio range is the first angle between the first target dimension and the direction of the measured target. This device can further accurately determine the first angle between the first target dimension and the direction of the measured target based on the first ratio value.

[0097] Specifically, the aforementioned first proportional range can be determined by quantizing the angle space and using a first predetermined proportional threshold, or it can be determined by establishing a piecewise mapping function between the first proportional range and the first ratio. This disclosure does not impose strict limitations on this. Furthermore, this technical solution does not limit the number of the aforementioned first proportional ranges.

[0098] The second determining submodule includes a second acquisition submodule and a selection submodule. The second acquisition submodule is configured to acquire the first included angles corresponding to at least two of the first target dimensions, provided there are at least two first target dimensions. The selection submodule is configured to select the same included angle among the first included angles corresponding to the at least two first target dimensions as the horizontal azimuth angle between the target and the test station. Based on the first included angle, the device further accurately determines the horizontal azimuth angle between the target and the test station.

[0099] Specifically, when there are at least two first target dimensions, since the two antennas are only in one dimension, the angle estimation on the plane will inevitably be fuzzy, meaning the estimated angles are two angles symmetrical about the line they lie on. Therefore, another non-parallel dimension is needed for differentiation. Thus, by combining the first included angles corresponding to at least two first target dimensions, the horizontal azimuth angle can be finally determined. In another embodiment, when there are at least two first target dimensions and the first target dimensions are not orthogonal to each other, the angles of the two first target dimensions can be corrected through Euclidean space transformation.

[0100] The first determining unit includes a second selection module and a fourth determining module. The second selection module is configured to select the received signal values ​​of at least two antennas in the second target dimension from the received signal values ​​corresponding to the plurality of antennas. The fourth determining module is configured to determine the vertical elevation angle between the target under test and the test station based on the received signal values ​​of the at least two antennas in the second target dimension. This device can further accurately determine the vertical elevation angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas.

[0101] Specifically, the second target dimension can be a one-dimensional straight line or a two-dimensional plane. That is to say, at least two antennas in the second target dimension can be at least two antennas on the same straight line or at least two antennas on the same plane.

[0102] The second selection module mentioned above includes a selection module configured to select the dimension whose normal direction does not coincide with the direction of the target being measured as the second target dimension. This device can quickly determine the second target dimension, further improving the accuracy of determining the vertical pitch angle.

[0103] In practical applications, the normal direction and the direction of the target being measured may not be adjacent. By selecting a dimension where the normal direction and the direction of the target being measured do not coincide as the second target dimension, at least two antennas can be quickly selected along the second target dimension, thereby improving the accuracy of determining the vertical elevation angle.

[0104] To further improve the accuracy of the vertical pitch angle determination, the fourth determining module includes a second acquisition module, an adjustment module, a third acquisition module, a fifth determining module, and a sixth determining module. The second acquisition module is configured to acquire a second ratio between the received signal values ​​of at least two antennas along the second target dimension; the adjustment module is configured to adjust the angles of the at least two antennas to change their radiation patterns; the third acquisition module is configured to acquire a third ratio between the adjusted received signal values ​​of the at least two antennas along the second target dimension; the fifth determining module is configured to determine a second angle between the second target dimension and the direction of the target under test based on the second and third ratios; and the sixth determining module is configured to determine the second angle as the vertical pitch angle between the target under test and the test station.

[0105] Specifically, adjusting the angles of at least two antennas can be done using symmetrical or opposite polarization adjustments, or directional adjustments of equally spaced antennas, and the adjustment methods can be electronic or mechanical, etc., without strict limitations in this disclosure. The calculation methods for the second and third ratios are similar to those for the first ratio, and will not be repeated here.

[0106] The fifth determining module includes a third acquisition submodule, a third determining submodule, and a fourth determining submodule. The third acquisition submodule is configured to acquire multiple second predetermined ratio thresholds, wherein these multiple second predetermined ratio thresholds are configured to determine multiple second ratio ranges, with different second ratio ranges corresponding to different second predetermined angles. The third determining submodule is configured to determine a second target ratio range based on a comparison between the difference between the second ratio and the third ratio and the multiple second ratio ranges. The fourth determining submodule is configured to determine that the second predetermined angle corresponding to the second target ratio range is the second angle between the second target dimension and the direction of the measured target. Based on the second ratio and the third ratio, the device further accurately determines the second angle between the second target dimension and the direction of the measured target.

[0107] Specifically, the aforementioned second proportional range can be determined by quantizing the angle space and using a second predetermined proportional threshold, or it can be determined by establishing a piecewise mapping function between the second proportional range and the second ratio or the third ratio. This disclosure does not impose strict limitations on this. Furthermore, this technical solution does not limit the number of the aforementioned second proportional ranges. Based on the difference between the aforementioned second ratio and the aforementioned third ratio and a comparison with the aforementioned multiple second proportional ranges, the second target proportional range is determined. This comparison can be based solely on the difference between the second ratio and the aforementioned third ratio, or it can be based on the ratio of this difference to a correction parameter.

[0108] The second determining unit includes a seventh determining module, an eighth determining module, a ninth determining module, and a tenth determining module. The seventh determining module is configured to determine the antenna gain of the corresponding antenna based on the horizontal azimuth angle, the vertical elevation angle, and the directions of the target under test and the corresponding antenna. The eighth determining module is configured to determine the path loss between the corresponding antenna and the target under test based on the antenna gain, the transmitted signal value of the target under test, and the received signal value of the corresponding antenna. The ninth determining module is configured to determine the distance between the target under test and the corresponding antenna based on the path loss corresponding to the corresponding antenna. The tenth determining module is configured to determine the spatial distance between the target under test and the test station based on the distances corresponding to the multiple antennas at the test station. This device can further calculate the spatial distance quickly.

[0109] Specifically, the antenna gain includes both transmit antenna gain and receive antenna gain, which can be approximately the same. The antenna gain value corresponding to the measured horizontal azimuth and vertical elevation angles can be found using antenna charts or parameter tables provided by the antenna manufacturer. Based on the measured angles, the corresponding antenna gain value can be found in the chart. This is based on the known horizontal azimuth θ and vertical elevation angles. And by taking into account the antenna's directivity, the corresponding antenna gain is calculated. Furthermore, according to the formula PL i =P t +G t +G r -RSSI i The path loss PL was calculated. i , where P t For transmission power, G t For transmit antenna gain, RSSI i This represents the received signal value for the corresponding antenna. Then, according to the formula PL... i =α+10βlog 10 (d i The spatial distance mentioned above is calculated, where α and β are fitting coefficients.

[0110] The aforementioned third determining unit includes an establishment module and a calculation module. The establishment module is configured to establish a spatial coordinate system with the geometric center of the test site as the origin. The calculation module is configured to calculate the three-dimensional coordinates of the target in the spatial coordinate system based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance, thereby obtaining the spatial position of the target. This device can further and rapidly determine the spatial position of the target.

[0111] Specifically, in the actual process of establishing a predetermined coordinate system, the geometric center of the antenna of the target being measured can be used as the origin to establish a spatial coordinate system, and the three-dimensional coordinates of the object to be located can be calculated based on parameters such as azimuth, elevation, and distance; other coordinate systems can also be established using other origin positions.

[0112] The aforementioned positioning device includes a processor and a memory. The acquisition unit, first determining unit, second determining unit, and third determining unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All the modules are located in the same processor; alternatively, the modules may be located in different processors in any combination. The processor contains a kernel that retrieves the corresponding program units from the memory. One or more kernels may be configured, and the object is located by adjusting the kernel parameters. The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory includes at least one memory chip.

[0113] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to execute the positioning method.

[0114] This invention provides a processor configured to run a program, wherein the program executes the positioning method described above.

[0115] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the steps of the above-described method. The device described herein may be a server, PC, PAD, mobile phone, etc.

[0116] This disclosure also provides a computer program product that, when executed on a data processing device, is adapted to perform an initialization program having at least the above-described method steps.

[0117] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0118] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0120] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0121] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of a block diagram. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent memory in computer-readable media, such as read-only memory (ROM) or flash RAM, and / or non-volatile memory. Memory is an example of computer-readable media.

[0122] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium configured to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0123] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0124] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A positioning method, wherein, include: Obtain the received signal values ​​from the target under test received by multiple antennas at the same test site; Based on the received signal values ​​corresponding to the multiple antennas, the horizontal azimuth angle between the target under test and the test station and the vertical elevation angle between the target under test and the test station are determined. Determine the spatial distance between the target being tested and the test site; The spatial position of the target under test is determined based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance.

2. The method according to claim 1, wherein, Determining the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas includes: Select the received signal values ​​of at least two antennas in the first target dimension from the received signal values ​​corresponding to the plurality of antennas respectively; Based on the received signal values ​​of at least two antennas along the first target dimension, the horizontal azimuth angle between the target under test and the test station is determined.

3. The method according to claim 2, wherein, Determining the horizontal azimuth angle between the target under test and the test station based on the received signal values ​​of at least two antennas along the first target dimension includes: Obtain a first ratio between the received signal values ​​of at least two antennas along the first target dimension; Based on the first ratio, determine the first angle between the first target dimension and the direction of the measured target; Based on the first included angle, the horizontal azimuth angle between the target under test and the test station is determined.

4. The method according to claim 3, wherein, Determining the first angle between the first target dimension and the direction of the measured target based on the first ratio includes: Multiple first predetermined ratio thresholds are obtained, wherein the multiple first predetermined ratio thresholds are used to determine multiple first ratio ranges, and different first ratio ranges correspond to different first predetermined included angles; Based on the comparison between the first ratio and the plurality of first ratio ranges, a first target ratio range corresponding to the first ratio is determined; The first predetermined angle corresponding to the first target ratio range is determined to be the first angle between the first target dimension and the direction of the measured target.

5. The method according to claim 3, wherein, Determining the horizontal azimuth angle between the target and the test station based on the first included angle includes: When the first target dimension is at least two, obtain the first included angle corresponding to at least two first target dimensions respectively; Select the same angle among the first included angles corresponding to the at least two first target dimensions as the horizontal azimuth angle between the target under test and the test station.

6. The method according to claim 1, wherein, Determining the vertical elevation angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas includes: Select the received signal values ​​of at least two antennas in the second target dimension from the received signal values ​​corresponding to the plurality of antennas respectively; Based on the received signal values ​​of at least two antennas in the second target dimension, the vertical pitch angle between the target under test and the test station is determined.

7. The method according to claim 6, wherein, Selecting the received signal values ​​of at least two antennas in the second target dimension from the received signal values ​​corresponding to the plurality of antennas respectively includes: The dimension in which the normal direction does not coincide with the direction of the target being measured is selected as the second target dimension.

8. The method according to claim 6, wherein, Determining the vertical elevation angle between the target under test and the test station based on the received signal values ​​of at least two antennas along the second target dimension includes: Obtain a second ratio between the received signal values ​​of at least two antennas along the second target dimension; Adjust the angles of the at least two antennas to change the radiation pattern of the antennas; Obtain a third ratio between the received signal values ​​of the at least two antennas in the adjusted second target dimension; Based on the second ratio and the third ratio, determine the second angle between the second target dimension and the direction of the measured target; The second included angle is determined to be the vertical pitch angle between the target under test and the test station.

9. The method according to claim 8, wherein, Determining the second angle between the second target dimension and the direction of the measured target based on the second ratio and the third ratio includes: Multiple second predetermined ratio thresholds are obtained, wherein the multiple second predetermined ratio thresholds are used to determine multiple second ratio ranges, and different second ratio ranges correspond to different second predetermined included angles; A second target ratio range is determined by comparing the difference between the second ratio and the third ratio with the plurality of second ratio ranges; The second predetermined angle corresponding to the second target ratio range is determined as the second angle between the second target dimension and the direction of the measured target.

10. The method according to claim 1, wherein, Determining the spatial distance between the target under test and the test site includes: The antenna gain of the corresponding antenna is determined based on the horizontal azimuth angle, the vertical elevation angle, and the direction of the target under test and the corresponding antenna. The path loss between the corresponding antenna and the target under test is determined based on the antenna gain of the corresponding antenna, the transmitted signal value of the target under test, and the received signal value of the corresponding antenna. Based on the path loss corresponding to the antenna, the target under test and the corresponding antenna are determined. The distance between them; Based on the distances corresponding to the multiple antennas at the test site, the spatial distance between the target under test and the test site is determined.

11. The method according to claim 1, wherein, Determining the spatial position of the target based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance includes: A spatial coordinate system is established with the geometric center of the test site as the origin; Based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance, the three-dimensional coordinates of the target under test in the spatial coordinate system are calculated to obtain the spatial position of the target under test.

12. A positioning device, wherein, include: The acquisition unit is configured to acquire the received signal values ​​from the target under test received by multiple antennas at the same test site. The first determining unit is configured to determine the horizontal azimuth angle between the target under test and the test station and the vertical elevation angle between the target under test and the test station based on the received signal values ​​corresponding to the plurality of antennas respectively. The second determining unit is configured to determine the spatial distance between the target under test and the test site; The third determining unit is configured to determine the spatial position of the target under test based on the horizontal azimuth angle, the vertical pitch angle, and the spatial distance.

13. A computer-readable storage medium, wherein, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the positioning method according to any one of claims 1 to 11.

14. An electronic device comprising a memory and a processor, wherein, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 1 to 11 through the computer program.

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