Positioning parameter determination method and apparatus, device, storage medium, and program product

Abstract

Provided are a positioning parameter determination method and apparatus, a device, a storage medium, and a program product. The method comprises: on the basis of a channel frequency domain response and respective preset delays of a plurality of signal transmission paths, determining respective target angle parameters of the plurality of signal transmission paths, the target angle parameters comprising an elevation angle and an azimuth angle; and on the basis of the target angle parameters, determining respective target delay parameters of the plurality of signal transmission paths.

Description

Positioning parameter determination method and device, equipment, storage medium and program product

[0001] The present disclosure claims priority to Chinese Patent Application No. 202411400015.7, filed on September 30, 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 parameter determination method and device, equipment, storage medium and program product. BACKGROUND

[0003] Further enhancements of 5G positioning capabilities are emphasized in 3GPP Release 17 to meet more stringent use case requirements including centimeter level accuracy. The standard not only proposes centimeter level accuracy requirements for horizontal positioning accuracy, but also proposes corresponding requirements for vertical positioning accuracy, i.e., 5G positioning needs to provide the ability of high-precision three-dimensional positioning.

[0004] For the past two-dimensional positioning, the time difference of arrival (TDOA) technology is often used to achieve positioning, and the terminal is required to receive line-of-sight signals from at least three base stations. However, in actual indoor environments, due to the shielding of buildings, there are always signal blind areas that make the terminal unable to meet the simultaneous coverage of multiple base stations. Considering that the new standard requires 5G to further provide the ability of three-dimensional positioning, more base stations are required to simultaneously cover the terminal, which undoubtedly makes the implementation of three-dimensional positioning more difficult. In view of these situations, by fusing time of arrival (TOA) and direction of arrival (DOA) technologies, using a single base station to achieve three-dimensional positioning is an effective solution.

[0005] The core idea of single station positioning is to use the time delay, elevation angle and azimuth angle on the line-of-sight path between the base station and the terminal to directly calculate the position of the terminal, and finally achieve three-dimensional positioning. SUMMARY

[0006] In a first aspect, an embodiment of the present disclosure provides a positioning parameter determination method. The positioning parameter determination method comprises:

[0007] Based on the channel frequency domain response and the preset time delay of each of the plurality of signal transmission paths, a target angle parameter of each of the plurality of signal transmission paths is determined; the target angle parameter comprises an elevation angle and an azimuth angle;

[0008] Based on the target angle parameter, a target time delay parameter of each of the plurality of signal transmission paths is determined.

[0009] In a second aspect, the embodiments of the present disclosure provide a positioning parameter determination apparatus. The positioning parameter determination apparatus comprises a processing module.

[0010] The processing module is configured to determine a target angle parameter of each of the plurality of signal transmission paths based on the channel frequency domain response and the preset time delay of each of the plurality of signal transmission paths; the target angle parameter comprises a pitch angle and an azimuth angle; and the processing module is further configured to determine a target time delay parameter of each of the plurality of signal transmission paths based on the target angle parameter.

[0011] In a third aspect, the embodiments of the present disclosure provide an electronic device, comprising a processor and a memory.

[0012] The memory stores instructions executable by the processor.

[0013] The processor is configured to execute the instructions, so that the electronic device implements the method of the first aspect.

[0014] In a fourth aspect, the present disclosure provides a readable storage medium, comprising software instructions.

[0015] When the software instructions are run in the electronic device, the electronic device implements the method of the first aspect.

[0016] In a fifth aspect, the present disclosure provides a computer program product, comprising computer instructions, when the computer instructions are run in the electronic device, the electronic device implements the method of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the technical scheme of the present disclosure, and constitute a part of the specification, and are used together with the embodiments of the present disclosure to explain the technical scheme of the present disclosure, and do not constitute a limitation on the technical scheme of the present disclosure.

[0018] Fig. 1 is a schematic diagram of an implementation environment of a positioning parameter determination method according to some embodiments.

[0019] Fig. 2 is a schematic diagram of a flow of a positioning parameter determination method according to some embodiments.

[0020] Fig. 3 is a schematic diagram of time delay estimation performance analysis according to some embodiments.

[0021] Fig. 4 is a schematic diagram of pitch / azimuth angle estimation performance analysis according to some embodiments.

[0022] Fig. 5 is a schematic diagram of azimuth angle estimation performance analysis according to some embodiments.

[0023] Fig. 6 is a schematic diagram of the composition of a positioning parameter determination apparatus according to some embodiments.

[0024] FIG. 7 is a schematic diagram of an electronic device, according to some embodiments. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present disclosure.

[0026] Unless otherwise required by context, the term "comprise" and other forms of the term "comprise", such as "comprises" and "comprising", and other forms of the term "comprise", are used in the sense of "including, but not limited to", that is, in the sense of "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" are intended to mean that a specific feature, structure, material or characteristic described in connection with the embodiment or example includes in at least one embodiment or example of the present disclosure. The illustrative representation of the above terms does not necessarily mean the same embodiment or example. In addition, the specific features, structures, materials or characteristics described can be included in any one or more embodiments or examples in any appropriate manner.

[0027] The terms "first", "second", and the like are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0028] In the embodiments of the present disclosure, the expressions "exemplarily" or "for example" and the like are used to mean as an example, illustration or description. Any embodiment or design scheme described as "exemplarily" or "for example" and the like in the embodiments of the present disclosure should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the expressions "exemplarily" or "for example" and the like are intended to present the relevant concept in a detailed manner.

[0029] In addition, the use of "based on" means open and inclusive, as a process, step, calculation, or other action that is "based on" one or more stated conditions or values can in practice be based on additional conditions or values beyond those stated.

[0030] 5th generation mobile communication technology (5G) as a major turning point in the field of mobile communication, has become the leading field of new infrastructure, is the new driving force of economic development, and is the key new infrastructure to support the digitalization, networking and intelligentization transformation of the economy and society. With the continuous construction and development of 5G network, indoor applications are becoming more and more rich, and based on production or management and other applications, the demand for location services is increasing day by day. At present, the positioning technology is mainly based on satellite global positioning system (GPS) positioning, but in indoor environment, satellite signals are severely blocked, and indoor building structure and material quality will cause complex multipath effect, resulting in that wireless signal propagation is greatly affected by non line of sight (NLOS) factors, and traditional positioning technology cannot meet the accuracy requirements of indoor positioning. Considering that 5G network has the advantages of large bandwidth, multiple antennas and high carrier frequency, it can provide great support for new high-precision indoor positioning technology.

[0031] Further enhancement of 5G positioning capabilities is emphasized in 3GPP Release 17 to meet more stringent use case requirements including centimeter-level accuracy. The standard not only puts forward centimeter-level accuracy requirements for horizontal positioning accuracy, but also puts forward corresponding requirements for vertical positioning accuracy, that is, 5G positioning needs to provide the ability of high-precision three-dimensional positioning. For the past two-dimensional positioning, TDOA technology is often used to realize positioning, and the terminal is required to receive at least three base station line-of-sight signals. However, in actual indoor environment, due to the shielding of buildings, there are always signal blind areas, so that the terminal cannot meet the simultaneous coverage of multiple base stations. Considering that the new standard requires 5G to further provide the ability of three-dimensional positioning, more base stations are required to cover the terminal at the same time, which undoubtedly makes the realization of three-dimensional positioning more difficult. In view of these situations, by fusing TOA and DOA technologies, using a single base station to realize three-dimensional positioning is an effective solution.

[0032] The core idea of single station positioning is to directly calculate the detailed position of the terminal by using the time delay, elevation angle and azimuth angle (which can also be understood as positioning parameters) on the line of sight path between the base station and the terminal, and finally realize three-dimensional positioning. It can be seen that the estimation of the time difference of arrival and the angle of arrival is the core of realizing high-precision three-dimensional positioning, and the estimation error of the angle and the time delay will directly affect the final positioning result of the terminal. In the actual system, factors such as bandwidth, signal-to-noise ratio, inter-station synchronization, multipath environment, etc. will affect the positioning accuracy, and multipath is the biggest challenge for high-resolution time delay and angle estimation. In a complex indoor environment, the received signal is the superposition of electromagnetic waves after propagation through different paths, and is affected by environmental noise, which distorts the original signal, thereby affecting the accuracy of parameter estimation. Therefore, researching a high-resolution three-dimensional parameter joint estimation algorithm under a multipath environment is the basis for ensuring the accuracy of three-dimensional positioning.

[0033] For high-precision three-dimensional parameter joint estimation in the time delay domain and the angle domain, some high-resolution parameter estimation methods, such as MUSIC and approximate maximum likelihood method, can be extended to multi-dimensional to realize three-dimensional parameter joint estimation. However, in the process of using these methods to solve three-dimensional parameters jointly, three-dimensional search of parameters is required, which leads to extremely high algorithm complexity, making the algorithm unable to be practically applied. In view of the various disadvantages of the current three-dimensional parameter joint estimation algorithm, researching a low-complexity and practically applicable three-dimensional parameter joint estimation algorithm is of great significance for realizing single station positioning.

[0034] Based on this, the embodiments of the present disclosure provide a positioning parameter determination method and device, equipment, storage medium and program product, which can reduce the dimensionality of the three-dimensional parameter joint estimation process and reduce the complexity of the positioning parameter estimation, so that the algorithm is more applicable in practical application.

[0035] The following will be described with reference to the accompanying drawings.

[0036] FIG. 1 is a schematic diagram of an implementation environment of a positioning parameter determination method according to some embodiments. As shown in FIG. 1, the implementation environment can include a base station 10 and a user equipment 20.

[0037] The base station 10 can be a base station (BS), a base transceiver station (BTS), a 3G base station (NodeB), a 4G base station (evolved NodeB, eNB), a 5G base station (next generation NodeB, gNB), etc. The embodiments of the present disclosure do not limit the type of base station 10.

[0038] The antennas in the base station 10 can be regarded as a uniform planar array structure, which can include a plurality of array elements, each of which can receive a wireless signal. The base station 10 can determine the positioning parameters of the user equipment 20 according to the channel frequency domain responses of different array elements in the plurality of array elements. The detailed process can be described in the positioning parameter determination method provided in the method embodiment below, which will not be described here.

[0039] The user equipment 20 can include two types of user equipment. One type of user equipment is exemplified by three buildings in FIG. 1, and there is a building obstruction between this type of user equipment and the base station 10, and the base station 10 transmits wireless signals in a NLOS condition (wireless signals transmitted in a NLOS condition are exemplified by NLOS1, NLOS2, and NLOS3 in FIG. 1, respectively).

[0040] The other type of user equipment is exemplified by a mobile phone in FIG. 1, and there is no building obstruction between this type of user equipment and the base station 10, and the base station 10 transmits wireless signals in a line of sight (LOS) condition.

[0041] It should be noted that the base station 10 can use the positioning parameter determination method provided in the method embodiment below when positioning the user equipment that transmits wireless signals in a NLOS condition. The base station 10 can use the positioning parameter determination method provided in the method embodiment below, or the TDOA technology, TOA technology, or DOA technology in related technologies, when positioning the user equipment that transmits wireless signals in a LOS condition. That is, the positioning parameter determination method provided in the embodiments of the present disclosure can be applied in a NLOS condition or a LOS condition, and the embodiments of the present disclosure do not limit this.

[0042] It should be noted that the positioning parameter determination method can also be executed by the user equipment 20 in the actual execution process, although the base station 10 is exemplified in FIG. 1 to determine the positioning parameters. The embodiments of the present disclosure do not limit this.

[0043] The execution subject of the positioning parameter determination method provided by the embodiments of the present disclosure is a positioning parameter determination apparatus. The positioning parameter determination apparatus can be the base station 10 or the user equipment 20 described above. In some embodiments, in the case where the base station 10 and the user equipment 20 are collectively referred to as electronic equipment, the positioning parameter determination apparatus can also be a processor (for example, a central processing unit (CPU)) in the foregoing electronic equipment; or the positioning parameter determination apparatus can also be an application installed in the foregoing electronic equipment for executing the positioning parameter determination method; or the positioning parameter determination apparatus can also be a software system in the foregoing electronic equipment; or the positioning parameter determination apparatus can also be a functional module in the foregoing electronic equipment for executing the positioning parameter determination method, and the like, which are not limited in the embodiments of the present disclosure.

[0044] For the sake of simplicity, the following will be introduced by taking the execution subject of the positioning parameter determination method provided by the embodiments of the present disclosure as the positioning parameter determination apparatus.

[0045] First, some high-resolution parameter estimation methods provided by some technologies will be introduced by taking the approximate maximum likelihood (AML) method as an example.

[0046] First, the following symbol regulations are made: considering a uniform planar array structure (for example, the uniform planar array at the base station 10 in FIG. 1), the planar array has M array elements in the x-axis direction and N array elements in the y-axis direction. For the sake of simplifying calculation, the array element spacing d is taken as λ / 2, and λ=c / f c represents the wavelength of the received electromagnetic wave, c represents the speed of light, and f c represents the carrier frequency. Assuming that there is a transmitting source, the transmitting signal of the transmitting source reaches the planar array through L different paths (or signal transmission paths), then the channel frequency response (CFR) estimated by the M*N array elements (or antenna units) in the planar array at the kth subcarrier (assuming that there are K subcarriers) can be written as a vector g(k) after matrix representation and vectorization. The elevation angle (matrix) θ of the signals of the L different paths is defined as θ=[θ1,...,θ L ] T The azimuth angle (matrix) φ is defined as φ=[φ1,...,φ L ] T The time delay (matrix) τ is defined as τ=[τ1,...,τ L ] T The multipath attenuation (matrix) C represents the carrier energy.

[0047] The estimated CFR at the (m, n)th element of the planar array at the kth subcarrier can be expressed as follows:

[0048] α l represents the attenuation coefficient of the lth path. θ l represents the elevation angle of the lth path (of the arrived signal). φ l represents the azimuth angle of the lth path (of the arrived signal). Δf represents the subcarrier spacing. τ l represents the time delay of the lth path. W represents a Gaussian white noise with mean 0 and variance σ 2 . x l and y l can be understood as a scalar representing the phase rotation caused by the elevation angle and the azimuth angle of the lth path, respectively. z l can be understood as a scalar representing the phase rotation caused by the time delay of the lth path.

[0049] The AML (or three-dimensional joint estimation algorithm) is to calculate the time delay, the elevation angle and the azimuth angle of each path by estimating (x l , y l , z l ), and the calculation formula is as follows:

[0050] represents the elevation angle (of the lth path). represents the azimuth angle (of the lth path). atan2 represents the four-quadrant arctangent function, and R{·} represents taking the real part. I{·} represents taking the imaginary part.

[0051] The noise-free CFRs of all elements of the planar array at the kth subcarrier can be written in matrix form, for example, as shown in the following formula:

[0052] X represents a matrix including multiple vectors, x i represents a vector in the matrix X, x i that is, the vectorization of the scalar x l in the above formula (3). Y also represents a matrix including multiple vectors, y i represents a vector in the matrix Y, y i that is, the vectorization of the scalar y l in the above formula (4). The elements in β are the scalars β l in the above formula (2), z k The element in z l .

[0053] According to equivalent changes A1, A2, and a all represent arbitrary matrices, and the above formula (11) can be written as the following formula after vectorization:

[0054] Definition Then the CFR under the matrix can be expressed as: G = [Y 0 X] diag{β} Z T Formula (13)

[0055] Z represents a matrix including multiple vectors, z i represents a vector in the matrix Z, z i , that is, the vectorization of the scalar z l in the above formula (5).

[0056] The matrix G in the above formula (13) is vectorized, which can be written as: g = vec[G] = Dβ + w Formula (14)

[0057] In order to highlight the parameters to be estimated, an array stream type can be used for representation. After vectorization of the CFR of all array elements at the kth subcarrier, it can also be written as: g(k) = D(k)β + w(k) Formula (15)

[0058] a(θ1,φ1) represents the array stream type vector corresponding to the first path, and the elements in the array stream type vector are the elements in the array stream type corresponding to the first path. a(θ L ,φ L ) represents the array stream type vector corresponding to the Lth path, and the elements in the array stream type vector are the elements in the array stream type corresponding to the Lth path. Z(k) represents the kth row vector of the matrix Z, A(θ,φ) represents the array stream type matrix, and A(θ,φ) = [a(θ1,φ1), …, a(θ L ,φ L )] = Y 0 X.

[0059] Define θ = [θ1, …, θ L ] T , φ = [φ1, …, φ L ] T, τ = [τ1,..., τK], and β = [β1,..., βK]. L ] T , and write all unknown parameters in vector form: Ω = [θ T , φ T , τ T , β T , σ 2 ] T Equation (16)

[0060] The likelihood function with respect to Ω can be obtained as:

[0061] f(Ω) denotes the likelihood function with respect to Ω.

[0062] The corresponding log-likelihood function is:

[0063] L(Ω) denotes the log-likelihood function with respect to Ω.

[0064] According to the maximum likelihood theory, the unknown parameters can be estimated by:

[0065] Here we are not interested in σ 2 , and the maximum likelihood estimation can be written in the minimization form

[0066] Since g = [g T (1),..., g T (K)] T , D = [D T (1),..., D T (K)] T , Equation (20) can be simplified as: (θ, φ, τ, β) = argmin θ,φ,τ,β ‖g - Dβ‖ 2 Equation (21)

[0067] Given θ, φ, τ, according to the least squares, we have: β = (D H D) -1 D H g Equation (22)

[0068] Substituting Equation (22) into Equation (21), we can obtain the estimates of θ, φ, τ:

[0069] denotes the orthogonal complement projection and is defined as I denotes an L x L identity matrix, where the elements on the diagonal are 1 and the elements off the diagonal are 0.

[0070] From the above formula, it can be seen that the AML can satisfy the minimization of in the formula (23) by searching θ, φ, τ in three dimensions, and finally estimate θ, φ, τ. However, the time complexity of directly using the maximum likelihood estimation theory to jointly estimate the parameters is very high, which is not suitable for practical application. Therefore, the embodiment of the present disclosure optimizes the AML to obtain an optimized AML (Optimized-AML), which simplifies the three-dimensional search to two two-dimensional search problems by an approximate method, and optimizes the autocorrelation matrix in the algorithm in front and back directions, thereby reducing the algorithm complexity while ensuring the parameter estimation accuracy. In addition, in the two-dimensional search process, through three coarse-to-fine searches, the algorithm complexity can be further reduced, so that the algorithm is more suitable for practical application. In order to further highlight the parameters to be estimated, the following equivalent expressions are defined for clearer algorithm description: u(k, τ) = diag{β} r(k, τ) formula (25) B = A(θ, φ) diag{β} formula (26)

[0071] r(k, τ) can be understood as a vector for representing the phase rotation caused by the time delay of each path on the kth subcarrier. u(k, τ) can be understood as a vector for representing the phase rotation (including attenuation information) caused by the time delay of each path on the kth subcarrier, and diag represents the operation of extracting the elements on the diagonal of the matrix. B can be understood as a matrix for representing the phase rotation (including attenuation information, each path) caused by the elevation angle and the azimuth angle.

[0072] The channel frequency domain response can be represented as: g(k) = D(k) β + w(k) = [Y ⊙ X] diag{β} z k + w(k) = Br(k, τ) + w(k) formula (27)

[0073] First, we assume that the time delay τ is a fixed value, and then the estimator can be written as

[0074] Here, we do not obtain the estimates of θ, φ, β by three-dimensional search. According to formula (28), the estimate of matrix B is first obtained:

[0075] Since the delay τ is a constant value, the delay τ is known, and since the delay τ is known, r H (k,τ) is known, and g(k) is the noisy observation of the CFR, the estimate of the matrix B can be easily obtained from the above equation (29). Let B l represent the lth column vector of the estimate matrix B , B = [B1,..., B L ]. B l is determined by the unknown parameters θ l , φ l , β l , and thus the parameters θ l , φ l , β l can be estimated by the estimate of the matrix B :

[0076] Since β is a scalar, according to the property of projection, the following equation can be satisfied when the vectors are in phase:

[0077] According to the above equation (31), the elevation angle θ and the azimuth angle φ can be jointly estimated by a two-dimensional search, and according to the estimate of we can further estimate the delay τ and the attenuation β:

[0078] At this time, we can satisfy the minimization of in equation (33) by a two-dimensional search τ, β, and finally estimate τ, β.

[0079] In order to further reduce the computational complexity of the algorithm, we finally obtain the estimate τ, β by estimating , and using the least squares theory, we can obtain: u(k,τ) = [A H (θ,φ)A(θ,φ)] -1 A H (θ,φ)g(k) equation (34)

[0080] Define the matrix V:

[0081] v l represents the lth column vector of the matrix V, which is a vector about τ l , β l . According to the estimate of , we can obtain τ l , β l by the following equation:

[0082] t(τ) can be understood as a matrix representing phase rotation at different subcarriers when the time delay is fixed, According to the projection property, τ can be obtained l , β l estimation:

[0083] In some embodiments, since the maximum likelihood estimation is non-convex, the performance of the estimator and the initialization are very important. The following embodiments of the present disclosure give a method of initializing the elevation angle and the azimuth angle. Considering the estimated parameters θ (l-1) ,φ (l-1) ,τ (l-1) ,β (l-1) of the first l-1 paths, the elevation angle and the azimuth angle of the lth path can be initialized as:

[0084] a(θ,φ) represents the array flow pattern (at the signal receiving end). J represents an anti-diagonal matrix of LxL, the elements on the anti-diagonal line are all 1, and the elements other than the anti-diagonal line are all 0; R(θ,φ) represents the residual covariance matrix after subtracting the first l-1 multipath signal contributions using the estimated parameters. R(θ,φ) can be understood as the autocorrelation matrix of g(k) for K subcarriers. ai represents the attenuation of the ith path in the estimated l-1 paths. τi represents the time delay of the ith path in the estimated l-1 paths.

[0085] Based on the understanding of the above embodiments, the embodiments of the present disclosure provide a positioning parameter determination method. FIG. 2 is a flowchart of a positioning parameter determination method according to some embodiments. As shown in FIG. 2, the method comprises S101-S102.

[0086] S101, based on the channel frequency domain response and the preset time delay of each of the plurality of signal transmission paths, determining a target angle parameter of each of the plurality of signal transmission paths.

[0087] The target angle parameter includes an elevation angle and an azimuth angle. The plurality of signal transmission paths may, for example, be L paths, L being an integer greater than 2. For example, the vertical axis of the time domain waveform diagram can be used to represent the amplitude of the signal, and the horizontal axis represents time. In the case where the amplitude is greater than a preset amplitude threshold, the amplitude can be understood as a signal transmission path, and the order of the signal transmission paths can be determined according to the order of the corresponding amplitude on the time domain waveform diagram.

[0088] As an example, as described at formula (28) above, the time delay can be assumed to be a fixed value, and the elevation angle, the azimuth angle and the attenuation can be estimated. Thus, the preset time delay of each of the plurality of signal transmission paths can be preset in the positioning parameter determination apparatus by a worker according to artificial experience.

[0089] As another example, as described at formula (39) to formula (42) above, the positioning parameter determination apparatus can initialize the angle parameter (the elevation angle and the azimuth angle) of each of the plurality of signal transmission paths (i.e., the above-mentioned paths). In this case, the positioning parameter determination apparatus can determine the preset time delay of each of the plurality of signal transmission paths according to the initialized angle parameter.

[0090] For example, the positioning parameter determination apparatus can determine the preset time delay of each of the plurality of signal transmission paths according to the initialized angle parameter according to formula (37) above.

[0091] S102, determine a target time delay parameter of each of the plurality of signal transmission paths based on the target angle parameter.

[0092] The target angle parameter and the target time delay parameter can be used for positioning of the data sending end, which can be understood as the positioning parameter.

[0093] For example, the positioning parameter determination apparatus can determine the target time delay parameter based on the target angle parameter according to formula (37) above.

[0094] In the positioning parameter determination method provided by the embodiments of the present disclosure, the positioning parameter determination apparatus can determine a target angle parameter of each of the plurality of signal transmission paths based on the channel frequency domain response and the preset time delay of each of the plurality of signal transmission paths, the target angle parameter including an elevation angle and an azimuth angle, and then determine a target time delay parameter of each of the plurality of signal transmission paths according to the target angle parameter. In this way, the joint estimation of the three-dimensional parameters of the time delay, the elevation angle and the azimuth angle can be split into a two-dimensional parameter joint estimation of the elevation angle and the azimuth angle and a one-dimensional parameter estimation of the time delay, which reduces the complexity of the algorithm and improves the usability of the algorithm in practical applications compared with the joint estimation of the three-dimensional parameters in the related art.

[0095] The process of S101 above is described below.

[0096] In some embodiments, the positioning parameter determination apparatus can determine the target angle parameter by estimating a first matrix representing the phase rotation caused by the elevation angle and the azimuth angle. In this case, S101 can include steps 1a to 2a.

[0097] Step 1a, determine a first matrix based on the channel frequency domain response and the preset time delay.

[0098] The first matrix is used to represent phase rotation caused by the elevation angle and the azimuth angle.

[0099] For example, the relationship between the channel frequency domain response, the preset time delay, and the first matrix satisfies the following relationship:

[0100] B represents the first matrix; g(k) represents a vectorized representation of the channel frequency domain response estimated at the kth subcarrier; τ1 represents the preset time delay of the first signal transmission path; τ l represents the preset time delay of the lth signal transmission path.

[0101] Step 2a, based on the first matrix, determine the target angle parameter of each of the plurality of signal transmission paths.

[0102] For example, the first matrix can include a plurality of column vectors, each of the plurality of column vectors corresponds to one of the plurality of signal transmission paths, in which case the first matrix and the target angle parameter satisfy the following relationship:

[0103] represents the elevation angle of the lth signal transmission path; represents the azimuth angle of the lth signal transmission path; B l represents the lth column vector in the first matrix; a(θ, φ) represents the array stream pattern of the signal receiving end.

[0104] The process of S102 is described below.

[0105] In some embodiments, the target time delay parameter can be determined according to a first vector representing phase rotation caused by the time delay, and a second matrix used to represent phase rotation at different subcarriers when the time delay is fixed. In this case, S102 described above can include steps 1b to 4b.

[0106] Step 1b, based on the target angle parameter of each of the plurality of signal transmission paths, determine the array stream pattern vector of each of the plurality of signal transmission paths.

[0107] Step 2b, based on the array stream pattern vector of each of the plurality of signal transmission paths, determine the array stream pattern matrix.

[0108] Step 3b, based on the channel frequency domain response and the array stream pattern matrix, determine the first vector.

[0109] The first vector is used to represent phase rotation caused by the time delay.

[0110] For example, as mentioned above, the multiple signal transmission paths can include L signal transmission paths, L being an integer greater than 2, in which case the relationship between the channel frequency domain response, the array stream pattern matrix, and the first vector can satisfy the following relationship: u(k, τ) = [A H (θ, φ)A(θ, φ)] -1 A H (θ, φ)g(k) Formula (45)

[0111] u(k, τ) represents the first vector; g(k) represents a vectorized representation of the channel frequency domain response estimated at the kth subcarrier; A(θ, φ) represents the array stream pattern matrix; A(θ, φ) = [a(θ1, φ1), …, a(θ L ,φ L )], a(θ1, φ1) represents the array stream pattern vector of the 1st signal transmission path, and a(θ L ,φ L ) represents the array stream pattern vector of the Lth signal transmission path.

[0112] Step 4b, determining the target time delay parameter of each of the multiple signal transmission paths based on the first vector and the second matrix.

[0113] The second matrix is used to represent the phase rotation at different subcarriers when the time delay is fixed.

[0114] For example, the relationship between the first vector, the second matrix, and the target time delay parameter can satisfy the following relationship:

[0115] represents the target time delay parameter of the lth signal transmission path; t(τ) represents the second matrix, v l is the lth column vector in the matrix V,

[0116] In some embodiments, the positioning parameter determination apparatus can determine the positioning parameters of the multiple signal transmission paths simultaneously, and then determine whether the algorithm converges according to the difference between the positioning parameters of two adjacent paths. In this case, S101 can include the following steps 1c and 2c, and S102 can include the following step 3c:

[0117] Step 1c, for any adjacent first path and second path in the multiple signal transmission paths, determining a first reference parameter of the first path and a second reference parameter of the second path based on the channel frequency domain response and the preset time delay of the first path and the second path.

[0118] The first reference parameters include a first reference angle parameter and a first reference time delay parameter, and the second reference parameters include a second reference angle parameter and a second reference time delay parameter. The determination of the first reference parameters and the second reference parameters can refer to the steps 1a to 2a and the steps 1b to 4b described above, which will not be repeated here.

[0119] As an example, as described above, the amplitude (or peak) greater than the amplitude threshold on the time-domain waveform diagram can be understood as a signal transmission path, and the adjacent two signal transmission paths can be understood as the signal transmission paths (or peaks) adjacent to each other on the time axis of the horizontal axis.

[0120] Step 2c, in the case where the first reference parameters and the second reference parameters satisfy the parameter convergence condition, the first reference angle parameter is taken as the target angle parameter of the first reference path, and the second reference angle parameter is determined as the target angle parameter of the second reference path.

[0121] The parameter convergence condition includes that the difference between the first reference angle parameter and the second reference angle parameter is less than an angle threshold, and the difference between the first reference time delay parameter and the second reference time delay parameter is less than a time delay threshold. For example, the angle threshold can be set to 1°, 3°, 5°, or 10°, and the time delay threshold can be set to 5 ns, 8 ns, or 10 ns. The present disclosure does not limit the numerical value of the angle threshold and the numerical value of the time delay threshold.

[0122] Step 3c, in the case where the first reference parameters and the second reference parameters satisfy the parameter convergence condition, the first reference time delay parameter is taken as the target time delay parameter of the first path, and the second reference time delay parameter is taken as the target time delay parameter of the second path.

[0123] The first reference time delay parameter is determined based on the first reference angle parameter, and the second reference time delay parameter is determined based on the second reference angle parameter.

[0124] In some other embodiments, when the reference parameters of the first path and the second path are greatly different and do not converge, the positioning parameter determination apparatus can also continue to update the reference parameters of the first path and the second path. In this case, the method can further include the following steps:

[0125] Step 1d, in the case where the first reference parameters and the second reference parameters do not satisfy the parameter convergence condition, the update operation is performed multiple times until the first reference parameters and the second reference parameters satisfy the parameter convergence condition.

[0126] The updating operation comprises: updating the first reference angle parameter based on the first reference time delay parameter and the channel frequency domain response, and updating the first reference time delay parameter based on the updated first reference angle parameter; updating the second reference angle parameter based on the second reference time delay parameter and the channel frequency domain response, and updating the second reference time delay parameter based on the updated second reference angle parameter. The updating process can also refer to the steps 1a to 2a and steps 1b to 4b described above, which will not be repeated here.

[0127] Exemplarily, FIG. 3 is a schematic diagram of time delay estimation performance analysis according to some embodiments. As shown in FIG. 3, compared with the existing three-dimensional matrix algorithm (3D-MP), the ESPRIT algorithm based on a smoothed correlation matrix (SCS-ESPRIT), and the AML algorithm, the optimized AML algorithm (Optimized-AML) provided by the embodiments of the present disclosure can realize a time delay estimation error less than 1 ns at a low signal-to-noise ratio, and the algorithm performance (for example, illustrated by root mean square error (RMSE) / (ns) in FIG. 3) can approach the Cramer-Rao lower bound (CRLB).

[0128] Exemplarily, FIG. 4 is a schematic diagram of (pitch) angle estimation performance analysis according to some embodiments. As shown in FIG. 4, compared with the existing 3D-MP, the Unitary-ESPRIT algorithm, and the AML algorithm, the optimized AML algorithm (Optimized-AML) provided by the embodiments of the present disclosure can realize a pitch angle estimation error less than 1 degree at a low signal-to-noise ratio, and the algorithm performance also approaches the CRLB.

[0129] Exemplarily, FIG. 5 is a schematic diagram of azimuth angle estimation performance analysis according to some embodiments. As shown in FIG. 5, compared with the existing 3D-MP, the Unitary-ESPRIT algorithm, and the AML algorithm, the optimized AML algorithm (Optimized-AML) provided by the embodiments of the present disclosure can realize an azimuth angle estimation error less than 1 degree at a low signal-to-noise ratio, and the algorithm performance also approaches the CRLB.

[0130] The above describes the solutions provided by the embodiments of the present disclosure from the perspective of methods. In order to implement the above functions, each device, for example, the positioning parameter determination apparatus, comprises a hardware structure and / or a software module corresponding to each function. It should be easily realized by those skilled in the art that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0131] The embodiments of the present disclosure can divide the functional modules of the positioning parameter determination apparatus according to the above method embodiments. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one functional module. The above integrated module can be implemented in the form of hardware or software. It should be noted that the division of the modules in the embodiments of the present disclosure is illustrative, and is only a logical function division. When actually implemented, there can be another division manner. The following will be described taking the example of dividing each functional module according to each function.

[0132] In some embodiments, the present disclosure provides a positioning parameter determination apparatus. FIG. 6 is a constituent schematic diagram of the positioning parameter determination apparatus according to some embodiments. As shown in FIG. 6, the positioning parameter determination apparatus 60 comprises a processing module 601.

[0133] The processing module 601 is configured to determine a target angle parameter of each of the plurality of signal transmission paths based on the channel frequency domain response and a preset time delay of each of the plurality of signal transmission paths; the target angle parameter comprises a pitch angle and an azimuth angle; and determine a target time delay parameter of each of the plurality of signal transmission paths based on the target angle parameter.

[0134] In some embodiments, the processing module 601 is configured to determine a first matrix based on the channel frequency domain response and the preset time delay; the first matrix is used to represent a phase rotation caused by the pitch angle and the azimuth angle; and determine the target angle parameter of each of the plurality of signal transmission paths based on the first matrix.

[0135] In other embodiments, the relationship among the channel frequency domain response, the preset time delay, and the first matrix satisfies the following relationship:

[0136] B represents the first matrix; g(k) represents a vectorization representation of the channel frequency domain response estimated at the kth subcarrier; τ1 represents preset time delay of the first signal transmission path; τ l τ1 represents preset time delay of the first signal transmission path.

[0137] In yet some embodiments, the first matrix comprises a plurality of column vectors; the plurality of column vectors correspond to the plurality of signal transmission paths one by one; the first matrix and the target angle parameter satisfy the following relationship:

[0138] represents the elevation angle of the lth signal transmission path; represents the azimuth angle of the lth signal transmission path; B l represents the lth column vector in the first matrix; a(θ,φ) represents the array stream pattern of the signal receiving end.

[0139] In yet some embodiments, the processing module 601 is configured to determine the array stream pattern vector of each of the plurality of signal transmission paths based on the target angle parameter of each of the plurality of signal transmission paths; determine the array stream pattern matrix based on the array stream pattern vector of each of the plurality of signal transmission paths; determine the first vector based on the channel frequency domain response and the array stream pattern matrix; the first vector is used to represent the phase rotation caused by the time delay; determine the target time delay parameter of each of the plurality of signal transmission paths based on the first vector and the second matrix; the second matrix is used to represent the phase rotation under different subcarriers when the time delay is fixed.

[0140] In yet some embodiments, the plurality of signal transmission paths comprises L signal transmission paths, L is an integer greater than 2; the relationship among the channel frequency domain response, the array stream pattern matrix, and the first vector satisfies the following relationship: u(k,τ)=[A H (θ,φ)A(θ,φ)] -1 A H (θ,φ)g(k);

[0141] u(k,τ) represents the first vector; g(k) represents the vectorization of the channel frequency domain response estimated at the kth subcarrier; A(θ,φ) represents the array stream pattern matrix; A(θ,φ)=[a(θ L ,φ L )], a(θ L ,φ L ) represents the array stream pattern vector of the Lth signal transmission path.

[0142] In yet some embodiments, the relationship among the first vector, the second matrix, and the target time delay parameter satisfies the following relationship:

[0143] a (τ) represents a target delay parameter of the lth signal transmission path; t (τ) represents a second matrix, v l is the lth column vector in the matrix V,

[0144] In yet some embodiments, the processing module 601 is further configured to initialize respective angle parameters of the plurality of signal transmission paths; the angle parameters comprise a pitch angle and an azimuth angle; and determine the respective preset delays of the plurality of signal transmission paths according to the initialized angle parameters.

[0145] In yet some embodiments, the plurality of signal transmission paths comprises L signal transmission paths, L being a positive integer greater than 2; and the processing module 601 is configured to initialize the angle parameters according to the following formula:

[0146] a (τ) represents the pitch angle of the lth signal transmission path; a (θ, φ) represents the array flow pattern of the signal receiving end;

[0147] J represents an LxL anti-diagonal matrix, the elements on the anti-diagonal line are all 1, and the elements other than the anti-diagonal line are all 0; and Δf represents the subcarrier spacing; a (τ) represents the pitch angle of the lth signal transmission path; a (τ) represents the pitch angle of the lth signal transmission path;

[0148] In yet some embodiments, the processing module 601 is configured to, for any adjacent first path and second path in the plurality of signal transmission paths, determine a first reference parameter of the first path and a second reference parameter of the second path based on the channel frequency domain response and the respective preset delays of the first path and the second path; the first reference parameter comprises a first reference angle parameter and a first reference delay parameter; the second reference parameter comprises a second reference angle parameter and a second reference delay parameter; in a case where the first reference parameter and the second reference parameter satisfy a parameter convergence condition, take the first reference angle parameter as a target angle parameter of the first reference path and determine the second reference angle parameter as a target angle parameter of the second reference path; the parameter convergence condition comprises that the difference between the first reference angle parameter and the second reference angle parameter is less than an angle threshold value, and the difference between the first reference delay parameter and the second reference delay parameter is less than a delay threshold value; in a case where the first reference parameter and the second reference parameter satisfy the parameter convergence condition, take the first reference delay parameter as a target delay parameter of the first path and take the second reference delay parameter as a target delay parameter of the second path; the first reference delay parameter is determined based on the first reference angle parameter; and the second reference delay parameter is determined based on the second reference angle parameter.

[0149] In some embodiments, the processing module 601 is further configured to, in a case where the first reference parameter and the second reference parameter do not satisfy the parameter convergence condition, perform the updating operation multiple times until the first reference parameter and the second reference parameter satisfy the parameter convergence condition; the updating operation comprises: updating the first reference angle parameter based on the first reference time delay parameter and the channel frequency domain response, and updating the first reference time delay parameter based on the updated first reference angle parameter; updating the second reference angle parameter based on the second reference time delay parameter and the channel frequency domain response, and updating the second reference time delay parameter based on the updated second reference angle parameter.

[0150] It should be noted that the modules in FIG. 6 can also be referred to as units, for example, the processing module can be referred to as a processing unit. In addition, in the embodiment shown in FIG. 6, the name of each module can also be different from the name shown in the figure, for example, the processing module can also be referred to as a positioning module, etc.

[0151] If each module in FIG. 6 is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present disclosure essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to make an electronic device (which can be a mobile phone, a personal computer, a server, or a network device, etc.) or a processor execute all or part of the steps of the various embodiments of the present disclosure. The storage medium storing the computer software product includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0152] In a case where the positioning parameter determination apparatus adopts hardware to implement the functions of the integrated modules described above, the embodiments of the present disclosure provide an electronic device. FIG. 7 is a constituent schematic diagram of an electronic device according to some embodiments. As shown in FIG. 7, the electronic device 70 includes a processor 702, a communication interface 703, and a bus 704. As an example, the electronic device 70 can also include a memory 701.

[0153] The processor 702 can 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, transistor logic, hardware components, or any combination thereof. The processor 702 can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the present disclosure. The processor 702 can also be a combination of computing functionality, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.

[0154] The communication interface 703 is configured to connect with other devices through a communication network. The communication network can be an Ethernet, a radio access network, a wireless local area network (WLAN), and the like.

[0155] The memory 701 can 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 information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic 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 that can be accessed by a computer, but is not limited thereto.

[0156] As an implementation manner, the memory 701 can exist independently of the processor 702, and the memory 701 can be connected with the processor 702 through the bus 704, for storing instructions or program codes. When the processor 702 invokes and executes the instructions or program codes stored in the memory 701, the positioning parameter determination method provided by the embodiments of the present disclosure can be implemented.

[0157] In another implementation manner, the memory 701 can also be integrated with the processor 702.

[0158] The bus 704 can be an extended industry standard architecture (EISA) bus or the like. The bus 704 can be divided into an address bus, a data bus, a control bus, and the like. For the convenience of representation, only one thick line is shown in FIG. 7, but it does not mean that there is only one bus or only one type of bus.

[0159] Those skilled in the art can clearly understand the above-described method according to the description of the above embodiments. For the convenience and brevity of description, only the above-described division of functional modules is taken as an example. In actual applications, the above-described functions can be completed by different functional modules according to needs, that is, the internal structure of the positioning parameter determination apparatus is divided into different functional modules to complete all or part of the functions described above.

[0160] In an example embodiment, the present disclosure also provides a readable storage medium including software instructions, which, when executed in an electronic device, can cause the electronic device to implement the method described in the above embodiments. The readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the readable storage medium can include both an internal storage unit of the electronic device and an external storage device. The readable storage medium is used to store the software instructions and other programs and data required by the electronic device. The readable storage medium can also be used to temporarily store data that has been output or will be output. The readable storage medium includes a non-transitory computer readable storage medium.

[0161] In an example embodiment, the present disclosure also provides a computer program product including computer instructions, which, when executed in an electronic device, cause the electronic device to implement the method in the above method embodiments.

[0162] Although the present disclosure is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Measures described in mutually different dependent claims can be combined and produce beneficial results.

[0163] Although the present disclosure has been described with reference to the detailed description and embodiments thereof, it is apparent that many modifications and changes can be applied to the present disclosure without departing from the spirit and scope thereof. Accordingly, the present description and drawings are to be regarded simply as illustrative of the present disclosure and are to be construed as covering any and all modifications, variations, combinations or equivalents that fall within the scope of the present disclosure. Obviously, various modifications and changes can be made to the present disclosure by those skilled in the art without departing from the spirit and scope thereof. Thus, it is intended that the present disclosure cover such modifications and changes as fall within the scope of the claims and their equivalents.

[0164] The above description is merely that of the specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope of the present disclosure should be covered within 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 method for determining positioning parameters, comprising: determining target angle parameters of a plurality of signal transmission paths based on a channel frequency domain response and preset time delays of the plurality of signal transmission paths respectively; the target angle parameters comprise an elevation angle and an azimuth angle; determining target time delay parameters of the plurality of signal transmission paths based on the target angle parameters.

2. The method of claim 1, wherein, the determining the target angle parameters of the plurality of signal transmission paths based on the channel frequency domain response and the preset time delays of the plurality of signal transmission paths respectively comprises: determining a first matrix based on the channel frequency domain response and the preset time delays; the first matrix is used to represent phase rotation caused by the elevation angle and the azimuth angle; determining the target angle parameters of the plurality of signal transmission paths based on the first matrix.

3. The method of claim 2, wherein, The relationship among the channel frequency domain response, the preset time delay, and the first matrix satisfies the following relationship: where B represents the first matrix; g(k) represents a vectorized representation of the channel frequency domain response estimated at the kth subcarrier; τ1 represents a preset time delay of the first signal transmission path; τ l τ1 represents a preset time delay of the first signal transmission path; τ 4. The method of claim 2, wherein, The first matrix includes a plurality of column vectors; the plurality of column vectors correspond to the plurality of signal transmission paths one by one; the first matrix and the target angle parameter satisfy the following relationship: wherein a pitch angle of the lth signal transmission path; denotes the azimuth angle of the lth signal transmission path; B l denotes the lth column vector in the first matrix; a(θ,φ) denotes the array flow pattern of the signal receiving end.

5. The method of claim 1, wherein, the determining the target time delay parameters of the plurality of signal transmission paths based on the target angle parameters comprises: determining array stream type vectors of the plurality of signal transmission paths based on the target angle parameters of the plurality of signal transmission paths respectively; determining an array stream type matrix based on the array stream type vectors of the plurality of signal transmission paths respectively; determining a first vector based on the channel frequency domain response and the array stream type matrix; the first vector is used to represent phase rotation caused by time delay; determining the target time delay parameters of the plurality of signal transmission paths based on the first vector and a second matrix; the second matrix is used to represent phase rotation under different subcarriers when time delay is fixed.

6. The method of claim 5, wherein, The plurality of signal transmission paths includes L signal transmission paths, L being an integer greater than 2; and a relationship among the channel frequency domain response, the array streamer matrix, and the first vector satisfies the following relationship: u(k,τ)=[A H (θ,φ)A(θ,φ)] -1 A H (θ,φ)g(k); where u(k, τ) represents the first vector; g(k) represents a vectorized representation of the estimated channel frequency domain response at the kth subcarrier; A(θ, φ) represents the array manifold matrix; A(θ, φ) = [a(θ1, φ1),...,a(θ L ,φ L )], a(θ1, φ1) represents the array manifold vector for the 1st signal transmission path, and a(θ L ,φ L ) represents the array manifold vector for the Lth signal transmission path.

7. The method of claim 5, wherein, The relationship between the first vector, the second matrix, and the target delay parameter satisfies the following relationship: wherein a target delay parameter of the lth signal transmission path; t(τ) represents the second matrix, t(τ) = [1, e -j2πΔfτ ,…, e-j2π(K-1)Δfτ] T ; v l is the lth column vector in the matrix V, 8.The method of any one of claims 1-7, further comprising: initializing angle parameters of the plurality of signal transmission paths respectively; the angle parameters comprise an elevation angle and an azimuth angle; determining preset time delays of the plurality of signal transmission paths respectively according to the initialized angle parameters.

9. The method of claim 8, wherein, the plurality of signal transmission paths comprise L signal transmission paths, L is a positive integer greater than 2; the initializing the angle parameters of the plurality of signal transmission paths respectively comprises: Initialize the angle parameters according to the following formula: wherein a pitch angle of the lth signal transmission path; denotes the azimuth angle of the l-th signal transmission path; a(0, φ) denotes the array flow pattern of the signal receiving end; Wherein, J represents an anti-diagonal matrix of LxL, the elements on the anti-diagonal line are all 1, and the elements except the anti-diagonal line are all 0; Δf represents a subcarrier spacing; represents an estimated attenuation of the i-th path of the l-1 paths; representing a time delay of an i th path in the estimated l-1 paths.

10. The method of claim 1, wherein, the determining the target angle parameters of the plurality of signal transmission paths based on the channel frequency domain response and the preset time delays of the plurality of signal transmission paths respectively comprises: for any adjacent first path and second path in the plurality of signal transmission paths, determining a first reference parameter of the first path and a second reference parameter of the second path based on the channel frequency domain response and the preset time delays of the first path and the second path respectively; the first reference parameter comprises a first reference angle parameter and a first reference time delay parameter; the second reference parameter comprises a second reference angle parameter and a second reference time delay parameter; in a case where the first reference parameter and the second reference parameter satisfy a parameter convergence condition, taking the first reference angle parameter as a target angle parameter of the first reference path and determining the second reference angle parameter as a target angle parameter of the second reference path; the parameter convergence condition comprises that a difference between the first reference angle parameter and the second reference angle parameter is less than an angle threshold value and a difference between the first reference time delay parameter and the second reference time delay parameter is less than a time delay threshold value; the determining, based on the target angle parameter, of the target time delay parameter of each of the plurality of signal transmission paths comprises: in a case where the first reference parameter and the second reference parameter satisfy the parameter convergence condition, taking the first reference time delay parameter as the target time delay parameter of the first path and taking the second reference time delay parameter as the target time delay parameter of the second path; the first reference time delay parameter is determined based on the first reference angle parameter; and the second reference time delay parameter is determined based on the second reference angle parameter.

11. The method of claim 10, further comprising: in a case where the first reference parameter and the second reference parameter do not satisfy the parameter convergence condition, performing an update operation multiple times until the first reference parameter and the second reference parameter satisfy the parameter convergence condition; wherein the update operation comprises: updating the first reference angle parameter based on the first reference time delay parameter and the channel frequency domain response and updating the first reference time delay parameter based on the updated first reference angle parameter; and updating the second reference angle parameter based on the second reference time delay parameter and the channel frequency domain response and updating the second reference time delay parameter based on the updated second reference angle parameter.

12. A positioning parameter determination apparatus comprising: a processing module; the processing module is configured to determine, based on a channel frequency domain response and a preset time delay of each of a plurality of signal transmission paths, a target angle parameter of each of the plurality of signal transmission paths; the target angle parameter comprises a pitch angle and an azimuth angle; and determine, based on the target angle parameter, a target time delay parameter of each of the plurality of signal transmission paths.

13. An electronic device comprising: a processor and a memory; the memory stores instructions executable by the processor; the processor is configured to execute the instructions, so that the electronic device implements the method according to any one of claims 1-11.

14. A readable storage medium comprising: software instructions; when the software instructions are run in an electronic device, the electronic device implements the method according to any one of claims 1-11.

15. A computer program product, wherein, the computer program product comprises computer instructions, when the computer instructions are run in an electronic device, the electronic device implements the method according to any one of claims 1-11.

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