Sensing positioning method, apparatus, network device, and readable storage medium

Abstract

The present application relates to a sensing positioning method, an apparatus, a network device, and a storage medium. The method comprises: acquiring a plurality of groups of measurement information for a same measurement object, wherein the plurality of groups of measurement information are collected by a plurality of cells; determining a sensing positioning strategy on the basis of the number of cells among the plurality of cells; performing fusion calculation on the basis of the sensing positioning strategy and target measurement information among the plurality of groups of measurement information, to obtain local coordinates of the measurement object; and determining a sensing positioning result of the measurement object on the basis of the local coordinates of the measurement object, position coordinates of a target cell among the cells, and a base station height of the target cell. The present method can be employed to improve the accuracy of sensing positioning of the measurement object.

Description

Sensing and positioning methods, devices, network equipment, and readable storage media

[0001] This application incorporates Chinese Patent Application No. 2024116030157, filed on November 11, 2024, entitled “Sensing and Positioning Method, Apparatus, Network Device, Readable Storage Medium”, which is incorporated herein by reference in its entirety. Technical Field

[0002] This application relates to the field of wireless communication technology, and in particular to a sensing and positioning method, apparatus, network device, and computer-readable storage medium. Background Technology

[0003] In integrated sensing applications, high-precision positioning of the measured object is a fundamental requirement. The fusion of sensing data from multiple cells in an integrated sensing system can improve target positioning accuracy to some extent.

[0004] In traditional technology, multiple cells integrating sensing and measurement measure distance, elevation angle, azimuth angle, etc., of the target object. Geometric relationships are used in conjunction with azimuth parameters from the base station to calculate the latitude, longitude, and elevation coordinates of the target object. Then, the latitude, longitude, and elevation coordinates obtained from multiple cells are fused to obtain the final sensing and positioning result of the target object. Simultaneously, each cell can also measure the velocity of the target object, enabling tracking.

[0005] However, in traditional technologies, during the calculation of latitude, longitude, and elevation coordinates of a single cell for the location of a measured object, the elevation angle measurement error is relatively large, and the accuracy of the azimuth angle measurement in the base station's engineering parameters is also low. Therefore, the latitude, longitude, and elevation coordinates are affected by the angle measurement error and the base station's engineering parameter error, resulting in a low accuracy of the final perceived positioning result of the measured object. Summary of the Invention

[0006] Therefore, it is necessary to provide a sensing and positioning method, device, network equipment, and computer-readable storage medium to address the aforementioned technical problems.

[0007] In a first aspect, this application provides a sensing and localization method, the method comprising:

[0008] Acquire multiple sets of measurement information for the same measurement object; the multiple sets of measurement information are collected from multiple cells.

[0009] Based on the number of cells in the multiple cells, a sensing and positioning strategy is determined;

[0010] The local coordinates of the measured object are obtained by fusing the perception and positioning strategy and the target measurement information from the multiple sets of measurement information;

[0011] Based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell, the sensing and positioning result of the measured object is determined.

[0012] In some embodiments, acquiring multiple sets of measurement information for the same measurement object includes:

[0013] Acquire multiple sets of initial measurement information for the same measurement object;

[0014] A unified coordinate system is constructed based on the first cell among the plurality of cells; the first cell is the cell among the plurality of cells that is closest to the object being measured.

[0015] Based on the unified coordinate system, the multiple sets of initial measurement information are preprocessed to obtain multiple sets of measurement information.

[0016] In some embodiments, the sensing and positioning strategy includes a first sensing and positioning strategy and a second sensing and positioning strategy, wherein determining the sensing and positioning strategy based on the number of cells in the plurality of cells includes:

[0017] If the number of cells in the plurality of cells is greater than or equal to a preset cell number threshold, the sensing and positioning strategy is determined to be the first sensing and positioning strategy; the first sensing and positioning strategy determines the local coordinates of the measurement object based on distance measurement information;

[0018] If the number of cells in the plurality of cells is less than the preset cell number threshold, the sensing and positioning strategy is determined to be the second sensing and positioning strategy; the second sensing and positioning strategy is to determine the local coordinates of the measurement object based on the distance measurement information and the angle measurement information.

[0019] In some embodiments, the target measurement information is distance measurement information; the step of fusing the target measurement information from the multiple sets of measurement information according to the perception and positioning strategy to obtain the local coordinates of the measured object includes:

[0020] Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and the multiple cells is constructed;

[0021] Based on the first perception and positioning strategy and each of the ranging relationships, a first fusion ranging equation set is constructed.

[0022] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0023] In some embodiments, the target measurement information includes distance measurement information and angle measurement information; the step of fusing the target measurement information from the perception and positioning strategy and the multiple sets of measurement information to obtain the local coordinates of the measured object includes:

[0024] Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and multiple cells is constructed;

[0025] Based on the second perception and localization strategy and each of the ranging relationships, a second fusion ranging equation set is constructed.

[0026] The local coordinates of the measured object are obtained by fusing the second set of fused ranging equations and the angle measurement information.

[0027] In some embodiments, the step of fusing the second fused ranging equation set and the angle measurement information to obtain the local coordinates of the measured object includes:

[0028] When the second fusion ranging equation set contains three ranging relationships, solve the second fusion ranging equation set to obtain the position coordinates of the two candidate positions corresponding to the measured object;

[0029] Based on the position coordinates of the two candidate locations, the angle measurement results of the two candidate locations are calculated, and based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, the local coordinates of the measurement object are determined in the position coordinates of the two candidate locations.

[0030] In some embodiments, the step of fusing the second fused ranging equation set and the angle measurement information to obtain the local coordinates of the measured object includes:

[0031] When the second fusion ranging equation set contains two ranging relationships, solve the second fusion ranging equation set to obtain the spatial ring position where the measured object is located.

[0032] Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection point of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

[0033] In some embodiments, the plurality of sets of measurement information further includes velocity measurement information, and the method further includes:

[0034] Vector fusion is performed based on the velocity measurement information corresponding to the multiple cells to obtain the velocity measurement result of the measured object.

[0035] In some embodiments, determining the perception and positioning result of the measured object based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station altitude of the target cell includes:

[0036] Using the location coordinates of the target cell in the cell as reference coordinates, coordinate transformation is performed on the local coordinates of the measured object to obtain the latitude and longitude coordinates of the measured object;

[0037] The actual height of the measured object is determined based on the base station height of the target cell and the height value in the local coordinates of the measured object;

[0038] Based on the latitude and longitude coordinates of the measured object and the actual altitude, the perception and positioning result of the measured object is obtained.

[0039] Secondly, this application also provides a sensing and positioning device, the device comprising:

[0040] The acquisition module is used to acquire multiple sets of measurement information for the same measurement object; the multiple sets of measurement information are collected from multiple cells;

[0041] The first determining module is used to determine the sensing and positioning strategy based on the number of cells in the plurality of cells;

[0042] The calculation module is used to perform fusion calculation based on the perception and positioning strategy and the target measurement information in the multiple sets of measurement information to obtain the local coordinates of the measurement object;

[0043] The second determining module is used to determine the perception and positioning result of the measured object based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell.

[0044] In some embodiments, the acquisition module is specifically used to acquire multiple sets of initial measurement information for the same measurement object;

[0045] A unified coordinate system is constructed based on the first cell among the plurality of cells; the first cell is the cell among the plurality of cells that is closest to the object being measured.

[0046] Based on the unified coordinate system, the multiple sets of initial measurement information are preprocessed to obtain multiple sets of measurement information.

[0047] In some embodiments, the sensing and positioning strategy includes a first sensing and positioning strategy and a second sensing and positioning strategy. The first determining module is specifically used to determine the sensing and positioning strategy as the first sensing and positioning strategy if the number of cells in the plurality of cells is greater than or equal to a preset cell number threshold. The first sensing and positioning strategy determines the local coordinates of the measurement object based on distance measurement information.

[0048] If the number of cells in the plurality of cells is less than the preset cell number threshold, the sensing and positioning strategy is determined to be the second sensing and positioning strategy; the second sensing and positioning strategy is to determine the local coordinates of the measurement object based on the distance measurement information and the angle measurement information.

[0049] In some embodiments, the target measurement information is distance measurement information; the first determining module is specifically used to construct a ranging relationship between the measurement object and the plurality of cells based on multiple sets of the distance measurement information;

[0050] Based on the first perception and positioning strategy and each of the ranging relationships, a first fusion ranging equation set is constructed.

[0051] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0052] In some embodiments, the target measurement information includes multiple sets of distance measurement information and multiple sets of angle measurement information; the first determining module is specifically used to construct a ranging relationship between the measurement object and the multiple cells based on the multiple sets of distance measurement information;

[0053] Based on the first perception and positioning strategy and each of the ranging relationships, a first fusion ranging equation set is constructed.

[0054] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0055] In some embodiments, the target measurement information includes distance measurement information and angle measurement information; the first determining module is specifically used to construct a ranging relationship between the measurement object and multiple cells based on multiple sets of the distance measurement information;

[0056] Based on the second perception and localization strategy and each of the ranging relationships, a second fusion ranging equation set is constructed.

[0057] The local coordinates of the measured object are obtained by fusing the second set of fused ranging equations and the angle measurement information.

[0058] In some embodiments, the first determining module is specifically used to solve the second fusion ranging equation set to obtain the position coordinates of the two candidate positions corresponding to the measurement object when the second fusion ranging equation set contains three ranging relationships.

[0059] Based on the position coordinates of the two candidate locations, the angle measurement results of the two candidate locations are calculated, and based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, the local coordinates of the measurement object are determined in the position coordinates of the two candidate locations.

[0060] In some embodiments, the first determining module is specifically used to solve the second fusion ranging equation set to obtain the spatial ring position where the measured object is located when the second fusion ranging equation set contains two ranging relationships.

[0061] Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection point of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

[0062] In some embodiments, the plurality of sets of measurement information further includes velocity measurement information, and the device further includes:

[0063] The processing module is used to perform vector fusion based on the velocity measurement information corresponding to the multiple cells to obtain the velocity measurement result of the measured object.

[0064] In some embodiments, the second determining module is specifically used to perform coordinate transformation on the local coordinates of the measurement object using the location coordinates of the target cell in the cell as reference coordinates, so as to obtain the latitude and longitude coordinates of the measurement object.

[0065] The actual height of the measured object is determined based on the base station height of the target cell and the height value in the local coordinates of the measured object;

[0066] Based on the latitude and longitude coordinates of the measured object and the actual altitude, the perception and positioning result of the measured object is obtained.

[0067] Thirdly, this application also provides a network device, which includes: a memory, a transceiver, and a processor;

[0068] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0069] Acquire multiple sets of measurement information for the same measurement object; the multiple sets of measurement information are collected from multiple cells.

[0070] Based on the number of cells in the multiple cells, a sensing and positioning strategy is determined;

[0071] The local coordinates of the measured object are obtained by fusing the perception and positioning strategy and the target measurement information from the multiple sets of measurement information;

[0072] Based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell, the sensing and positioning result of the measured object is determined.

[0073] In some embodiments, the processor is specifically used for:

[0074] Acquire multiple sets of initial measurement information for the same measurement object;

[0075] A unified coordinate system is constructed based on the first cell among the plurality of cells; the first cell is the cell among the plurality of cells that is closest to the object being measured.

[0076] Based on the unified coordinate system, the multiple sets of initial measurement information are preprocessed to obtain multiple sets of measurement information.

[0077] In some embodiments, the perception and localization strategy includes a first perception and localization strategy and a second perception and localization strategy, and the processor is specifically used for:

[0078] If the number of cells in the plurality of cells is greater than or equal to a preset cell number threshold, the sensing and positioning strategy is determined to be the first sensing and positioning strategy; the first sensing and positioning strategy determines the local coordinates of the measurement object based on distance measurement information;

[0079] If the number of cells in the plurality of cells is less than the preset cell number threshold, the sensing and positioning strategy is determined to be the second sensing and positioning strategy; the second sensing and positioning strategy is to determine the local coordinates of the measurement object based on the distance measurement information and the angle measurement information.

[0080] In some embodiments, the target measurement information is distance measurement information; the processor is specifically configured to:

[0081] Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and the multiple cells is constructed;

[0082] Based on the first perception and positioning strategy and each of the ranging relationships, a first fusion ranging equation set is constructed.

[0083] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0084] In some embodiments, the target measurement information includes distance measurement information and angle measurement information; the processor is specifically used for:

[0085] Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and multiple cells is constructed;

[0086] Based on the second perception and localization strategy and each of the ranging relationships, a second fusion ranging equation set is constructed.

[0087] The local coordinates of the measured object are obtained by fusing the second set of fused ranging equations and the angle measurement information.

[0088] In some embodiments, the processor is specifically used for:

[0089] When the second fusion ranging equation set contains three ranging relationships, solve the second fusion ranging equation set to obtain the position coordinates of the two candidate positions corresponding to the measured object;

[0090] Based on the position coordinates of the two candidate locations, the angle measurement results of the two candidate locations are calculated, and based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, the local coordinates of the measurement object are determined in the position coordinates of the two candidate locations.

[0091] In some embodiments, the processor is specifically used for:

[0092] When the second fusion ranging equation set contains two ranging relationships, solve the second fusion ranging equation set to obtain the spatial ring position where the measured object is located.

[0093] Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection point of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

[0094] In some embodiments, the plurality of measurement information further includes velocity measurement information, and the processor is specifically configured to:

[0095] Vector fusion is performed based on the velocity measurement information corresponding to the multiple cells to obtain the velocity measurement result of the measured object.

[0096] In some embodiments, the processor is specifically used for:

[0097] Using the location coordinates of the target cell in the cell as reference coordinates, coordinate transformation is performed on the local coordinates of the measured object to obtain the latitude and longitude coordinates of the measured object;

[0098] The actual height of the measured object is determined based on the base station height of the target cell and the height value in the local coordinates of the measured object;

[0099] Based on the latitude and longitude coordinates of the measured object and the actual altitude, the perception and positioning result of the measured object is obtained.

[0100] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect above.

[0101] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0102] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the embodiments described below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0103] Figure 1 shows the application environment of the sensing and localization method in some embodiments;

[0104] Figure 2 is a flowchart illustrating the sensing and localization method in some embodiments;

[0105] Figure 3 is a flowchart illustrating the steps for obtaining multiple sets of measurement information in some embodiments;

[0106] Figure 4 is a flowchart illustrating the steps for determining the perception and localization strategy in some embodiments;

[0107] Figure 5 is a flowchart illustrating the steps for determining the local coordinates of the measurement object based on the first perception positioning strategy in some embodiments;

[0108] Figure 6 is a schematic diagram of data fusion calculation for distance measurement information of four cells in some embodiments;

[0109] Figure 7 is a flowchart illustrating the steps for determining the local coordinates of the measurement object based on the second perception positioning strategy in some embodiments;

[0110] Figure 8 is a flowchart illustrating the steps for solving the second fused ranging equation set containing three ranging relationships in some embodiments.

[0111] Figure 9 is a schematic diagram of data fusion calculation of distance measurement information of three cells in some embodiments;

[0112] Figure 10 is a flowchart illustrating the steps for solving the second fused ranging equation set containing two ranging relationships in some embodiments.

[0113] Figure 11 is a schematic diagram of data fusion calculation of distance measurement information between two cells in some embodiments;

[0114] Figure 12 is a flowchart illustrating the steps for obtaining the velocity measurement results of the measured object in some embodiments;

[0115] Figure 13 is a flowchart illustrating a step for determining the perception and positioning result of a measurement object in some embodiments;

[0116] Figure 14 is a structural block diagram of the sensing and positioning device in some embodiments;

[0117] Figure 15 is a diagram of the internal structure of a network device in some embodiments. Detailed Implementation

[0118] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0119] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0120] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0121] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0122] In some cases, for the sake of brevity and / or to aid in understanding the scope of this disclosure, a single embodiment may combine multiple features. It should be understood that in such cases, these multiple features may be provided individually (e.g., in different embodiments) or in any other suitable combination. Conversely, when different features are described in different embodiments, these different features may be combined to form a single embodiment unless otherwise stated or implied. This principle also applies to the claims, whose claims may be rearranged in any combination, i.e., any claim may be modified to include any feature defined in the other claims.

[0123] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0124] In this application, unless otherwise stated or implied, the phrase “at least one” followed by a list of items refers to any combination of the listed items, including individual members. Whether the expression is “at least one of a, b, or c” or “at least one of a, b, and c”, it is intended to cover: a, b, c, combinations of a and b, combinations of a and c, combinations of b and c, and combinations of a, b, and c.

[0125] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0126] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0127] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0128] Figure 1 is a schematic diagram of an application scenario of a sensing and positioning method provided in an embodiment of this application. As shown in Figure 1, the scenario includes multiple base stations 100 and a measurement object 200 to be sensed. Typically, one base station 100 corresponds to three cells. When locating the measurement object, data transmission and positioning of the measurement object can be performed based on a network formed between multiple cells.

[0129] One base station typically covers three cells. When measuring an object, it senses the object to be measured through each cell and obtains multi-dimensional measurement information.

[0130] In related technologies, the multi-cell sensing and positioning method for measuring objects involves fusing the sensing and positioning results from multiple cells, based on the latitude, longitude, and altitude coordinates of the object calculated in each cell, to obtain the final sensing and positioning result. However, the sensing and positioning result calculated by a single cell is subject to significant errors due to the influence of angle measurement errors in the measurement parameters and the accuracy of the azimuth angle in the base station's operating parameters. Therefore, the fusion based on the sensing and positioning results of each cell also affects the accuracy of the final sensing and positioning result. For example, a network device with a 100M bandwidth can achieve a ranging accuracy of 1 meter, while the angle measurement accuracy is typically only around 1 degree, affected by factors such as limited antenna data, large calibration errors, and noise. When the target distance is 1000 meters, the positioning error introduced by the angle measurement error is approximately 17.5 meters, far exceeding the ranging error. Data fusion based on multi-cell sensing and positioning results with such low positioning accuracy also results in poor positioning accuracy.

[0131] This application leverages the high ranging accuracy of a single cell (i.e., the accuracy of distance measurement information) and combines it with a perception-based positioning strategy. It prioritizes the use of data fusion based on high-accuracy distance measurement information for object positioning, reducing the use of angle measurement information with errors. Data fusion between multiple cells is based on multiple ranging information, providing geometric transformation relationships and deriving the local coordinates of the object, thereby improving the perception-based positioning accuracy of the object. Furthermore, when converting local coordinates to latitude, longitude, and altitude coordinates, a method based on base station parameters for interpolation is proposed to convert the local coordinates of the object into true latitude, longitude, and altitude coordinates, avoiding errors in the final positioning result caused by azimuth errors in the base station parameters.

[0132] It should be noted that the beneficial effects or technical problems solved by the embodiments of this application are not limited to this one, but may also be other implicit or related problems. For details, please refer to the description of the embodiments below.

[0133] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0134] In some embodiments, as shown in FIG2, a sensing and localization method is provided, including the following steps:

[0135] Step 201: Obtain multiple sets of measurement information for the same measurement object.

[0136] Among them, multiple sets of measurement information were collected from multiple cells.

[0137] In implementation, when sensing and locating the object to be measured, the network device acquires multiple sets of measurement information for the same object from the measurement information collected from each cell (N cells). For example, the multiple sets of measurement information may include:

[0138] (1) N sets of distance measurement information r n ,n∈(1,N)

[0139] (2) N sets of azimuth measurement information θ n ,n∈(1,N)

[0140] (3) N sets of pitch angle measurement information

[0141] (4) N sets of velocity measurement information v n ,n∈(1,N)

[0142] Where N is an integer greater than 1. These N sets of data are obtained by synchronously measuring the same object in N cells.

[0143] In some embodiments, the sensing and positioning method of this disclosure can be applied to a network device located in a target sensing system comprising a multi-cell network. This target sensing system also includes base stations, each covering multiple cells. Each cell collects data from the target object, and the network device processes the collected measurement information. The network device mainly comprises five functional modules: a target point trajectory matching and synchronization module, a distance dimension data fusion module, an angle measurement data fusion module, a velocity data fusion module, and a target coordinate transformation module. Thus, each functional module in the network device executes the corresponding steps in the sensing and positioning method.

[0144] Step 202: Determine the sensing and positioning strategy based on the number of cells in multiple cells.

[0145] In implementation, the network equipment is pre-configured with a sensing and positioning strategy. This strategy includes a specific fusion method for parametric-level data fusion of target measurement information from multiple sets of measurement information. The sensing and positioning strategy is determined by the number of cells participating in the sensing process. Different sensing and positioning strategies require different parametric-level measurement information (i.e., target measurement information) to participate in the fusion calculation; that is, different measurement information is selected to participate in the positioning of the measurement object.

[0146] In some embodiments, the sensing and positioning strategy includes a first sensing and positioning strategy and a second sensing and positioning strategy. The first sensing and positioning strategy has a higher priority than the second sensing and positioning strategy; that is, when the number of cells meets the selection criteria corresponding to the first sensing and positioning strategy, the first sensing and positioning strategy is selected first to perform sensing and positioning on the measurement object.

[0147] Step 203: Based on the perception and positioning strategy and the target measurement information from multiple sets of measurement information, perform fusion calculation to obtain the local coordinates of the measurement object.

[0148] In implementation, after determining the sensing and positioning strategy, the network device performs fusion calculations based on this strategy and target measurement information from multiple sets of measurement information. By constructing and solving a set of ranging equations, the local coordinates of the measured object are obtained. These local coordinates represent the position coordinates of the measured object in a unified coordinate system constructed based on the first cell among multiple cells.

[0149] Step 204: Determine the sensing and positioning results of the measured object based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell.

[0150] In practice, after obtaining the local coordinates of the object being measured, it is necessary to transform the object's position to the world coordinate system in order to determine the object's sensing and positioning results. Therefore, the network device performs coordinate system transformation based on the object's local coordinates, the target cell's position coordinates within the cell, and the target cell's base station altitude. By interpolating the coordinate values ​​in the local coordinates, the latitude, longitude, and altitude coordinates of the object in the world coordinate system are obtained, thus yielding the object's sensing and positioning results.

[0151] In this embodiment, the target measurement information with higher measurement accuracy from multiple sets of measurement information is selected by the perception and positioning strategy for fusion calculation, which reduces the impact of perception error on the measurement results when directly fusing the latitude, longitude and altitude coordinates of the measurement object based on each cell, and improves the perception and positioning accuracy.

[0152] In an exemplary embodiment, as shown in Figure 3, in some embodiments, based on multiple cells separately measuring the parameters of the object to be measured and then performing data fusion of parameter-level data, when the parameter-level measurement information of each cell for the object to be measured includes distance measurement information, azimuth angle measurement information, pitch angle measurement information and velocity measurement information, the network device selects the target measurement information from multiple sets of measurement information for data fusion based on the determined perception and positioning strategy, so as to achieve perception and positioning of the object to be measured.

[0153] Step 302: Obtain multiple sets of initial measurement information for the same measurement object.

[0154] In implementation, the network device mainly includes five functional modules: target point trajectory matching and synchronization module, distance dimension data fusion module, angle measurement data fusion module, velocity data fusion module, and target coordinate transformation module. Each functional module corresponds to different processing procedures in the perception and positioning process of the measurement object. Among them, the target point trajectory matching and synchronization module is used for data collection and preprocessing of multiple cells. In some embodiments, each cell performs perception and positioning measurements on various measurement objects within its coverage area, obtaining measurement data with each cell's own coordinate system as the measurement dimension. Then, the target point trajectory matching and synchronization module in the network device collects the initial measurement data acquired by each cell. Among the collected data from multiple cells, multiple sets of initial measurement information for the same measurement object are selected and synchronized, that is, the initial measurement information of the measurement object at the same time is extracted as the initial dataset for perception and positioning. Since multiple cells measure the same measurement object, the obtained measurement data does not have a unified measurement caliber, that is, it is not represented in a unified coordinate system. Therefore, the measurement data of the same measurement object directly collected by each cell is called the initial measurement information.

[0155] The initial measurement information was collected using the coordinate system of each cell as the dimension.

[0156] Step 304: Construct a unified coordinate system based on the first cell among multiple cells.

[0157] Among them, the first cell is the cell that is closest to the object being measured among multiple cells.

[0158] In implementation, after identifying the object to be sensed, since the accuracy of measurement information is higher for cells closer to the object during the sensing and localization process, the cell closest to the object among multiple cells is designated as the master cell, also known as the first cell. A coordinate system is constructed based on this first cell; in some embodiments, the location of the first cell is taken as the origin O. O = (0,0,0), construct a unified three-dimensional rectangular coordinate system. The X-axis of this coordinate system points to due north, the Y-axis points to due west, and the Z-axis points to the zenith (i.e., perpendicular to the plane containing the X and Y axes).

[0159] Step 306: Based on a unified coordinate system, perform data preprocessing on multiple sets of initial measurement information to obtain multiple sets of measurement information.

[0160] In implementation, network devices preprocess multiple sets of initial measurement information based on a unified coordinate system to obtain preprocessed sets of measurement information. In some embodiments, the data preprocessing process for the initial measurement information includes, but is not limited to, data cleaning, data filtering, and data transformation. This primarily involves coordinate system transformation (a type of data transformation) of the multiple sets of initial measurement information from each cell to obtain measurement information in a unified coordinate system after the transformation. In some embodiments, the multiple sets of initial measurement information include distance measurement information, angle measurement information, etc. Taking distance measurement information as an example, to determine the distance information between each cell and the measurement object in the unified coordinate system, it is necessary to first determine the position of each cell under the unified coordinate system; that is, to first transform the position coordinates of each cell to determine the position coordinates of each cell in the unified coordinate system. For example, when there are N cells, the coordinate system transformation of the position coordinates of each cell results in the following coordinates of each cell after the coordinate system transformation: the coordinates of the first cell are O... O = (0,0,0), the coordinates of the second cell are O1 = (x1,y1,z1), the coordinates of the third cell are O2 = (x2,y2,z2), the coordinates of the fourth cell are O3 = (x3,y3,z3), the coordinates of the fifth cell are O4 = (x4,y4,z4)..., and the coordinates of the Nth cell are O N-1 =(x N-1 ,y N-1 ,z N-1Here, the coordinates of the center point of any cell's coverage area can be understood as the coordinates of that cell, but this application is not limited to this. Thus, after determining the coordinates of N cells in a unified coordinate system, based on the transformation relationship of the position coordinates during the coordinate system transformation process, the initial distance measurement information in the initial measurement information collected by each cell is further transformed to a new coordinate system. This yields N distance measurement results r after the coordinate system transformation of the distance measurement information. n ,n∈(1,N), where,r n This represents the distance measurement result of the nth cell to the measured object, where n is an integer of 1 or higher. Similarly, the initial measurement information includes angle measurement information, including azimuth and elevation angle measurement information. After constructing a unified coordinate system, for multiple sets of initial angle measurement information, taking azimuth measurement information as an example, the network device updates the initially collected azimuth measurement information of each cell one by one. For example, taking the first cell as an example, the azimuth angle of the base station corresponding to the first cell is Θ, and the elevation angle is equal to 0. The azimuth measurement information θ1 of the first cell is updated based on the following formula after coordinate system transformation: θ1=θ1+Θ

[0161] In this embodiment, multiple sets of initial measurement information are preprocessed to transform them into multiple sets of measurement information for the measurement object in each cell at the same time and in a unified coordinate system, so that these multiple sets of measurement information can be used for subsequent sensing and positioning processing.

[0162] In an exemplary embodiment, as shown in FIG4, the perception and localization strategy includes a first perception and localization strategy and a second perception and localization strategy. The specific processing procedure of step 202 includes:

[0163] Step 402: If the number of cells in multiple cells is greater than or equal to a preset cell number threshold, determine the sensing and positioning strategy as the first sensing and positioning strategy.

[0164] Among them, the first perception and positioning strategy determines the local coordinates of the object being measured based on distance measurement information.

[0165] In implementation, a sensing and positioning strategy is pre-configured in the network equipment. This strategy is primarily determined by the number of cells participating in sensing for the same measurement object. If the number of cells (e.g., N cells) is greater than or equal to a preset cell number threshold W (e.g., W = 4), i.e., N ≥ W, then the network equipment will determine the sensing and positioning strategy for that measurement object as the first sensing and positioning strategy. This first sensing and positioning strategy mainly determines the local coordinates of the measurement object based on distance measurement information collected from multiple cells in the measurement information. Since the measurement accuracy of the distance measurement information between each cell and the measurement object is the highest when multiple cells perform sensing data measurements (i.e., the obtained measurement data), the first sensing and positioning strategy only uses distance measurement information to sense and locate the measurement object, avoiding the influence of measurement data with large errors, and thus achieving the highest accuracy in sensing and positioning.

[0166] In some embodiments, when sensing a measurement object, the activity range of the measurement object is typically delineated using the coverage area of ​​four base stations, thereby determining the specific location coordinates of the measurement object within the coverage area of ​​the four base stations. Since one base station corresponds to three cells, when measuring information about the measurement object, approximately four cells will typically measure the same measurement object at the same time. Therefore, a preset cell number threshold W = 4 is set.

[0167] Step 404: If the number of cells in multiple cells is less than the preset cell number threshold, determine the sensing and positioning strategy as the second sensing and positioning strategy.

[0168] The second perception and positioning strategy is a strategy for determining the local coordinates of the object being measured based on distance measurement information and angle measurement information.

[0169] In implementation, if the number of cells in multiple cells (e.g., N cells) is less than a preset cell number threshold W (e.g., W = 4), i.e., N < W, then the network device will determine the sensing and positioning strategy for the measured object as the second sensing and positioning strategy. In some embodiments, when the number of cells in the actual measurement scenario is small (i.e., N < W), the local coordinates of the measured object cannot be determined based solely on distance measurement information. Therefore, the second sensing and positioning strategy determines the local coordinates of the measured object based on distance measurement information and partial angle measurement information.

[0170] In some embodiments, since the measurement accuracy of angle measurement information is lower than that of distance measurement information, the accuracy of sensing and positioning of the measured object based on the second sensing and positioning strategy is lower than that of the first sensing and positioning strategy. The network device can also pre-set the policy priorities of the first and second sensing and positioning strategies. When the measurement data meets the conditions of the first sensing and positioning strategy, the first sensing and positioning strategy is used first, thereby ensuring the accuracy of sensing and positioning.

[0171] In this embodiment, multiple sensing and positioning strategies are formulated, and multiple sensing and positioning implementation methods are given based on these strategies. In the specific sensing and positioning process, the sensing and positioning strategy of the current application is determined based on the number of cells, which improves the flexibility of the sensing and positioning method.

[0172] In an exemplary embodiment, as shown in Figure 5, target measurement information is selected from multiple sets of measurement information measured in multiple cells to participate in the perception and positioning calculation of the measured object. In one case, the selected target measurement information is distance measurement information. Then, the specific processing procedure in step 203, which involves fusing the target measurement information from the multiple sets of measurement information according to the perception and positioning strategy to obtain the local coordinates of the measured object, is as follows:

[0173] Step 501: Based on multiple sets of distance measurement information, construct the distance measurement relationship between the measurement object and multiple cells.

[0174] In implementation, when the number of cells is greater than or equal to a preset cell number threshold, the network device performs sensing and positioning based on a first sensing and positioning strategy. The first sensing and positioning strategy is a positioning strategy that utilizes distance measurement information. In some embodiments, taking a cell number of 4 as an example, the network device executes the execution strategy within this first sensing strategy, first constructing the distance relationship between the measurement object and multiple cells based on multiple sets of known distance measurement information between the measurement object and multiple cells. In some embodiments, the ranging relationship between the measurement object and the first cell is: Where r1 represents the distance between the first cell and the measured object, the local coordinates of the measured object are represented as (x, y, z), and the position coordinates of the first cell in the unified coordinate system are O. O = (0,0,0). The distance measurement relationship between the measured object and the second cell is: r2 represents the distance between the measured object and the second cell, whose position coordinates in the unified coordinate system are O1 = (x1, y1, z1). The distance measurement relationship between the measured object and the third cell is: r3 represents the distance between the measured object and the third cell, whose coordinates in the unified coordinate system are O2 = (x2, y2, z2). The distance measurement relationship between the measured object and the fourth cell is: r4 represents the distance between the measured object and the fourth cell, whose position coordinates in the unified coordinate system are O3 = (x3, y3, z3).

[0175] The order of the first, second, third, and fourth cells is defined based on the relationship between the cell and the measurement object from closest to farthest, that is, the first cell is closest to the measurement object and the fourth cell is farthest from the measurement object.

[0176] Step 502: Based on the first perception and positioning strategy and various ranging relationships, construct the first fusion ranging equation set.

[0177] In implementation, the network device constructs a first fused ranging equation based on the execution strategy included in the first perception and positioning strategy, as well as various ranging relationships. This first fused ranging equation is shown in the following formula:

[0178] Step 503: Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0179] In implementation, the first fusion ranging equation set contains four ternary quadratic equations, where the local coordinates (x, y, z) of the measured object are unknowns. That is, there are four equations and three unknowns. The network device can obtain the local coordinates of the measured object by solving the first fusion ranging equation set. In some embodiments, the first fusion ranging equation set can be solved using numerical methods, algebraic methods, graphical methods, etc. This disclosure does not limit the method of solving the equations. Thus, the local coordinates of the measured object are obtained by solving the equation set. As shown in Figure 6, Figure 6 is a schematic diagram of data fusion calculation of distance measurement information from four cells. As can be seen from Figure 6, the circular areas with different labels represent the measurement coverage areas of different cells. The measurement coverage area of ​​each cell is a sphere in actual physical space, which corresponds to the ranging relationship for each cell in the first fusion ranging equation set. As shown in the schematic diagram in Figure 6, the distance measurement relationships of the first and second cells are solved jointly, and the corresponding measurement coverage areas intersect to determine a circular cross-section (spatial annulus). Combining this with the distance measurement relationship of the third cell, the intersection of the measurement coverage area of ​​the third cell and the circular cross-section (the fusion result of the measurement coverage areas of the first and second cells) in Figure 6 determines two candidate location points. Between these two candidate location points, a joint solution is then performed based on the distance measurement relationship of the fourth cell, yielding a unique intersection point (the point where the four spheres intersect in Figure 6). This intersection point is the target location of the measured object, and thus, the local coordinates of the measured object are obtained.

[0180] The local coordinates of the measured object refer to its position coordinates in a unified coordinate system with the location of the first cell as the origin. To determine the actual sensing and positioning results of the measured object, its position coordinates in the world coordinate system need to be specified. Therefore, the local coordinates of the measured object require further coordinate system transformation. This process will be described in the following embodiments and will not be elaborated upon here.

[0181] In this embodiment, the measurement object is perceived and located using a first perception and positioning strategy, thereby achieving high-precision positioning based on distance measurement information and improving the accuracy of perception and positioning.

[0182] In an exemplary embodiment, as shown in Figure 7, target measurement information is selected from multiple sets of measurement information measured in multiple cells to participate in the perception and positioning calculation of the measured object. In one case, the selected target measurement information consists of multiple sets of distance measurement information and multiple sets of angle measurement information. Then, the specific processing procedure in step 203, which involves fusing the target measurement information from the multiple sets of measurement information according to the perception and positioning strategy to obtain the local coordinates of the measured object, is as follows:

[0183] Step 701: Based on multiple sets of distance measurement information, construct the distance measurement relationship between the measurement object and multiple cells.

[0184] In implementation, when the number of cells is less than a preset cell number threshold, the network device uses a second sensing and positioning strategy to sense and locate the measurement object. This second sensing and positioning strategy uses distance measurement information and angle measurement information for positioning. In some embodiments, the preset cell number threshold W = 4. Therefore, when the number of cells is less than the preset cell number threshold, there are three cases: N = 3, N = 2, and N = 1. The ranging relationship under these three cases is described below:

[0185] Taking the current number of cells N=3 as an example, the distance measurement relationship between the measurement object and multiple cells is constructed, including:

[0186] The distance measurement relationship between the measured object and the first cell is:

[0187] The distance measurement relationship between the measured object and the second cell is:

[0188] The distance measurement relationship between the measured object and the third cell is:

[0189] Where r1 represents the distance between the first cell and the measured object, the local coordinates of the measured object are represented as (x, y, z), and the position coordinates of the first cell in the unified coordinate system are O. O = (0,0,0). r2 represents the distance between the measured object and the second cell, whose position coordinates in the unified coordinate system are O1 = (x1,y1,z1). r3 represents the distance between the measured object and the third cell, whose position coordinates in the unified coordinate system are O2 = (x2,y2,z2).

[0190] Taking the current number of cells N=2 as an example, the constructed ranging relationship includes:

[0191] The distance measurement relationship between the measured object and the first cell is:

[0192] The distance measurement relationship between the measured object and the second cell is:

[0193] Taking the current number of cells N=1 as an example, the constructed ranging relationship includes:

[0194] The distance measurement relationship between the measured object and the first cell is:

[0195] In this embodiment, if N=1, only a single cell participates in the perception and positioning of the measured object. Since the perception and positioning process of a single cell does not involve data fusion calculation, the perception and positioning strategy provided in this disclosure does not include a fusion calculation method when N=1. In some embodiments, when a single cell (N=1) performs perception and positioning, the cell needs to calculate the latitude and longitude coordinates of the measured object based on distance measurement information and angle measurement information (azimuth and elevation angles) with geometric relationships combined with the engineering parameters of the base station to which the cell belongs. This disclosure does not elaborate on this aspect.

[0196] Step 702: Based on the second perception and positioning strategy and various ranging relationships, construct the second fusion ranging equation set.

[0197] In implementation, the network device constructs a second fusion ranging equation based on the execution strategy contained in the second perception and positioning strategy, as well as the pre-built ranging relationship between the measurement object and each cell.

[0198] When N=3, the second fusion ranging equation set is shown in the following formula:

[0199] When N=2, the second fusion ranging equation set is shown in the following formula:

[0200] Step 703: Based on the second set of fused ranging equations and angle measurement information, the local coordinates of the measured object are obtained.

[0201] In implementation, the network device solves the second fusion ranging equation set. Since the local coordinates of the measured object contain three unknowns, the target position of the measured object cannot be determined by solving the second fusion ranging equation set. Therefore, when the number of cells is less than the preset cell number threshold, the distance measurement information of each cell alone cannot be used to perceive and locate the measured object. Angle measurement information is also needed for auxiliary calculation. Thus, the network device combines the angle measurement information to obtain the local coordinates of the measured object.

[0202] In this embodiment, the measurement object is perceived and located through a second perception and positioning strategy. Distance measurement information is selected first to construct the second fusion ranging equation set, and angle measurement information is used as an auxiliary to avoid the influence of other measurement information with large errors on the perception and positioning results of the measurement object. This achieves high-precision positioning based on distance measurement information and improves the accuracy of perception and positioning.

[0203] In an exemplary embodiment, as shown in FIG8, the specific processing procedure of step 703 includes:

[0204] Step 801: When the second fusion ranging equation set contains three ranging relationships, solve the second fusion ranging equation set to obtain the position coordinates of the two candidate positions corresponding to the measured object.

[0205] In implementation, when the second fusion ranging equation set contains three ranging relationships, the network device will obtain two candidate locations (x, y, z) and (x′, y′, z′) when solving the second fusion ranging equation set, as shown in Figure 9. Figure 9 is a schematic diagram of data fusion calculation of distance measurement information from three cells. The circular areas with different labels in Figure 9 represent the measurement coverage areas of different cells. The measurement coverage area of ​​each cell is a sphere in actual physical space, and the measurement coverage area of ​​each cell also corresponds to the ranging relationship of each cell in the first fusion ranging equation set. As can be seen from the schematic diagram in Figure 9, the ranging relationships of the first and second cells are solved jointly, and the corresponding measurement coverage areas intersect to determine a circular cross-section (spatial annulus). Combined with the ranging relationship of the third cell, the two candidate location points can be determined at the intersection of the measurement coverage area of ​​the third cell and the circular cross-section (the fusion result of the measurement coverage areas of the first and second cells) in Figure 9. These two target locations, as candidate locations corresponding to the measurement object, require more information to determine their final location.

[0206] Step 802: Based on the position coordinates of the two candidate locations, calculate the angle measurement results of the two candidate locations, and based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, determine the local coordinates of the measurement object in the position coordinates of the two candidate locations.

[0207] In practice, based on the two candidate positions (x,y,z) and (x′,y′,z′) obtained from distance measurement information, the azimuth angles θ, θ′ and elevation angles of the coordinates of these two candidate positions are calculated respectively. Thus, the angle measurement results corresponding to the two candidate positions are obtained. In some embodiments, the formulas for calculating the azimuth and elevation angles are as follows:

[0208] Here, atan() represents the arctangent function formula.

[0209] The network device obtains the angle measurement results corresponding to the two candidate positions. Subsequently, the network equipment uses the angle measurement information of the first cell, i.e. By comparing the angle measurement results with those of the candidate locations, the angle measurement result that is closer to the angle measurement information of the first cell is determined as the target angle measurement result. Correspondingly, the candidate location corresponding to the target angle measurement result is also the final target location of the measured object, thereby obtaining the local coordinates of the target location of the measured object.

[0210] In an exemplary embodiment, as shown in FIG10, the specific processing procedure of step 703 includes:

[0211] Step 1001: When the second fusion ranging equation set contains two ranging relationships, solve the second fusion ranging equation set to obtain the position of the spatial ring where the measured object is located.

[0212] In implementation, when the second fusion ranging equation set contains two ranging relationships, the network device, when solving the second fusion ranging equation set, will obtain a spatial ring, which is the circular cross-section determined by the intersection of the measurement coverage areas of the first cell and the second cell. This circular cross-section serves as the spatial ring. As shown in Figure 11, which is a schematic diagram of the result calculation of data fusion of distance measurement information from two cells, this spatial ring is represented as follows: z = f(x, y)

[0213] The object being measured could be located anywhere on the ring, and more information is needed to determine its final location.

[0214] Step 1002: Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

[0215] In implementation, the network equipment uses the first cell as a reference standard. Based on the angle measurement results of the first cell, a straight line in three-dimensional space is determined. This straight line passes through the center of the measurement coverage area of ​​the first cell and points to the center of the measurement coverage area of ​​the second cell. Then, using a graphical method, the intersection point of the spatial straight line corresponding to the angle measurement information of the first cell and the spatial ring where the measured object is located is determined. Thus, this intersection point is the location of the measured object, and the coordinates of this intersection point are the local coordinates of the measured object.

[0216] In an exemplary embodiment, as shown in FIG12, the multiple sets of measurement information further include velocity measurement information, and the method further includes:

[0217] Step 1201: Perform vector fusion based on the velocity measurement information corresponding to multiple cells to obtain the velocity measurement result of the measured object.

[0218] In practice, network devices perform vector fusion based on speed measurement information from multiple cells to obtain the true speed of the measured object. The formula for vector fusion is:

[0219] in, To measure the true speed of the object, Speed ​​measurement information for the first cell. Speed ​​measurement information for the second cell. Speed ​​measurement information for the third cell. Speed ​​measurement information for the fourth cell.

[0220] In this embodiment, the true speed of the measured object is obtained by vector fusion of speed measurement information corresponding to multiple cells, so as to realize target tracking of the measured object and correction of the tracking results.

[0221] In an exemplary embodiment, to determine the actual perceived positioning result of the measured object, it is necessary to clarify the position coordinates of the measured object in the world coordinate system. Therefore, the local coordinates of the measured object need to undergo further coordinate system transformation. As shown in Figure 13, the specific processing procedure of step 204 includes:

[0222] Step 1301: Using the location coordinates of the target cell in the cell as reference coordinates, perform coordinate transformation on the local coordinates of the measured object to obtain the latitude and longitude coordinates of the measured object.

[0223] In implementation, based on the principle that the closer the cell is to the object being measured, the more accurate the measurement, the network equipment identifies the first and second cells, which are closer to the object being measured, as the target cells. Then, using the location coordinates of the target cells as reference coordinates, the network equipment performs coordinate transformation on the local coordinates of the object being measured through interpolation calculations to obtain the latitude and longitude coordinates of the object being measured.

[0224] In some embodiments, the local location coordinates of the measured object are (x, y, z), the location coordinates of the first cell are O0 = (0, 0, 0), and the location coordinates of the second cell are (x1, y1, z1). First, based on the location coordinates of the first and second cells, a coordinate system transformation is performed on their location coordinates, that is, converting the location coordinates of the first and second cells in a unified coordinate system to latitude and longitude coordinates in the world coordinate system. After the transformation, the latitude and longitude coordinates of the first cell are represented as (Long0, Lat0), and the latitude and longitude coordinates of the second cell are represented as (Long1, Lat2). Then, the network device calculates the latitude and longitude coordinates (Long, Lat) of the measured object based on a preset interpolation algorithm. The specific latitude and longitude interpolation calculation formula is as follows:

[0225] Longitude interpolation calculation

[0226] Latitude interpolation calculation

[0227] Where x represents the x-coordinate value in the local coordinate system of the measured object, and y represents the y-coordinate value in the local coordinate system of the measured object.

[0228] Step 1302: Determine the actual height of the object being measured based on the base station height of the target cell and the height value in the local coordinates of the object being measured.

[0229] In implementation, network equipment determines the actual height of the object being measured based on the base station height of the target cell and the height value in the local coordinates of the object. For example, the base station height H0 of the first cell is selected as the reference height, and the z-coordinate in the local coordinates of the object represents the height value in the local coordinates of the object. The actual height H of the object is then calculated using the formula: Target height calculation H = H0 + z. Here, the base station parameters corresponding to the first cell are known information.

[0230] Step 1303: Based on the latitude and longitude coordinates and actual altitude of the measured object, obtain the perception and positioning results of the measured object.

[0231] In practice, network devices obtain the perception and positioning results of the measured object based on its latitude and longitude coordinates and actual altitude.

[0232] It should be understood that although the steps in the flowcharts of Figures 2 to 5, 7 to 8, 10, and 12 to 13 are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in Figures 2 to 5, 7 to 8, 10, and 12 to 13 may include multiple steps or stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0233] In some embodiments, as shown in FIG14, a sensing and positioning device is provided, including: an acquisition module 1401, a first determination module 1402, a calculation module 1403, and a second determination module 1404, wherein:

[0234] The acquisition module 1401 is used to acquire multiple sets of measurement information for the same measurement object; the multiple sets of measurement information are collected from multiple cells;

[0235] The first determining module 1402 is used to determine a sensing and positioning strategy based on the number of cells in the plurality of cells;

[0236] The calculation module 1403 is used to perform fusion calculation based on the perception and positioning strategy and the target measurement information in the multiple sets of measurement information to obtain the local coordinates of the measurement object.

[0237] The second determining module 1404 is used to determine the perception and positioning result of the measured object based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell.

[0238] In some embodiments, the acquisition module 1401 is specifically used to acquire multiple sets of initial measurement information for the same measurement object;

[0239] A unified coordinate system is constructed based on the first cell among multiple cells; the first cell is the cell that is closest to the object being measured among multiple cells.

[0240] Data preprocessing is performed on multiple sets of initial measurement information based on a unified coordinate system to obtain multiple sets of measurement information.

[0241] In some embodiments, the sensing and positioning strategy includes a first sensing and positioning strategy and a second sensing and positioning strategy. The first determining module 1402 is specifically used to determine the sensing and positioning strategy as the first sensing and positioning strategy if the number of cells in multiple cells is greater than or equal to a preset cell number threshold. The first sensing and positioning strategy determines the local coordinates of the measurement object based on distance measurement information.

[0242] If the number of cells in multiple cells is less than a preset cell number threshold, the sensing and positioning strategy is determined to be the second sensing and positioning strategy; the second sensing and positioning strategy is to determine the local coordinates of the measurement object based on distance measurement information and angle measurement information.

[0243] In some embodiments, the target measurement information is distance measurement information; the first determining module 1402 is specifically used to construct a ranging relationship between the measurement object and multiple cells based on multiple sets of distance measurement information;

[0244] Based on the first perception positioning strategy and various ranging relationships, a first fusion ranging equation set is constructed.

[0245] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0246] In some embodiments, the target measurement information includes multiple sets of distance measurement information and multiple sets of angle measurement information; the first determining module 1402 is specifically used to construct a ranging relationship between the measurement object and multiple cells based on the multiple sets of distance measurement information;

[0247] Based on the first perception positioning strategy and various ranging relationships, a first fusion ranging equation set is constructed.

[0248] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0249] In some embodiments, the target measurement information includes multiple sets of distance measurement information and multiple sets of angle measurement information; the first determining module 1402 is specifically used to construct a ranging relationship between the measurement object and multiple cells based on the multiple sets of distance measurement information;

[0250] Based on the second perception positioning strategy and various ranging relationships, a second fusion ranging equation set is constructed.

[0251] The local coordinates of the measured object are obtained by fusing the second set of fusion ranging equations and angle measurement information.

[0252] In some embodiments, the first determining module 1402 is specifically used to solve the second fusion ranging equation set when the second fusion ranging equation set contains three ranging relationships, and obtain the position coordinates of the two candidate positions corresponding to the measurement object.

[0253] Based on the position coordinates of the two candidate locations, the angle measurement results of the two candidate locations are calculated. Based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, the local coordinates of the measurement object are determined in the position coordinates of the two candidate locations.

[0254] In some embodiments, the first determining module 1402 is specifically used to solve the second fusion ranging equation set to obtain the spatial ring position where the measured object is located when the second fusion ranging equation set contains two ranging relationships.

[0255] Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

[0256] In some embodiments, the multiple sets of measurement information also include velocity measurement information, and the device 1400 further includes:

[0257] The processing module is used to perform vector fusion based on the velocity measurement information corresponding to multiple cells to obtain the velocity measurement result of the measured object.

[0258] In some embodiments, the second determining module is specifically used to perform coordinate transformation on the local coordinates of the measurement object using the location coordinates of the target cell in the cell as reference coordinates, so as to obtain the latitude and longitude coordinates of the measurement object.

[0259] The actual height of the object being measured is determined based on the base station height of the target cell and the height value in the local coordinates of the object being measured.

[0260] Based on the latitude and longitude coordinates and actual altitude of the measured object, the perception and positioning results of the measured object are obtained.

[0261] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0262] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in this application embodiment can be an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this application embodiment. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0263] In some embodiments, as shown in FIG15, the network device includes a memory 1520, a transceiver 1510, and a processor 1500; wherein, the network device further includes a user interface 1530. The memory 1520 may include a non-transient storage medium.

[0264] The memory 1520 is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; and the processor is used to read the computer programs from the memory and perform the following operations:

[0265] Acquire multiple sets of measurement information for the same measurement object; these multiple sets of measurement information are collected from multiple cells.

[0266] Based on the number of cells in multiple cells, determine the sensing and positioning strategy;

[0267] The local coordinates of the measured object are obtained by fusing the target measurement information from multiple sets of measurement information and the perception and localization strategy.

[0268] Based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell, the sensing and positioning results of the measured object are determined.

[0269] In some embodiments, acquiring multiple sets of measurement information for the same measurement object includes:

[0270] Acquire multiple sets of initial measurement information for the same measurement object;

[0271] A unified coordinate system is constructed based on the first cell among multiple cells; the first cell is the cell that is closest to the object being measured among multiple cells.

[0272] Data preprocessing is performed on multiple sets of initial measurement information based on a unified coordinate system to obtain multiple sets of measurement information.

[0273] In some embodiments, the sensing and positioning strategy includes a first sensing and positioning strategy and a second sensing and positioning strategy. The sensing and positioning strategy is determined based on the number of cells in a plurality of cells, including:

[0274] If the number of cells in multiple cells is greater than or equal to a preset cell number threshold, the sensing and positioning strategy is determined as the first sensing and positioning strategy; the first sensing and positioning strategy determines the local coordinates of the measurement object based on distance measurement information;

[0275] If the number of cells in multiple cells is less than a preset cell number threshold, the sensing and positioning strategy is determined to be the second sensing and positioning strategy; the second sensing and positioning strategy is to determine the local coordinates of the measurement object based on distance measurement information and angle measurement information.

[0276] In some embodiments, the target measurement information is distance measurement information; the local coordinates of the measured object are obtained by fusing the target measurement information from multiple sets of measurement information according to the perception and localization strategy, including:

[0277] Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and multiple cells is constructed;

[0278] Based on the first perception positioning strategy and various ranging relationships, a first fusion ranging equation set is constructed.

[0279] Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

[0280] In some embodiments, the target measurement information includes multiple sets of distance measurement information and multiple sets of angle measurement information; the local coordinates of the measured object are obtained by fusing the target measurement information from the multiple sets of measurement information according to the perception and positioning strategy, including:

[0281] Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and multiple cells is constructed;

[0282] Based on the second perception positioning strategy and various ranging relationships, a second fusion ranging equation set is constructed.

[0283] The local coordinates of the measured object are obtained by fusing the second set of fusion ranging equations and angle measurement information.

[0284] In some embodiments, the local coordinates of the measured object are obtained by fusing the second set of fused ranging equations and angle measurement information, including:

[0285] When the second fusion ranging equation set contains three ranging relationships, solve the second fusion ranging equation set to obtain the position coordinates of the two candidate positions corresponding to the measured object.

[0286] Based on the position coordinates of the two candidate locations, the angle measurement results of the two candidate locations are calculated. Based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, the local coordinates of the measurement object are determined in the position coordinates of the two candidate locations.

[0287] In some embodiments, the local coordinates of the measured object are obtained by fusing the second set of fused ranging equations and angle measurement information, including:

[0288] When the second fusion ranging equation set contains two ranging relationships, solve the second fusion ranging equation set to obtain the position of the spatial annulus where the measured object is located.

[0289] Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

[0290] In some embodiments, the multiple sets of measurement information also include speed measurement information, and the processor 1500 is further configured to read the computer program in memory and perform the following operations:

[0291] Vector fusion is performed based on velocity measurement information from multiple cells to obtain the velocity measurement result of the measured object.

[0292] In some embodiments, the sensing and positioning result of the measured object is determined based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell, including:

[0293] Using the location coordinates of the target community within the community as reference coordinates, coordinate transformation is performed on the local coordinates of the measured object to obtain the latitude and longitude coordinates of the measured object.

[0294] The actual height of the object being measured is determined based on the base station height of the target cell and the height value in the local coordinates of the object being measured.

[0295] Based on the latitude and longitude coordinates and actual altitude of the measured object, the perception and positioning results of the measured object are obtained.

[0296] In some embodiments, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, causes the processor to perform the steps in the above method embodiments.

[0297] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0298] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict of combination, the various technical features mentioned in the various embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A sensing and localization method, the method comprising: Acquire multiple sets of measurement information for the same measurement object; The multiple sets of measurement information were collected from multiple cells; Based on the number of cells in the multiple cells, a sensing and positioning strategy is determined; The local coordinates of the measured object are obtained by fusing the perception and positioning strategy and the target measurement information from the multiple sets of measurement information; Based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell, the sensing and positioning result of the measured object is determined.

2. The method according to claim 1, wherein, The acquisition of multiple sets of measurement information for the same measurement object includes: Acquire multiple sets of initial measurement information for the same measurement object; A unified coordinate system is constructed based on the first cell among the plurality of cells; the first cell is the cell among the plurality of cells that is closest to the object being measured. Based on the unified coordinate system, the multiple sets of initial measurement information are preprocessed to obtain multiple sets of measurement information.

3. The method according to claim 1, wherein, The sensing and positioning strategy includes a first sensing and positioning strategy and a second sensing and positioning strategy. Determining the sensing and positioning strategy based on the number of cells in the plurality of cells includes: If the number of cells in the plurality of cells is greater than or equal to a preset cell number threshold, the sensing and positioning strategy is determined to be the first sensing and positioning strategy; the first sensing and positioning strategy determines the local coordinates of the measurement object based on distance measurement information; If the number of cells in the plurality of cells is less than the preset cell number threshold, the sensing and positioning strategy is determined to be the second sensing and positioning strategy; the second sensing and positioning strategy is to determine the local coordinates of the measurement object based on the distance measurement information and the angle measurement information.

4. The method according to claim 3, wherein, The target measurement information is distance measurement information; the step of fusing and calculating the target measurement information from the multiple sets of measurement information according to the perception and positioning strategy to obtain the local coordinates of the measured object includes: Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and the multiple cells is constructed; Based on the first perception and positioning strategy and each of the ranging relationships, a first fusion ranging equation set is constructed. Solve the first set of fusion ranging equations to obtain the local coordinates of the measured object.

5. The method according to claim 3, wherein, The target measurement information includes distance measurement information and angle measurement information; the step of fusing and calculating the target measurement information from the multiple sets of measurement information according to the perception and positioning strategy to obtain the local coordinates of the measured object includes: Based on multiple sets of distance measurement information, a distance measurement relationship between the measurement object and multiple cells is constructed; Based on the second perception and localization strategy and each of the ranging relationships, a second fusion ranging equation set is constructed. The local coordinates of the measured object are obtained by fusing the second set of fused ranging equations and the angle measurement information.

6. The method according to claim 5, wherein, The process of fusing the second set of fused ranging equations and the angle measurement information to obtain the local coordinates of the measured object includes: When the second fusion ranging equation set contains three ranging relationships, solve the second fusion ranging equation set to obtain the position coordinates of the two candidate positions corresponding to the measured object; Based on the position coordinates of the two candidate locations, the angle measurement results of the two candidate locations are calculated, and based on the angle measurement information of the first cell and the angle measurement results of the two candidate locations, the local coordinates of the measurement object are determined in the position coordinates of the two candidate locations.

7. The method according to claim 5, wherein, The process of fusing the second set of fused ranging equations and the angle measurement information to obtain the local coordinates of the measured object includes: When the second fusion ranging equation set contains two ranging relationships, solve the second fusion ranging equation set to obtain the spatial ring position where the measured object is located. Determine the spatial straight line corresponding to the angle measurement information of the first cell, and determine the intersection point of the spatial ring position and the spatial straight line as the local coordinates of the measurement object.

8. The method according to claim 1, wherein, The multiple sets of measurement information also include velocity measurement information, and the method further includes: Vector fusion is performed based on the velocity measurement information corresponding to the multiple cells to obtain the velocity measurement result of the measured object.

9. The method according to claim 1, wherein, The process of determining the perception and positioning result of the measured object based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station altitude of the target cell includes: Using the location coordinates of the target cell in the cell as reference coordinates, coordinate transformation is performed on the local coordinates of the measured object to obtain the latitude and longitude coordinates of the measured object; The actual height of the measured object is determined based on the base station height of the target cell and the height value in the local coordinates of the measured object; Based on the latitude and longitude coordinates of the measured object and the actual altitude, the perception and positioning result of the measured object is obtained.

10. A sensing and positioning device, the device comprising: The acquisition module is used to acquire multiple sets of measurement information for the same measurement object; The multiple sets of measurement information were collected from multiple cells; The first determining module is used to determine the sensing and positioning strategy based on the number of cells in the plurality of cells; The calculation module is used to perform fusion calculation based on the perception and positioning strategy and the target measurement information in the multiple sets of measurement information to obtain the local coordinates of the measurement object; The second determining module is used to determine the perception and positioning result of the measured object based on the local coordinates of the measured object, the location coordinates of the target cell in the cell, and the base station height of the target cell.

11. A network device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method according to any one of claims 1 to 9.

Images