CN107135540B - Positioning device and method and electronic equipment - Google Patents
Positioning device and method and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a positioning device, a positioning method and electronic equipment, wherein channel propagation characteristics received at a position to be detected are aligned with channel propagation characteristics received at a reference point within a preset range on a time domain, and similarity is calculated based on the aligned channel propagation characteristics, so that accurate synchronization is not required to be performed among all terminals in a system, the system architecture can be simplified, and the complexity of the system is reduced; and the position information of the position to be measured is calculated according to the overall similarity and the position information of the reference point with the maximum overall similarity of each access point, so that the influence of the multipath effect is reduced, the multipath information is fully utilized, and the positioning precision can be improved.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning apparatus, a positioning method, and an electronic device.
Background
As the demand for location-based services increases, the use of location technology is becoming widespread. And high-performance positioning systems, such as positioning systems with high accuracy, low complexity, and easy deployment, are more beneficial to the popularization of positioning applications.
In recent years, a positioning system based on a fingerprint algorithm has appeared, and the core idea of the positioning system based on the fingerprint algorithm is to map position information which is not easy to measure into wireless signal characteristics which are easy to measure. Currently, a commonly used fingerprint positioning system includes: a fingerprint positioning system based on Received Signal Strength (RSS), a fingerprint positioning system based on time delay information or arrival time information in channel impulse response, and the like.
It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.
Disclosure of Invention
When the fingerprint positioning system based on the received signal strength is used for positioning, the fingerprint positioning system is easily influenced by multipath effect and shadow fading to cause the reduction of positioning accuracy; when the fingerprint positioning system or the multilateral positioning system based on the time delay information or the arrival time information in the channel impulse response is used for positioning, the transceivers need to be synchronized, and the requirement on the synchronization precision is high, so that the complexity of the system is improved, and the system deployment is more complex.
Embodiments of the present invention provide a positioning apparatus, a positioning method, and an electronic device, which can simplify a system architecture, reduce complexity of a system, reduce an influence of a multipath effect, and fully utilize multipath information, thereby improving positioning accuracy.
According to a first aspect of embodiments of the present invention, there is provided a positioning apparatus, the apparatus comprising: an alignment unit, configured to align, for each of at least one access point, a channel propagation characteristic of a signal from the access point received at a position to be measured with a channel propagation characteristic of a signal from a corresponding access point received at least one reference point within a preset range, which is obtained in advance, in a time domain; a first calculating unit, configured to calculate, for each access point, a similarity between a channel propagation characteristic of a signal from the access point received at each reference point after alignment and a channel propagation characteristic of a signal from the access point received at the position to be measured, respectively; and the second calculation unit is used for calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity for each access point.
According to a second aspect of embodiments of the present invention, there is provided an electronic device comprising the apparatus according to the first aspect of embodiments of the present invention.
According to a third aspect of embodiments of the present invention, there is provided a positioning method, the method including: for each access point in at least one access point, aligning the channel propagation characteristics of the signals from the access point received at the position to be measured with the channel propagation characteristics of the signals from the corresponding access point received at least one reference point within a preset range in a time domain; for each access point, respectively calculating the similarity of the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the position to be measured; and calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity of each access point.
The invention has the beneficial effects that: the channel propagation characteristics received at the position to be detected and the channel propagation characteristics received at the reference point in the preset range are aligned on the time domain, and the similarity is calculated based on the aligned channel propagation characteristics, so that accurate synchronization is not required to be performed among all terminals in the system, the system architecture can be simplified, and the complexity of the system is reduced; and the position information of the position to be measured is calculated according to the overall similarity and the position information of the reference point with the maximum overall similarity of each access point, so that the influence of the multipath effect is reduced, the multipath information is fully utilized, and the positioning precision can be improved.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view showing the structure of a positioning apparatus according to embodiment 1 of the present invention;
fig. 2 is a schematic view of the aligning unit 101 according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of embodiment 1 of the present invention after performing cyclic shift on a multipath spectrum of a signal received at a position to be measured;
FIG. 4 is a schematic diagram of the truncated multipath spectrum of embodiment 1 of the present invention;
FIG. 5 is another schematic diagram of the truncated multipath spectrum of embodiment 1 of the present invention;
fig. 6 is a schematic diagram of the first estimating unit 104 according to embodiment 1 of the present invention;
fig. 7 is a schematic view of an electronic device according to embodiment 2 of the present invention;
fig. 8 is a schematic block diagram of a system configuration of an electronic apparatus according to embodiment 2 of the present invention;
fig. 9 is a schematic diagram of a positioning method according to embodiment 3 of the present invention.
Detailed Description
The foregoing and other features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
Example 1
Fig. 1 is a schematic view of a positioning apparatus according to embodiment 1 of the present invention. As shown in fig. 1, the apparatus 100 includes:
an alignment unit 101, configured to align, for each access point of at least one access point, a channel propagation characteristic of a signal from the access point received at a position to be measured with a channel propagation characteristic of a signal from a corresponding access point received at least one reference point within a preset range, which is obtained in advance, in a time domain;
a first calculating unit 102, configured to calculate, for each access point, a similarity between the aligned channel propagation characteristic of the signal from the access point received at each reference point and the channel propagation characteristic of the signal from the access point received at the position to be measured;
a second calculating unit 103, configured to calculate the location information of the to-be-measured location according to the overall similarity of the at least one reference point with the maximum overall similarity for each access point and the location information.
As can be seen from the above embodiments, by aligning the channel propagation characteristics received at the position to be measured with the channel propagation characteristics received at the reference point within the preset range in the time domain and calculating the similarity based on the aligned channel propagation characteristics, it is not required to perform accurate synchronization between all terminals in the system, thereby simplifying the system architecture and reducing the complexity of the system; and the position information of the position to be measured is calculated according to the overall similarity and the position information of the reference point with the maximum overall similarity of each access point, so that the influence of the multipath effect is reduced, the multipath information is fully utilized, and the positioning precision can be improved.
In this embodiment, Access Points (APs) may be represented as transmitters, where the number of the transmitters is N, N ≧ 1, and the number of the transmitters may be set according to actual needs.
In this embodiment, the position to be measured refers to a position to be located, that is, a position where a target terminal to be located is located.
In this embodiment, the Channel propagation characteristics may include various characteristics characterizing the propagation state of the Channel, for example, the Channel propagation characteristics include Multipath Profile (MP), Channel Impulse Response (CIR), and the like. In the present embodiment, a Multipath Profile (MP) is taken as an example for explanation.
In this embodiment, the preset range is located in the region to be measured, the preset range can be set according to actual needs, and the positioning accuracy can be further improved by performing accurate positioning within the determined preset range.
In this embodiment, the number of the reference points in the preset range may be set according to actual needs, for example, the number of the reference points in the preset range is I, and I is a positive integer.
In this embodiment, the multipath spectra MP of the signals from the access points received at the respective reference points may be obtained from a pre-established fingerprint database.
In this embodiment, the fingerprint refers to a set of multipath spectra MP of signals received from all N access points at the position where the signal is acquired, i.e. the fingerprint is composed of the multipath spectra MP of the signals of the N access points.
For example, L reference points are set in the area to be measured, L is larger than or equal to I, continuously transmitted signals from N access points are received at the L reference points, and L and N are positive integers. The signal may be set as a synchronization signal of an m sequence or a ZC sequence to be applicable to wireless communication systems such as LTE, WIFI, WCDMA, and the like.
First, a cross-correlation operation is performed between the received signal at each reference point and the transmitted signal at each access point, and a cross-correlation result can be calculated according to the following formula (1):
wherein R isj(τ) represents a cross-correlation value with a transmission signal of a j access point, r (t) represents a reception signal in any one sequence period, xj(t) denotes a transmission signal of the jth access point, t0Denotes the reception start time of an arbitrary signal, T denotes the sequence period, FFT and IFFT denote fourier transform and inverse fourier transform, respectively, conj is the conjugate of the signal, and j is a positive integer.
The cross-correlation result is then modulo according to the following equation (2):
|Rj(τ)|＝abs(Rj(τ)) (2)
wherein, | Rj(τ) | represents the modulus of the cross-correlation value calculated according to equation (1), and abs is the operation of taking the modulus of the signal.
In the present embodimentIn the case of no synchronization between systems, the main part of the cross-correlation within one period needs to be found out. For example, the norm value sequence | R can be modeledj(tau) l is sorted in descending order, then the start position of continuous time interval with maximum module value is found out, the start position is marked as t _ start, and the cyclic shift is carried out forward
As the starting position of the multipath spectrum of the access point, where n is a positive integer, and can be set as required, for example, n is 10, fsIs the sampling rate.
When cyclic shift is performed, the start position and the end position of the sequence are connected and are also regarded as a continuous period, and the end of the continuous period is marked as t _ end. The entire multipath spectrum | R of the access pointj(tau) is a power time delay spectrum sequence after cyclic shift according to the principle and is marked as
i denotes the ith reference point and j denotes the jth access point.
By the above method, a fingerprint at the ith reference point can be constructed, for example, as represented by the following items:
wherein li＝(xi,yi) The position of the ith reference point is represented, and the position can also be expanded into a three-dimensional position space;
represents the RSS value received at the ith reference point from the jth access point, which may also pass
To calculate the time to acquire, and in addition,
also valueOther channel characteristics are possible and i, j are positive integers.
In this way, the offline fingerprint database is constructed by constructing the fingerprints of all the L reference points in the region to be measured.
In this embodiment, the multipath spectrum MP of the signal from the access point received at the position to be measured is obtained based on the calculation of the actually measured received signal, and the calculation method is similar to the method of obtaining the multipath spectrum MP of the signal from the access point received at the reference point, and is not described herein again.
In a similar way, a fingerprint at the location to be measured can be constructed, which can be represented, for example, by the following entries:
wherein l '═ (x', y ') denotes a position to be measured, s'jRepresenting the RSS value, p ', from the j-th access point received at the location under test'jIndicating that the multipath spectrum MP, j from the j-th access point received at the location to be measured is a positive integer.
In the present embodiment, for each of the N access points, the alignment unit 101 aligns the multi-path spectrum MP of the signal from the access point received at the position to be measured with the multi-path spectrum MP of the signal from the corresponding access point received at least one reference point within the preset range obtained in advance in the time domain.
The structure and alignment method of the alignment unit 101 of the present embodiment are exemplarily described below.
Fig. 2 is a schematic diagram of the alignment unit 101 according to embodiment 1 of the present invention. As shown in fig. 2, the alignment unit 101 includes:
a third calculation unit 201, configured to calculate, for each access point, a cross-correlation value between a channel propagation characteristic of a signal received at the position to be measured and a channel propagation characteristic of a signal received at each reference point, respectively;
a shifting unit 202, configured to perform, for each access point, cyclic shift on a channel propagation characteristic of a signal received at a position to be detected according to a time delay corresponding to a maximum cross-correlation value in the calculated cross-correlation values, or perform reverse cyclic shift on a channel propagation characteristic of a signal received at a reference point.
In this embodiment, for the alignment of the jth access point, the time delay corresponding to the maximum cross-correlation value can be represented by the following formula (3):
wherein the content of the first and second substances,
which is indicative of the time delay,
c denotes a set of reference points within a predetermined range,
representing the reception of a multipath spectrum MP, p 'from the j access point at the ith reference point within the range'jIndicating that the multipath spectrum MP, i, j received from the j access point at the position to be measured is a positive integer.
In this embodiment, the shifting unit 202 may be based on the calculated time delay
Multipath spectrum p 'of signal received at position to be measured according to the following formula (4)'jAnd (3) performing cyclic shift:
wherein the content of the first and second substances,
represents a cyclically shifted multipath spectrum p'jThe circshift function represents p'jA left cyclic shift is performed, j being a positive integer.
In this embodiment, the shifting unit 202 may also be based on the calculated time delay
Multipath spectrum of signal received at reference point according to the following formula (5)
And (3) performing reverse cyclic shift:
wherein the content of the first and second substances,
representing the cyclically shifted multipath spectrum at the ith reference point
At this time, pair
Cyclic shift to the right, i, j being a positive integer.
Fig. 3 is a schematic diagram of embodiment 1 of the present invention after performing cyclic shift on a multipath spectrum of a signal received at a position to be measured. As shown in fig. 3, a multipath spectrum MP1 represents a multipath spectrum of a signal received at a position to be measured, a multipath spectrum MP2 represents a multipath spectrum of a signal received at a reference point, and a multipath spectrum MP3 represents a multipath spectrum after cyclic shift is performed on MP 1.
Therefore, through the multi-path spectrum alignment method based on the cross-correlation algorithm, the instability of the time delay position where the first path or the strongest path is judged due to the factors such as the multi-path effect and the shadow effect can be avoided, and particularly, the effect is more obvious for the area with weaker signal intensity. In addition, the algorithm has better and more robust alignment performance, and is beneficial to improving the matching precision of subsequent multipath spectrums, thereby further improving the positioning precision.
In this embodiment, other algorithms may also be used to align the multipath spectrum, for example, based on the first path peak alignment, based on the strongest path alignment algorithm, and the like.
In this embodiment, after the alignment unit 101 performs alignment of multipath spectra, the first calculation unit 102 calculates, for each access point, the similarity between the aligned channel propagation characteristics of the signal from the access point received at each reference point and the channel propagation characteristics of the signal from the access point received at the position to be measured.
In this embodiment, the similarity between two multipath spectrums can be calculated by using the existing method, for example, a vector cosine manner can be adopted, that is, a cosine included angle is calculated by using two intercepted multipath spectrum vectors, and the smaller the included angle is, the greater the similarity is; in addition, other conventional curve similarity measurement methods, such as extracting characteristics of a curve peak, a kurtosis coefficient, and the like, may be used for measurement. The embodiment of the invention does not limit the calculation method of the similarity.
In this embodiment, the first calculation unit 102 may intercept a time period in which the intensity of the channel propagation characteristic exceeds a preset threshold or a time period including the channel propagation characteristic, and perform the calculation of the similarity.
Fig. 4 is a schematic diagram of the truncated multipath spectrum of embodiment 1 of the present invention. As shown in fig. 4, the time period in which the strength of the multipath spectrum exceeds the threshold M may be intercepted to perform the similarity calculation, where the multipath spectrum MP2 represents the multipath spectrum of the signal received at the reference point, and the multipath spectrum MP3 represents the multipath spectrum of the signal received at the position to be measured after the multipath spectrum is subjected to the cyclic shift.
Fig. 5 is another schematic diagram of the truncated multipath spectrum of embodiment 1 of the present invention. As shown in fig. 5, the time period including the multipath spectrum may be intercepted to perform the similarity calculation, the multipath spectrum MP2 represents the multipath spectrum of the signal received at the reference point, and the multipath spectrum MP3 represents the multipath spectrum of the signal received at the position to be measured after the multipath spectrum is subjected to the cyclic shift.
In this embodiment, the preset threshold may be set according to actual needs, for example, the preset threshold is a maximum value in a sequence except for the acquired continuous time period of the delay expansion.
Therefore, the similarity calculation is carried out by intercepting the two aligned multipath spectrums within a certain time period, so that the noise interference can be reduced, the positioning precision is further improved, and the calculation amount is reduced.
In the present embodiment, after the first calculation unit 102 calculates the similarity between the aligned channel propagation characteristics of the signals from the access point received at the respective reference points and the channel propagation characteristics of the signals from the access point received at the position to be measured, the second calculation unit 103 calculates the position information of the position to be measured from the overall similarity of at least one reference point with the greatest overall similarity to the respective access points and the position information.
In the present embodiment, for the ith reference point of all I reference points within the predetermined range, for each of the N access points, the similarity between the channel propagation characteristic of the signal received at the reference point and the channel propagation characteristic of the signal received at the position to be measured is calculated, that is, for the ith reference point, N similarities are calculated, and then, "overall similarity" refers to an overall measure of the N similarities, for example, the overall similarity is the sum of the N similarities or the overall similarity is the product of the N similarities. The embodiment of the invention does not limit the specific form of the overall similarity.
In this embodiment, the second calculation unit 103 may calculate the position information of the position to be measured by using an existing method, for example, the position information of K reference points with the largest overall similarity is selected, and the position information of the position to be measured is calculated according to the following equations (6) and (7):
wherein the content of the first and second substances,
position information representing a position to be measured, wiNormalized weighting factor, l, representing the ith reference pointiIndicating the position information of the ith reference point, λiRepresenting the overall similarity, λ, of the ith reference point of the selected K reference pointsjAnd the overall similarity of the jth reference point in the K selected reference points is shown, i, j and K are positive integers, and i is less than or equal to K.
In this embodiment, the positioning apparatus 100 may further include:
a first estimating unit 104, configured to estimate the preset range according to signals received from the access points at the location to be measured.
In the present embodiment, the first estimation unit 104 is an optional component, and is indicated by a dashed box in fig. 1. The structure of the first estimation unit 104 and a method of estimating the preset range are exemplarily described below.
Fig. 6 is a schematic diagram of the first estimating unit 104 according to embodiment 1 of the present invention. As shown in fig. 6, the first estimation unit 104 includes:
a second estimation unit 601, configured to estimate a preliminary estimated position of the to-be-measured position according to signals from the access points received at the to-be-measured position;
a determining unit 602, configured to determine a range centered on the preliminary estimated position and having a preset value as a radius as the preset range.
In the present embodiment, the second estimation unit 601 may perform preliminary position estimation using an existing method, and may estimate a preliminary estimated position of the position to be measured, for example, from Received Signal Strengths (RSS) from respective access points received at the position to be measured. The RSS-based positioning method can comprise algorithms such as KNN, WKNN, maximum posterior probability, neural network and clustering, and when the simple KNN and WKNN algorithms are adopted, the K value can take a larger value, such as 5-15, so that the initial positioning can be facilitated to obtain a position which contains the actual terminal and has a larger probability in a preset range.
In this embodiment, the preset value may be set according to the accuracy of the algorithm used in estimating the preset range; alternatively, the preset value may be set according to a root mean square error of position information of a plurality of positions to be measured obtained by positioning for multiple times.
For example, the preset value is the maximum positioning error of the adopted algorithm, or a certain proportion of the maximum positioning error, for example, 90% of the maximum positioning error;
for example, the preset value may be calculated as a root mean square error according to the following equations (8) and (9):
R＝k×σ (8)
wherein R represents a preset value, k represents an adjustment coefficient, σ represents a root mean square error, M represents the number of times of positioning, (x)i,yi) For the position information obtained by the ith positioning, R, k and sigma are positive numbers, and M and i are positive integers.
In this way, by performing accurate positioning within the determined predetermined range, the positioning accuracy can be further improved.
According to the embodiment, the channel propagation characteristics received at the position to be detected and the channel propagation characteristics received at the reference point are aligned on the time domain, and the similarity is calculated based on the aligned channel propagation characteristics, so that accurate synchronization is not required to be performed among all terminals in the system, the system architecture can be simplified, and the complexity of the system is reduced; and the position information of the position to be measured is calculated according to the overall similarity and the position information of the reference point with the maximum overall similarity of each access point, so that the influence of the multipath effect is eliminated, the multipath information is fully utilized, and the positioning precision can be improved.
In addition, by performing accurate positioning within a certain predetermined range, the positioning accuracy can be further improved.
In addition, through the multi-path spectrum alignment method based on the cross-correlation algorithm, the instability of the time delay position where the first path or the strongest path is judged due to the multi-path effect, the shadow effect and other factors can be avoided, and particularly, the effect is more obvious for the area with weaker signal intensity. In addition, the algorithm has better and more robust alignment performance, and is beneficial to improving the matching precision of subsequent multipath spectrums, thereby further improving the positioning precision.
In addition, the similarity calculation is carried out by intercepting the two aligned multipath spectrums within a certain time period, so that the noise interference can be reduced, the positioning precision is further improved, and the calculation amount is reduced.
Example 2
An embodiment of the present invention further provides an electronic device, and fig. 7 is a schematic diagram of an electronic device in embodiment 2 of the present invention. As shown in fig. 7, the electronic device 700 includes a positioning apparatus 701, wherein the structure and function of the positioning apparatus 701 are the same as those described in embodiment 1, and are not described herein again.
Fig. 8 is a schematic block diagram of a system configuration of an electronic apparatus according to embodiment 2 of the present invention. As shown in fig. 8, the electronic device 800 may include a central processor 801 and a memory 802; the memory 802 is coupled to the central processor 801. The figure is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
As shown in fig. 8, the electronic device 800 may further include: an input unit 803, a display 804, a power supply 805.
In one embodiment, the functionality of the positioning device described in example 1 may be integrated into the central processor 801. Among other things, the central processor 801 may be configured to: for each access point in at least one access point, aligning the channel propagation characteristics of the signals from the access point received at the position to be measured with the channel propagation characteristics of the signals from the corresponding access point received at least one reference point within a preset range in a time domain; for each access point, respectively calculating the similarity of the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the position to be measured; and calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity of each access point.
Wherein, for each access point in at least one access point, aligning, in a time domain, a channel propagation characteristic of a signal from the access point received at a position to be measured with a channel propagation characteristic of a signal from a corresponding access point received at least one reference point within a preset range, the method includes: for each access point, respectively calculating a cross-correlation value of the channel propagation characteristic of the signal received at the position to be measured and the channel propagation characteristic of the signal received at each reference point; and for each access point, according to the time delay corresponding to the maximum cross correlation value in the calculated cross correlation values, performing cyclic shift on the channel propagation characteristic of the signal received at the position to be detected, or performing reverse cyclic shift on the channel propagation characteristic of the signal received at the reference point.
Wherein the calculating, for each access point, the similarity between the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the position to be measured includes: and intercepting the time period when the intensity of the channel propagation characteristics exceeds a preset threshold value or the time period including the channel propagation characteristics, and calculating the similarity.
Wherein, the central processor 801 may be further configured to: estimating the preset range from signals received from each access point at the location to be measured.
Wherein estimating the preset range from signals received at the location to be measured from the respective access points comprises: estimating a preliminary estimated position of the position to be measured according to signals from the access points received at the position to be measured; and determining a range taking the preliminary estimation position as a center and a preset numerical value as a radius as the preset range.
Wherein the preset value is set according to an algorithm precision used in estimating the preset range; or the preset numerical value is set according to the root mean square error of the position information of the plurality of positions to be measured obtained through multiple times of positioning.
It is not necessary that the electronic device 800 in this embodiment include all of the components shown in fig. 8.
As shown in fig. 8, the central processor 801, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, and the central processor 801 receives inputs and controls the operation of the various components of the electronic device 800.
The memory 802, for example, may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. And the central processor 801 may execute the program stored in the memory 802 to realize information storage or processing, or the like. The functions of other parts are similar to the prior art and are not described in detail here. The components of electronic device 800 may be implemented in dedicated hardware, firmware, software, or combinations thereof, without departing from the scope of the invention.
As can be seen from the above embodiments, by aligning the channel propagation characteristics received at the position to be measured with the channel propagation characteristics received at the reference point within the preset range in the time domain and calculating the similarity based on the aligned channel propagation characteristics, it is not required to perform accurate synchronization between all terminals in the system, thereby simplifying the system architecture and reducing the complexity of the system; and the position information of the position to be measured is calculated according to the overall similarity and the position information of the reference point with the maximum overall similarity of each access point, so that the influence of the multipath effect is reduced, the multipath information is fully utilized, and the positioning precision can be improved.
Example 3
The embodiment of the invention also provides a positioning method, which corresponds to the positioning device in the embodiment 1. Fig. 9 is a schematic diagram of a positioning method according to embodiment 3 of the present invention. As shown in fig. 9, the method includes:
step 901: for each access point in at least one access point, aligning the channel propagation characteristics of the signals from the access point received at the position to be measured with the channel propagation characteristics of the signals from the corresponding access point received at least one reference point within a preset range in a time domain;
step 902: for each access point, respectively calculating the similarity of the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the position to be measured;
step 903: and calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity of each access point.
In this embodiment, the method for determining the preset range, the method for aligning the channel propagation characteristics, the method for calculating the similarity, and the method for calculating the location information according to the overall similarity are the same as those described in embodiment 1, and are not repeated herein.
According to the embodiment, the channel propagation characteristics received at the position to be detected and the channel propagation characteristics received at the reference point are aligned on the time domain, and the similarity is calculated based on the aligned channel propagation characteristics, so that accurate synchronization is not required to be performed among all terminals in the system, the system architecture can be simplified, and the complexity of the system is reduced; and the position information of the position to be measured is calculated according to the overall similarity and the position information of the reference point with the maximum overall similarity of each access point, so that the influence of the multipath effect is reduced, the multipath information is fully utilized, and the positioning precision can be improved.
An embodiment of the present invention further provides a computer-readable program, where when the program is executed in a positioning apparatus or an electronic device, the program causes a computer to execute the positioning method described in embodiment 3 in the positioning apparatus or the electronic device.
An embodiment of the present invention further provides a storage medium storing a computer-readable program, where the computer-readable program enables a computer to execute the positioning method described in embodiment 3 in a positioning apparatus or an electronic device.
The positioning method performed in the positioning apparatus or the electronic device described in connection with the embodiments of the present invention may be directly embodied in hardware, a software module executed by a processor, or a combination of the two. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in fig. 1 may correspond to individual software modules of a computer program flow or may correspond to individual hardware modules. These software modules may correspond to the steps shown in fig. 9, respectively. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the apparatus (e.g., mobile terminal) employs a relatively large capacity MEGA-SIM card or a large capacity flash memory device, the software module may be stored in the MEGA-SIM card or the large capacity flash memory device.
One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to fig. 1 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
While the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that these descriptions are illustrative and not intended to limit the scope of the invention. Various modifications and alterations of this invention will become apparent to those skilled in the art based upon the spirit and principles of this invention, and such modifications and alterations are also within the scope of this invention.
With respect to the embodiments including the above embodiments, the following remarks are also disclosed:
supplementary note 1, a positioning device, the device comprising:
an alignment unit, configured to align, for each of at least one access point, a channel propagation characteristic of a signal from the access point received at a position to be measured with a channel propagation characteristic of a signal from a corresponding access point received at least one reference point within a preset range, which is obtained in advance, in a time domain;
a first calculating unit, configured to calculate, for each access point, a similarity between a channel propagation characteristic of a signal from the access point received at each reference point after alignment and a channel propagation characteristic of a signal from the access point received at the position to be measured, respectively;
and the second calculation unit is used for calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity for each access point.
a third calculation unit configured to calculate, for each access point, a cross-correlation value of the channel propagation characteristic of the signal received at the position to be measured and the channel propagation characteristic of the signal received at each reference point, respectively;
a shifting unit, configured to perform, for each access point, cyclic shift on the channel propagation characteristic of the signal received at the position to be detected according to a time delay corresponding to a maximum cross-correlation value among the calculated cross-correlation values, or perform reverse cyclic shift on the channel propagation characteristic of the signal received at the reference point.
Note 3 that the apparatus according to note 1 is configured to intercept a time period in which the intensity of the channel propagation characteristic exceeds a preset threshold or a time period in which the channel propagation characteristic is included, and perform the calculation of the similarity.
a first estimating unit configured to estimate the preset range from signals received from the respective access points at the position to be measured.
a second estimation unit for estimating a preliminary estimated position of the position to be measured based on signals from the respective access points received at the position to be measured;
a determination unit configured to determine a range centered on the preliminary estimated position and having a preset value as a radius as the preset range.
the preset value is set according to the algorithm precision used in estimating the preset range; alternatively, the first and second electrodes may be,
the preset numerical value is set according to the root mean square error of the position information of the plurality of positions to be measured, which is obtained by positioning for a plurality of times.
Supplementary note 7, an electronic device comprising the apparatus according to any one of supplementary notes 1-6.
for each access point in at least one access point, aligning the channel propagation characteristics of the signals from the access point received at the position to be measured with the channel propagation characteristics of the signals from the corresponding access point received at least one reference point within a preset range in a time domain;
for each access point, respectively calculating the similarity of the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the position to be measured;
and calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity of each access point.
Supplementary note 9, the method according to supplementary note 8, wherein the aligning, for each of at least one access point, the channel propagation characteristics of the signal from the access point received at the position to be measured with the channel propagation characteristics of the signal from the corresponding access point received at least one reference point within a preset range obtained in advance in time domain comprises:
for each access point, respectively calculating a cross-correlation value of the channel propagation characteristic of the signal received at the position to be measured and the channel propagation characteristic of the signal received at each reference point;
and for each access point, according to the time delay corresponding to the maximum cross correlation value in the calculated cross correlation values, performing cyclic shift on the channel propagation characteristic of the signal received at the position to be detected, or performing reverse cyclic shift on the channel propagation characteristic of the signal received at the reference point.
and intercepting the time period when the intensity of the channel propagation characteristics exceeds a preset threshold value or the time period including the channel propagation characteristics, and calculating the similarity.
Supplementary note 11, the method according to supplementary note 8, wherein the method further comprises:
estimating the preset range from signals received from each access point at the location to be measured.
estimating a preliminary estimated position of the position to be measured according to signals from the access points received at the position to be measured;
and determining a range taking the preliminary estimation position as a center and a preset numerical value as a radius as the preset range.
Reference numeral 13, a method according to reference numeral 12, wherein,
the preset value is set according to the algorithm precision used in estimating the preset range; alternatively, the first and second electrodes may be,
the preset numerical value is set according to the root mean square error of the position information of the plurality of positions to be measured, which is obtained by positioning for a plurality of times.
Claims (8)
1. A positioning device, the device comprising:
an alignment unit, configured to align, for each of at least one access point, a channel propagation characteristic of a signal from the access point received at a position to be measured with a channel propagation characteristic of a signal from a corresponding access point received at least one reference point within a preset range, which is obtained in advance, in a time domain;
a first calculating unit, configured to calculate, for each access point, a similarity between a channel propagation characteristic of a signal from the access point received at each reference point after alignment and a channel propagation characteristic of a signal from the access point received at the position to be measured, respectively;
a second calculation unit for calculating the position information of the position to be measured based on the overall similarity of at least one reference point having the greatest overall similarity to each access point and the position information,
wherein the alignment unit includes:
a third calculation unit configured to calculate, for each access point, a cross-correlation value of the channel propagation characteristic of the signal received at the position to be measured and the channel propagation characteristic of the signal received at each reference point, respectively;
a shifting unit, configured to perform, for each access point, cyclic shift on the channel propagation characteristic of the signal received at the position to be detected according to a time delay corresponding to a maximum cross-correlation value among the calculated cross-correlation values, or perform reverse cyclic shift on the channel propagation characteristic of the signal received at the reference point.
2. The apparatus according to claim 1, wherein the first computing unit is configured to intercept a time period in which the strength of the channel propagation characteristic exceeds a preset threshold or a time period in which the channel propagation characteristic is included, and perform the computation of the similarity.
3. The apparatus of claim 1, wherein the apparatus further comprises:
a first estimating unit configured to estimate the preset range from signals received from the respective access points at the position to be measured.
4. The apparatus of claim 3, wherein the first estimation unit comprises:
a second estimation unit for estimating a preliminary estimated position of the position to be measured based on signals from the respective access points received at the position to be measured;
a determination unit configured to determine a range centered on the preliminary estimated position and having a preset value as a radius as the preset range.
5. The apparatus of claim 4, wherein,
the preset value is set according to the algorithm precision used in estimating the preset range; alternatively, the first and second electrodes may be,
the preset numerical value is set according to the root mean square error of the position information of the plurality of positions to be measured, which is obtained by positioning for a plurality of times.
6. An electronic device comprising the apparatus of any of claims 1-5.
7. A method of positioning, the method comprising:
for each access point in at least one access point, aligning the channel propagation characteristics of the signals from the access point received at the position to be measured with the channel propagation characteristics of the signals from the corresponding access point received at least one reference point within a preset range in a time domain;
for each access point, respectively calculating the similarity of the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the position to be measured;
calculating the position information of the position to be measured according to the overall similarity and the position information of at least one reference point with the maximum overall similarity of each access point,
wherein, for each access point in at least one access point, aligning, in a time domain, a channel propagation characteristic of a signal from the access point received at a position to be measured with a channel propagation characteristic of a signal from a corresponding access point received at least one reference point within a preset range, the method includes:
for each access point, respectively calculating a cross-correlation value of the channel propagation characteristic of the signal received at the position to be measured and the channel propagation characteristic of the signal received at each reference point;
and for each access point, according to the time delay corresponding to the maximum cross correlation value in the calculated cross correlation values, performing cyclic shift on the channel propagation characteristic of the signal received at the position to be detected, or performing reverse cyclic shift on the channel propagation characteristic of the signal received at the reference point.
8. The method of claim 7, wherein the calculating, for each access point, a similarity of the aligned channel propagation characteristics of the signals from the access point received at each reference point and the channel propagation characteristics of the signals from the access point received at the location under test, respectively, comprises:
and intercepting the time period when the intensity of the channel propagation characteristics exceeds a preset threshold value or the time period including the channel propagation characteristics, and calculating the similarity.
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