CN112881976A - Single antenna positioning method, device, equipment and storage medium based on CSI - Google Patents
Single antenna positioning method, device, equipment and storage medium based on CSI Download PDFInfo
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Abstract
The invention discloses a single antenna positioning method, a single antenna positioning device, a single antenna positioning equipment and a single antenna positioning storage medium based on CSI, wherein the method comprises the steps of obtaining CSI original data of a point to be positioned through a receiving antenna, and obtaining a corresponding original CSI phase matrix according to the CSI original data; removing linear errors in the original CSI phase matrix to obtain a corrected CSI phase matrix; according to the difference of the sub-carrier waves of the receiving antenna on the CSI phase in the corrected CSI phase matrix, a CSI phase difference matrix is obtained; substituting the CSI phase difference matrix into a preset relation between a CSI phase difference matrix and an electric wave flight time matrix to obtain a corresponding ToF matrix; averaging the electric wave flight time matrix to obtain a ToF matrix correction result; and calculating to obtain the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas. The invention can overcome the technical problem that the indoor positioning can be realized only by depending on multiple antennas in the prior art, and realizes the indoor positioning of a single antenna.
Description
Technical Field
The present invention relates to the field of wireless positioning technologies, and in particular, to a single antenna positioning method, apparatus, device, and storage medium based on CSI.
Background
With the increasing popularity of Location Based Services (LBS), the demand for Location Based services in life is increasing. In an outdoor environment, mature satellite positioning systems such as a GPS (global positioning system), a GLONASS (global navigation satellite system), a Beidou satellite navigation system and the like provide convenience for people to obtain more accurate positioning and navigation services, however, in an indoor environment, due to the problems that satellite signals are weak and cannot penetrate buildings and the like, the satellite positioning system cannot work effectively, and therefore, the research on the indoor positioning system with high precision, high reliability and low cost is a new challenge for the current indoor positioning technology.
In recent years, indoor positioning technologies based on Wi Fi are continuously developed due to wide popularization of indoor Wi Fi, and a typical technology mainly includes a positioning method based on Received Signal Strength Indication (RSSI) and Channel State Information (CSI), where in an indoor environment, due to an influence of an obstacle, the RSSI may generate a certain deviation and is easily affected by interference of other signals and an indoor multipath effect, and thus cannot provide sufficient accuracy and reliability, and compared with the RSSI, the CSI has a certain multipath resolution capability and can sense weak fluctuation of signals on a propagation path, so that the CSI has higher sensitivity, a larger sensing range and stronger sensing reliability.
In the prior art, the original data of the CSI matrix is obtained through the receiving antenna array, and the transmission process from the transmitting antenna to the receiving antenna is described by the CSI matrix, but the CSI matrix is limited by a matrix algorithm.
Disclosure of Invention
The embodiment of the invention provides a single antenna positioning method, a single antenna positioning device, single antenna positioning equipment and a single antenna positioning storage medium based on CSI (channel state information), which are used for solving the technical problems of high operation difficulty and high cost caused by the fact that positioning can be completed only by configuring at least 2 antennas in the prior art, realizing single antenna indoor positioning of a transmitter, widening the application range and reducing the operation difficulty and the cost.
In order to solve the above technical problem, an embodiment of the present invention provides a CSI-based single antenna positioning method, including:
acquiring CSI original data of a point to be positioned through a receiving antenna, and acquiring a corresponding original CSI phase matrix according to the CSI original data;
removing linear errors in the original CSI phase matrix to obtain a corrected CSI phase matrix;
according to the difference of the sub-carrier waves of the receiving antenna on the CSI phase in the corrected CSI phase matrix, a CSI phase difference matrix is obtained;
substituting the CSI phase difference matrix into a preset relation between a CSI phase difference matrix and an electric wave flight time matrix to obtain a corresponding ToF matrix;
averaging the electric wave flight time matrix to obtain a ToF matrix correction result;
and calculating to obtain the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas.
As one preferred scheme, the obtaining a CSI phase difference matrix by subtracting the CSI phase in the corrected CSI phase matrix according to the subcarrier of the receiving antenna specifically includes:
based on the formula
And obtaining a CSI phase difference matrix gamma (t) by subtracting the CSI phases in the corrected CSI phase matrix according to the subcarriers of the serial numbers of the adjacent subcarriers of the receiving antenna, wherein the obtained CSI phase difference matrix gamma (t) is as follows:
wherein, 0<i<M, M represents the number of sub-carriers,
represents the CSI phase, CSI γ, corresponding to the receiving antenna i in the corrected CSI phase matrixi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
As one preferable scheme, the substituting the CSI phase difference matrix into a preset relational expression between the CSI phase difference matrix and the radio wave time-of-flight matrix to obtain a corresponding ToF matrix specifically includes:
the preset relation between the CSI phase difference matrix and the electric wave flight time matrix is as follows:
csiγM-1(t)＝2π*τ*Δf
calculating the electric wave flight time matrix Ψ (t) according to the relational expression:
wherein, 0<i<M, M represents the number of subcarriers, tau represents the time of flight of the radio wave, Δ f represents the frequency difference between adjacent subcarriers, csi γi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
As one preferable scheme, the averaging processing on the electric wave flight time matrix to obtain a ToF matrix correction result specifically includes:
averaging elements in the electric wave flight time matrix to obtain a first average result;
and averaging the first averaging result by sampling times to obtain the ToF matrix correction result.
As one preferable scheme, the calculating the position information of the to-be-located point according to the ToF matrix correction results of the three receiving antennas specifically includes:
obtaining a transmission distance corresponding to a ToF matrix correction result of each receiving antenna;
and calculating the position information of the to-be-positioned point according to the transmission distance of the ToF matrix correction results of the three receiving antennas.
Another embodiment of the present invention provides a CSI-based single antenna positioning apparatus, including:
the system comprises an original CSI phase matrix acquisition module, a positioning point acquisition module and a positioning module, wherein the original CSI phase matrix acquisition module is used for acquiring CSI original data of a to-be-positioned point through a receiving antenna and acquiring a corresponding original CSI phase matrix according to the CSI original data;
a corrected CSI phase matrix obtaining module, configured to remove a linear error in the original CSI phase matrix to obtain a corrected CSI phase matrix;
a CSI phase difference matrix obtaining module, configured to obtain a CSI phase difference matrix by subtracting a CSI phase in the corrected CSI phase matrix according to a subcarrier of the receiving antenna;
the electric wave flight time matrix acquisition module is used for substituting the CSI phase difference matrix into a preset relation between the CSI phase difference matrix and the electric wave flight time matrix to acquire a corresponding ToF matrix;
the ToF result processing module is used for carrying out average processing on the electric wave flight time matrix to obtain a ToF matrix correction result;
and the position information acquisition module is used for calculating and obtaining the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas.
As one preferable scheme, the CSI phase difference matrix obtaining module is further configured to:
based on the formula
And obtaining a CSI phase difference matrix gamma (t) by subtracting the CSI phases in the corrected CSI phase matrix according to the subcarriers of the serial numbers of the adjacent subcarriers of the receiving antenna, wherein the obtained CSI phase difference matrix gamma (t) is as follows:
wherein, 0<i<M, M represents the number of sub-carriers,
represents the CSI phase, CSI γ, corresponding to the receiving antenna i in the corrected CSI phase matrixi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
As one preferable scheme, the electric wave time-of-flight matrix acquisition module is further configured to:
the preset relation between the CSI phase difference matrix and the electric wave flight time matrix is as follows:
csiγM-1(t)＝2π*τ*Δf
calculating the electric wave flight time matrix Ψ (t) according to the relational expression:
wherein, 0<i<M, M represents the number of subcarriers, tau represents the time of flight of the radio wave, Δ f represents the frequency difference between adjacent subcarriers, csi γi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
An embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor, when executing the computer program, implements the CSI-based single antenna positioning method as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the CSI-based single antenna positioning method as described above.
Compared with the prior art, the method and the device have the advantages that the CSI original data of the to-be-located point are acquired through the receiving antenna array, the corresponding original CSI phase matrix is acquired according to the CSI original data, then the linear error in the original CSI phase matrix is removed, the CSI phase in the corrected CSI phase matrix is differed according to the subcarrier of the receiving antenna, the CSI phase difference matrix is acquired, then the CSI phase difference matrix is substituted into the preset relation between the CSI phase difference matrix and the electric wave flight time matrix, the corresponding ToF matrix is acquired, and finally the position information of the to-be-located point is calculated according to the correction results of the three ToF matrices. According to the embodiment of the invention, complex MUSIC-AOA matrix solution is not needed, the operation pressure and the positioning time of a chip of the wireless equipment of the node can be reduced by fully utilizing CSI information, so that each node can be positioned only based on a single antenna, and compared with the prior art that the positioning can be completed only by configuring at least 2 antennas, the operation difficulty and the system cost can be greatly reduced, and the application range is wider.
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Fig. 1 is a flow chart of a CSI-based single antenna positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a three-point circle orientation in one embodiment of the present invention;
fig. 3 is a schematic diagram of a matrix transformation flow of a CSI-based single antenna positioning method according to an embodiment of the present invention;
FIG. 4 is a block diagram of a CSI based single antenna positioning apparatus according to an embodiment of the present invention;
fig. 5 is a block diagram of another preferred embodiment of a CSI-based single antenna positioning apparatus in one embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first," "second," "third," etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the description of the present application, it is to be noted that, unless defined otherwise, 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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as those skilled in the art will recognize the specific meaning of the terms used in the present application in a particular context.
An embodiment of the present invention provides a CSI-based single antenna positioning method, and specifically, please refer to fig. 1, where fig. 1 is a schematic flow diagram of a CSI-based single antenna positioning method in an embodiment of the present invention, where the method includes:
s1, acquiring CSI original data of a point to be located through a receiving antenna, and acquiring a corresponding original CSI phase matrix according to the CSI original data;
s2, removing linear errors in the original CSI phase matrix to obtain a corrected CSI phase matrix;
s3, according to the subcarrier of the receiving antenna, making a difference on the CSI phase in the corrected CSI phase matrix to obtain a CSI phase difference matrix;
s4, substituting the CSI phase difference matrix into a preset relation between the CSI phase difference matrix and an electric wave flight time matrix to obtain a corresponding ToF matrix;
s5, averaging the electric wave flight time matrix to obtain a ToF matrix correction result;
and S6, calculating the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas.
It should be noted that, the positioning method in the embodiment of the present invention may be executed by a network device including an antenna array, for example, an AP, during a process of communicating between a to-be-positioned point and any one of indoor APs, an antenna of the to-be-positioned point corresponds to a transmitting antenna, an antenna of the AP corresponds to a receiving antenna, the AP receives a wireless signal transmitted by the to-be-positioned point through the receiving antenna array, may acquire CSI raw data of the to-be-positioned point from the transmitting antenna array, and may acquire a corresponding original CSI phase matrix according to the acquired CSI raw data, where the original CSI phase matrix may describe a transmission process of the wireless signal from the transmitting antenna array to the receiving antenna array, where a relative position relationship between the transmitting antenna array and the receiving. In order to remove the linear error in the original CSI phase matrix, preferably, the original CSI phase matrix may be linearly corrected by using a least square method, so as to obtain a corrected CSI phase matrix correspondingly, then, a subtraction operation is performed on adjacent CSI phases corresponding to adjacent receiving antennas in the corrected CSI phase matrix according to a position relationship of each receiving antenna in the receiving antenna array, so as to obtain a CSI phase difference matrix correspondingly, after a mathematical operation, a ToF matrix is obtained from the phase difference matrix, then, elements in the ToF matrix are averaged, then, the sampling times are averaged, so as to obtain a processed ToF result, and finally, the ToF results obtained by three single-antenna receivers are positioned by drawing a circle at three points, so as to calculate the position estimation of the transmitter, thereby completing the positioning and obtaining the position information.
For indoor positioning, the prior art generally adopts a flow of positioning algorithm based on CSI-AOA, which includes: acquiring original data of a CSI matrix through a receiving antenna array (the number of antennas is more than 1, so that a single antenna cannot be completed); performing a least square method on subcarrier phases corresponding to the whole subcarrier sequence, and removing linear errors in the original data of the CSI matrix so as to obtain a corrected CSI matrix; processing the CSI matrix by using a classical MUSIC algorithm to obtain the arrival angle information of the transmission process; and obtaining the relative position relation of the transmitting antenna and the receiving antenna by using the arrival angle information, thereby completing the positioning. Therefore, the flow of the existing positioning algorithm based on the CSI-AOA at least includes the following defects: firstly, each node is required to have 2 or more antennas, the requirement on wireless equipment of the node is high, and the cost of a positioning system is increased; secondly, the MUSIC algorithm is required to be used for processing the CSI matrix, so that the operation pressure is increased for a chip of the wireless equipment of the node, and the time required for positioning is increased.
The single antenna positioning method based on the CSI provided by the embodiment of the invention acquires CSI original data of a to-be-positioned point through a receiving antenna array, acquires a corresponding original CSI phase matrix according to the CSI original data, removes a linear error in the original CSI phase matrix, differentiates CSI phases in the corrected CSI phase matrix according to subcarriers of a receiving antenna to acquire a CSI phase difference matrix, substitutes the CSI phase difference matrix into a preset relation between the CSI phase difference matrix and a radio wave flight time matrix to acquire a corresponding ToF matrix, and calculates and acquires position information of the to-be-positioned point according to correction results of the three ToF matrices. And then each node can be positioned only based on a single antenna, and compared with the prior art that the positioning can be completed only by configuring at least 2 antennas, the operation difficulty and the system cost are greatly reduced, and the application range is wider.
In another preferred embodiment, for step S3 described above: the obtaining a CSI phase difference matrix by subtracting the CSI phase in the corrected CSI phase matrix according to the subcarrier of the receiving antenna specifically includes:
based on the formula
And obtaining a CSI phase difference matrix gamma (t) by subtracting the CSI phases in the corrected CSI phase matrix according to the subcarriers of the serial numbers of the adjacent subcarriers of the receiving antenna, wherein the obtained CSI phase difference matrix gamma (t) is as follows:
wherein, 0<i<M, M represents the number of sub-carriers,
represents the CSI phase, CSI γ, corresponding to the receiving antenna i in the corrected CSI phase matrixi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
It should be noted that, for the original CSI phase matrix obtained in step S1, the ith element in the CSI original phase matrix
Can be expressed approximately as:
wherein
Representing the true value of the phase, Δ t representing the delay due to packet detection delay and sampling frequency offset, β representing the unknown phase offset error due to center frequency offset, miDenotes the number of the ith subcarrier, N is the length of the FFT, miAnd N are well known in the 802.11 standard.
As described in step S2 of this embodiment, in order to remove the linear error in the original CSI phase matrix, the embodiment of the present invention preferably adopts a least square method, specifically: the CSI phase error can be expressed as a linear relationship
The estimated slope can be found by the following least squares method formula
And intercept β:
in the above formula, the first and second carbon atoms are,
represents all miM1.. M
Knowing the slope and intercept estimates, the error e is knowniSo that the true CS I phase is known
An estimate of (d).
Through the steps, the CSI phase difference matrix Γ (t) may be obtained by subtracting the CSI phase in the corrected CSI phase matrix according to the subcarrier of the adjacent subcarrier number of the receiving antenna.
In addition, for eliminating the linear error, the data processing method adopted in the embodiment of the present invention adopts a relatively common least square method, and of course, a common fitting method such as a minimum absolute value method may also be adopted to implement the correction.
In yet another preferred embodiment, for step S4: the step of substituting the CSI phase difference matrix into a preset relational expression between the CSI phase difference matrix and the electric wave flight time matrix to obtain a corresponding ToF matrix specifically includes:
the preset relation between the CSI phase difference matrix and the electric wave flight time matrix is as follows:
csiγM-1(t)＝2π*τ*Δf
calculating the electric wave flight time matrix Ψ (t) according to the relational expression:
wherein, 0<i<M, M denotes the number of subcarriers, τ denotes the time of flight of the electrical wave, Δ f denotes the frequency difference (available from the 802.11 protocol) of the adjacent subcarriers, csi γi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
In yet another preferred embodiment, for step S5: the averaging processing is performed on the electric wave flight time matrix to obtain a ToF matrix correction result, and specifically includes:
averaging elements in the electric wave flight time matrix to obtain a first average result;
and averaging the first averaging result by sampling times to obtain the ToF matrix correction result.
In yet another preferred embodiment, for step S6: the calculating to obtain the position information of the to-be-located point according to the ToF matrix correction results of the three receiving antennas specifically includes:
obtaining a transmission distance corresponding to a ToF matrix correction result of each receiving antenna;
and calculating the position information of the to-be-positioned point according to the transmission distance of the ToF matrix correction results of the three receiving antennas.
Specifically, referring to fig. 2, fig. 2 is a schematic diagram of three-point circle-drawing positioning according to an embodiment of the present invention, wherein ToF results obtained by three single-antenna receivers (a transmission distance d is further obtained by ToF, where d is ToF c, and c is an optical speed) are used to calculate a position estimate of a transmitter by three-point circle-drawing positioning.
For convenience of understanding, please refer to fig. 3, where fig. 3 is a schematic diagram illustrating a matrix transformation flow of a CSI-based single antenna positioning method according to an embodiment of the present invention, where an original CSI matrix is transformed into an original CSI phase, the original CSI phase is transformed into a corrected CSI phase, a CSI phase difference matrix is obtained through calculation, the obtained CSI phase difference matrix is substituted into a preset relation of a radio time-of-flight matrix to obtain a ToF matrix through calculation, and finally, a mean value process is performed to obtain the ToF matrix after the mean value process. The whole positioning algorithm does not need to carry out complicated MUSIC-AOA matrix solution, greatly reduces the resource occupation and the operation time of a CPU, fully utilizes the relation between the phase difference of the subcarrier and the flight time of the electric wave, and more fully utilizes the CSI information.
Another embodiment of the present invention provides a CSI-based single antenna positioning apparatus, which is capable of implementing all processes of the CSI-based single antenna positioning method described in any of the above embodiments, and the functions and implemented technical effects of each module and unit in the apparatus are respectively the same as those of the CSI-based single antenna positioning method described in the above embodiments, and are not described herein again.
Referring to fig. 4, fig. 4 is a block diagram illustrating a CSI-based single antenna positioning apparatus according to an embodiment of the present invention, the apparatus including:
the original CSI phase matrix acquisition module 11 is configured to acquire CSI original data of a point to be located through a receiving antenna, and acquire a corresponding original CSI phase matrix according to the CSI original data;
a corrected CSI phase matrix obtaining module 12, configured to remove a linear error in the original CSI phase matrix to obtain a corrected CSI phase matrix;
a CSI phase difference matrix obtaining module 13, configured to obtain a CSI phase difference matrix by subtracting, according to the subcarrier of the receiving antenna, a CSI phase in the corrected CSI phase matrix;
the electric wave flight time matrix acquisition module 14 is configured to substitute the CSI phase difference matrix into a preset relational expression between the CSI phase difference matrix and the electric wave flight time matrix to obtain a corresponding ToF matrix;
a ToF result processing module 15, configured to perform average processing on the electric wave time-of-flight matrix to obtain a ToF matrix correction result;
and the position information acquisition module 16 is configured to calculate and obtain position information of the to-be-located point according to ToF matrix correction results of the three receiving antennas.
Preferably, the CSI phase difference matrix obtaining module 13 is further configured to:
based on the formula
And obtaining a CSI phase difference matrix gamma (t) by subtracting the CSI phases in the corrected CSI phase matrix according to the subcarriers of the serial numbers of the adjacent subcarriers of the receiving antenna, wherein the obtained CSI phase difference matrix gamma (t) is as follows:
wherein, 0<i<M, M represents the number of sub-carriers,
represents the CSI phase, CSI γ, corresponding to the receiving antenna i in the corrected CSI phase matrixi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
Preferably, the electric wave time-of-flight matrix acquisition module 14 is further configured to:
the preset relation between the CSI phase difference matrix and the electric wave flight time matrix is as follows:
csiγM-1(t)＝2π*τ*Δf
calculating the electric wave flight time matrix Ψ (t) according to the relational expression:
wherein, 0<i<M, M represents the number of subcarriers, tau represents the time of flight of the radio wave, Δ f represents the frequency difference between adjacent subcarriers, csi γi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when executed, controls an apparatus on which the computer-readable storage medium is located to perform the CSI-based single antenna positioning method according to any of the above embodiments.
An embodiment of the present invention further provides a terminal device, as shown in fig. 5, which is a block diagram of another preferred embodiment of a CSI based single antenna positioning apparatus provided by the present invention, the apparatus includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10, and the processor 10, when executing the computer program, implements the CSI based single antenna positioning method according to any of the above embodiments.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program 1, computer program 2, … …) that are stored in the memory 20 and executed by the processor 10 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the apparatus.
The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., a general purpose Processor may be a microprocessor, or the Processor 10 may be any conventional Processor, and the Processor 10 is a control center of the apparatus and various interfaces and lines are used to connect various parts of the apparatus.
The memory 20 mainly includes a program storage area that may store an operating system, an application program required for at least one function, and the like, and a data storage area that may store related data and the like. In addition, the memory 20 may be a high speed random access memory, may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, or the memory 20 may also be other volatile solid state memory devices.
It should be noted that the above-mentioned apparatus may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the structural block diagram of fig. 5 is only an example of the above-mentioned apparatus, and does not constitute a limitation of the apparatus, and may include more or less components than those shown, or combine some components, or different components.
In summary, according to the single antenna positioning method, device, equipment and storage medium based on CSI provided in the embodiments of the present invention, CSI raw data of a point to be positioned is acquired through a receiving antenna array, a corresponding raw CSI phase matrix is acquired according to the CSI raw data, then a linear error in the raw CSI phase matrix is removed, a difference is made between CSI phases in the corrected CSI phase matrix according to subcarriers of a receiving antenna, a CSI phase difference matrix is obtained, then the CSI phase difference matrix is substituted into a preset relation between the CSI phase difference matrix and a radio wave time-of-flight matrix, a corresponding ToF matrix is obtained, and finally position information of the point to be positioned is obtained through calculation according to correction results of three ToF matrices. And then each node can be positioned only based on a single antenna, and compared with the prior art that the positioning can be completed only by configuring at least 2 antennas, the operation difficulty and the system cost are greatly reduced, and the application range is wider.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A CSI-based single antenna positioning method is characterized by comprising the following steps:
acquiring CSI original data of a point to be positioned through a receiving antenna, and acquiring a corresponding original CSI phase matrix according to the CSI original data;
removing linear errors in the original CSI phase matrix to obtain a corrected CSI phase matrix;
according to the difference of the sub-carrier waves of the receiving antenna on the CSI phase in the corrected CSI phase matrix, a CSI phase difference matrix is obtained;
substituting the CSI phase difference matrix into a preset relation between a CSI phase difference matrix and an electric wave flight time matrix to obtain a corresponding ToF matrix;
averaging the electric wave flight time matrix to obtain a ToF matrix correction result;
and calculating to obtain the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas.
2. The CSI-based single antenna positioning method of claim 1, wherein the obtaining a CSI phase difference matrix by differencing the CSI phases in the corrected CSI phase matrix according to the subcarriers of the receiving antennas specifically comprises:
based on the formula
And obtaining a CSI phase difference matrix gamma (t) by subtracting the CSI phases in the corrected CSI phase matrix according to the subcarriers of the serial numbers of the adjacent subcarriers of the receiving antenna, wherein the obtained CSI phase difference matrix gamma (t) is as follows:
wherein, 0<i<M, M represents the number of sub-carriers,
represents the CSI phase, CSI γ, corresponding to the receiving antenna i in the corrected CSI phase matrixi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
3. The CSI-based single antenna positioning method as claimed in claim 1, wherein said substituting the CSI phase difference matrix into a preset relation between a CSI phase difference matrix and a radio time-of-flight matrix to obtain a corresponding ToF matrix comprises:
the preset relation between the CSI phase difference matrix and the electric wave flight time matrix is as follows:
csiγM-1(t)＝2π*τ*Δf
calculating the electric wave flight time matrix Ψ (t) according to the relational expression:
wherein, 0<i<M, M represents the number of subcarriers, tau represents the time of flight of the radio wave, Δ f represents the frequency difference between adjacent subcarriers, csi γi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
4. The CSI-based single antenna positioning method as claimed in claim 1 or 3, wherein said averaging said time-of-flight matrix to obtain a ToF matrix correction result comprises:
averaging elements in the electric wave flight time matrix to obtain a first average result;
and averaging the first averaging result by sampling times to obtain the ToF matrix correction result.
5. The CSI-based single antenna positioning method as claimed in claim 1, wherein said calculating the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas specifically comprises:
obtaining a transmission distance corresponding to a ToF matrix correction result of each receiving antenna;
and calculating the position information of the to-be-positioned point according to the transmission distance of the ToF matrix correction results of the three receiving antennas.
6. A CSI-based single antenna positioning apparatus, comprising:
the system comprises an original CSI phase matrix acquisition module, a positioning point acquisition module and a positioning module, wherein the original CSI phase matrix acquisition module is used for acquiring CSI original data of a to-be-positioned point through a receiving antenna and acquiring a corresponding original CSI phase matrix according to the CSI original data;
a corrected CSI phase matrix obtaining module, configured to remove a linear error in the original CSI phase matrix to obtain a corrected CSI phase matrix;
a CSI phase difference matrix obtaining module, configured to obtain a CSI phase difference matrix by subtracting a CSI phase in the corrected CSI phase matrix according to a subcarrier of the receiving antenna;
the electric wave flight time matrix acquisition module is used for substituting the CSI phase difference matrix into a preset relation between the CSI phase difference matrix and the electric wave flight time matrix to acquire a corresponding ToF matrix;
the ToF result processing module is used for carrying out average processing on the electric wave flight time matrix to obtain a ToF matrix correction result;
and the position information acquisition module is used for calculating and obtaining the position information of the to-be-positioned point according to the ToF matrix correction results of the three receiving antennas.
7. The CSI-based single antenna positioning apparatus of claim 6, wherein said CSI phase difference matrix acquisition module is further configured to:
based on the formula
And obtaining a CSI phase difference matrix gamma (t) by subtracting the CSI phases in the corrected CSI phase matrix according to the subcarriers of the serial numbers of the adjacent subcarriers of the receiving antenna, wherein the obtained CSI phase difference matrix gamma (t) is as follows:
wherein, 0<i<M, M represents the number of sub-carriers,
represents the CSI phase, CSI γ, corresponding to the receiving antenna i in the corrected CSI phase matrixi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
8. The CSI-based single antenna positioning apparatus of claim 6, wherein said airwave time-of-flight matrix acquisition module is further configured to:
the preset relation between the CSI phase difference matrix and the electric wave flight time matrix is as follows:
csiγM-1(t)＝2π*τ*Δf
calculating the electric wave flight time matrix Ψ (t) according to the relational expression:
wherein, 0<i<M, M represents the number of subcarriers, tau represents the time of flight of the radio wave, Δ f represents the frequency difference between adjacent subcarriers, csi γi(t) represents an ith CSI phase difference in the CSI phase difference matrix; t denotes the acquisition time.
9. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing the CSI-based single antenna positioning method of any of claims 1-5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program, when executed, controls an apparatus on which the computer-readable storage medium is located to perform the CSI-based single antenna positioning method according to any one of claims 1 to 5.
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