CN106646363A - Positioning method and positioning equipment - Google Patents
Positioning method and positioning equipment Download PDFInfo
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- CN106646363A CN106646363A CN201611135595.7A CN201611135595A CN106646363A CN 106646363 A CN106646363 A CN 106646363A CN 201611135595 A CN201611135595 A CN 201611135595A CN 106646363 A CN106646363 A CN 106646363A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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Abstract
An embodiment of the invention discloses a positioning method and positioning equipment, relates to the field of communication, and is used for solving the problem that an existing WIFI indoor positioning method is inaccurate in positioning. The positioning method comprises the following steps: receiving subcarriers, which are transmitted by transmitting equipment, on N signal channels by using an ith receiving antenna of the positioning equipment; carrying out signal channel estimation of a physical layer on the subcarriers on the N signal channels by using the positioning equipment to obtain signal channel states of the N signal channels corresponding to the ith receiving antenna; obtaining residual time of the N signal channels corresponding to the ith receiving antenna by using the positioning equipment according to the signal channel state of the N signal channels corresponding to the ith receiving antenna; calculating the distance between the ith receiving antenna and the transmitting equipment by using the positioning equipment according to the residual time of the N signal channels corresponding to the ith receiving antenna; and positioning the transmitting equipment by using the positioning equipment according to the distance between M receiving antennas and the transmitting equipment. The embodiment of the invention is applied to WIFI indoor positioning.
Description
Technical field
The present invention relates to the communications field, more particularly to a kind of indoor orientation method and location equipment.
Background technology
Wireless location technology is the study hotspot of wireless communication field.Wherein, WIFI (wireless fidelity, wirelessly
Connection) location technology is an important branch in wireless location technology, it is widely used in many important events, such as
Hospital, museum, market etc..
Existing WIFI indoor positioning algorithms mainly have using received signal strength RSSI (received signal
Strength indication, the signal strength signal intensity of reception is indicated) and electromagnetic wave propagation time TOA (time of arrival) two
Kind of method is positioning.
For being positioned using received signal strength RSSI, its principle is using AP (access point, access point)
Or the information of the received signal strength included in the regular WIFI beacon signals for sending in base station, according to its attenuation degree, so as to count
Calculate electromagnetic wave propagation distance.But when being propagated in atmospheric environment due to wireless signal, received signal strength not only with
The increase of propagation distance and decay, also suffer from the dielectric impedances such as wall and decay, therefore measure sometimes and still have error.
For being positioned using electromagnetic wave propagation time TOA, its principle is sent out by measurement signal transmission time
The distance between the side of sending and recipient.In applying indoors, serious multipath and non line of sight phenomenon causes range error larger, because
This is required to accurately estimate range error size, then the method such as arranges to improve positioning precision by distance correction, weights.
And range error depends mainly on the size of the state of transmission channel, but in actual position fixing process, state of transmission channel without
Method is known so that range error is difficult to estimate accurate, therefore final measurement still has larger error.
The content of the invention
Embodiments of the invention provide a kind of localization method and location equipment, for solving existing WIFI indoor orientation methods
Position inaccurate problem.
To reach above-mentioned purpose, embodiments of the invention are adopted the following technical scheme that：
First aspect, there is provided a kind of localization method, the method includes：
I-th reception antenna of location equipment receives the subcarrier on the N number of channel sent by transmitting equipment, wherein, institute
State location equipment and there is M reception antenna, M >=3,0<I≤M, M, N, i are positive integer；
The location equipment carries out the channel estimation of physical layer to the subcarrier on N number of channel, obtains described i-th
The channel status of the corresponding N number of channel of reception antenna；
The location equipment is according to the channel status of the corresponding N number of channel of i-th reception antenna is obtained
The residual time of the corresponding N number of channel of i-th reception antenna；
The location equipment is according to the residual time of the corresponding N number of channel of i-th reception antenna to calculate
State the distance between i-th reception antenna and described transmitting equipment；
The location equipment is according to the distance between the M reception antenna and described transmitting equipment to the transmitting equipment
Positioned.
A kind of second aspect, there is provided location equipment, including：
Receiving unit, for receiving the subcarrier on the N number of channel sent by transmitting equipment by i-th reception antenna,
Wherein, the location equipment has a M reception antenna, M >=3, and 0<I≤M, M, N, i are positive integer；
Estimation unit, for carrying out the channel estimation of physical layer to the subcarrier on N number of channel, obtains described i-th
The channel status of the corresponding N number of channel of individual reception antenna；
Acquiring unit, described in being obtained according to the channel status of the corresponding N number of channel of i-th reception antenna
The residual time of the corresponding N number of channel of i-th reception antenna；
Computing unit, for according to the residual time of the corresponding N number of channel of i-th reception antenna to calculate
State the distance between i-th reception antenna and described transmitting equipment；
Positioning unit, for being set to the transmitting according to the distance between the M reception antenna and described transmitting equipment
It is standby to be positioned.
Localization method and location equipment that embodiments of the invention are provided, by each reception of the location equipment of multiple antennas
Antenna receives the subcarrier of N number of channel of transmitting equipment transmission, then carries out channel estimation to the subcarrier of each channel and obtains
To the channel status of the subcarrier of each channel, the residual time of each channel is calculated by the channel status of each channel, led to
The residual time for crossing each channel calculates the distance between the reception antenna and transmitting equipment, it is not necessary to carried out with signal strength signal intensity
Positioning, solves existing WIFI indoor orientation methods and positions inaccurate problem.The embodiment of the present invention is realized with a positioning
Equipment and transmitting equipment are capable of achieving positioning, and algorithm is used directly for existing equipment, without the need for being modified to existing equipment,
Ensure that the flexibility of scheme and the reliability of algorithm simultaneously.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
The structural representation of the alignment system that Fig. 1 is provided for embodiments of the invention；
A kind of schematic flow sheet of localization method that Fig. 2 is provided for embodiments of the invention；
The schematic flow sheet of the acquisition residual time that Fig. 3 is provided for embodiments of the invention；
The schematic flow sheet that distance is calculated according to residual time that Fig. 4 is provided for embodiments of the invention；
Fig. 5 calculates the schematic flow sheet of globally optimal solution for the employing intelligent algorithm that embodiments of the invention are provided；
A kind of structural representation of positioner that Fig. 6 is provided for embodiments of the invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
With reference to shown in Fig. 1, a kind of alignment system is embodiments provided, including：Transmitting equipment 11 and positioning set
Standby 12, transmitting equipment 11 is used to launch WIFI signal, and location equipment 12 is used to receive WIFI signal, and is carried out according to WIFI signal
Positioning.Wherein, when location equipment 12 is terminal, transmitting equipment is AP；When location equipment 12 is AP, transmitting equipment is for eventually
End.
Localization method provided in an embodiment of the present invention and location equipment, by each reception day of the location equipment of multiple antennas
Line receives the subcarrier of N number of channel of transmitting equipment transmission, then carries out channel estimation to the subcarrier of each channel and obtains
The channel status of the subcarrier of each channel, by the channel status of each channel the residual time of each channel is calculated, and is passed through
The residual time of each channel calculates the distance between the reception antenna and transmitting equipment, it is not necessary to which it is fixed to be carried out with signal strength signal intensity
Position, solves existing WIFI indoor orientation methods and positions inaccurate problem.
Embodiment 1,
A kind of localization method is embodiments provided, above-mentioned alignment system is applied to, with reference to shown in Fig. 2, the party
Method includes S101-S105：
S101, i-th reception antenna of location equipment receive the subcarrier on the N number of channel sent by transmitting equipment, its
In, location equipment has a M reception antenna, M >=3, and 0<I≤M, M, N, i are positive integer.
The channel frequency of WIFI includes 2.4G and 5G, exemplary, by taking the 2.4G of WIFI as an example, has as shown in table 1
13 channels, i.e. N=13.
Table 1
Location equipment is the multi-antenna with M reception antenna, and each antenna of location equipment receives above-mentioned N number of
Subcarrier on channel.
S102, location equipment carry out the channel estimation of physical layer to the subcarrier on N number of channel, obtain i-th reception day
The channel status of the corresponding N number of channel of line.
For the N number of channel received by each reception antenna, the digital processing element of the receiver of location equipment can root
The channel status of each channel is estimated according to the leading and pilot tone of 802.11 serial protocols, obtains channel parameter H.H is general
The variation relation of amplitude and phase place is expressed as, expression formula is：
H=ae-j2πfτ
Wherein, a representation signals amplitude, f represents the frequency of subcarrier, and τ represents the time of Electromagnetic Wave Propagation, and e represents nature
Logarithm, j represents imaginary number.
Specifically, for k-th channel in N number of channel, above-mentioned formula can be expressed as：
Wherein, Hk,iFor the channel status of k-th channel in the corresponding N number of channel of i-th reception antenna of location equipment,
akFor the amplitude of the subcarrier of k-th channel, fkFor the frequency of the subcarrier of k-th channel, τk,iReceive for i-th reception antenna
K-th channel subcarrier transmission time, 0<K≤N, k are positive integer.
S103, location equipment obtain i-th reception day according to the channel status of the corresponding N number of channel of i-th reception antenna
The residual time of the corresponding N number of channel of line.
Specifically, with reference to shown in Fig. 3, step S103 includes step S1031-S1032：
The channel status H of S1031, location equipment according to k-th channel in the corresponding N number of channel of i-th reception antennak,i,
Obtain the residual phase of k-th channel
Due to the periodicity of SIN function, the π f τ of phase bit position -2 in channel status H are also according to 2 π cyclically-varyings
's.
The residual phase △ h of S1032, location equipment according to corresponding k-th channel of i-th reception antennak,iObtain i-th
The residual time of corresponding k-th channel of individual reception antenna is
Because 1/f is equal to the cycle of electromagnetic wave, so carrier cycle remainder of transmission time τ of individual channel to the channel
Obtain the residual time of the channel.
S104, location equipment calculate i-th reception according to the residual time of the corresponding N number of channel of i-th reception antenna
The distance between antenna and transmitting equipment.
Specifically, with reference to shown in Fig. 4, step S104 includes step S1041-S1042：
S1041, location equipment calculate (L1,i,…,Lk,i,…,LN,i) globally optimal solution, make N number of channelValue is closest, wherein, Lk,iFor i-th reception antenna correspondence
K-th channel subcarrier wavelength multiple and for positive integer,It is to be obtained according to k-th channel calculation
The distance between i-th reception antenna and transmitting equipment, c is the light velocity.
For k-th channel that i-th reception antenna is received,For the wavelength of the subcarrier of the channel,Represent in Lk,iAgain a sub- carrier wavelength is plus the letter obtained after the residual time respective distances of the channel
The transmission range of channel sub-carrier, each channel can correspond to a transmission range in so N number of channel, and actually these are transmitted
Distance should be equal, so be accomplished by finding vector (L1,i,…,Lk,i,…,LN,i) optimal solution, to meet N number of channel
'sValue is closest.
S1042, basis (L1,i,…,Lk,i,…,LN,i) globally optimal solution obtain i-th reception antenna and transmitting equipment
The distance between be
For i-th reception antenna, vector (L is obtained1,i,…,Lk,i,…,LN,i) optimal solution after, take the biography of N number of channel
The mean value of defeated distance is used as final distance.
Preferably, intelligent algorithm can be adopted to calculate the by the residual time of the corresponding N number of channel of i-th reception antenna
The distance between i reception antenna and transmitting equipment, intelligent algorithm can include：Simulated annealing, genetic algorithm, TABU search,
The many algorithms such as neutral net, realize from different angles improvement, for solving globally optimal solution with strategy.
Exemplary, when the intelligent algorithm for being adopted is for genetic algorithm, with reference to shown in Fig. 5, step S1041 includes step
Rapid S10411-S10417：
S10411, the N number of positive integer of initialization are used as the initial solution vector (l of N-dimensional1,i,…,lk,i,…,lN,i), wherein, lk,iTable
Show the initial solution of k-th channel.
S10412, setting evaluation function areVariance be less than
Predetermined threshold.
S10413, according to evaluation function solve obtain feasible solution vector.
S10414, from feasible solution according to select rule select two groups of solution vectors as two groups of mating objects.
S10415, crossover rule is used to two groups of mating objects, draw two groups of mating results.
S10416, two groups of mating results are carried out mutation operator obtain neonate vector.
S10417, to neonate vector solved again according to evaluation function, until iterations is reached after pre-determined number i.e.
Obtain vector (L1,i,…,Lk,i,…,LN,i) globally optimal solution.
S105, location equipment are positioned according to the distance between M reception antenna and transmitting equipment to transmitting equipment.
Specifically, location equipment can according to trilateration algorithm according between M reception antenna and transmitting equipment away from
From positioning to transmitting equipment.Exemplary, by taking M=3 as an example, it is assumed that the position difference of known 3 reception antennas A, B and C
For A (x1, y1), B (x2, y2), C (x3, y3), the distance of the point to be determined of reception antenna A measurements is d1, and reception antenna B is measured
Point to be determined distance be d2, reception antenna C measurement point to be determined distance be d3, then respectively with (x1, y1) be the center of circle
Make to justify as radius with d1, be that the center of circle is made to justify with d2 as radius with (x2, y2), be that the center of circle is made to justify with d3 as radius with (x3, y3), this
Three round intersection points are point to be determined position (x0, y0).
Localization method provided in an embodiment of the present invention, is received by each reception antenna of the location equipment of multiple antennas and is sent out
The subcarrier of N number of channel that jet device sends, then carries out channel estimation and obtains each channel to the subcarrier of each channel
The channel status of subcarrier, calculates the residual time of each channel, by each channel by the channel status of each channel
Residual time calculates the distance between the reception antenna and transmitting equipment, it is not necessary to is positioned with signal strength signal intensity, is solved
Existing WIFI indoor orientation methods position inaccurate problem.The embodiment of the present invention is realized and set with a location equipment and transmitting
Standby to be capable of achieving positioning, algorithm is used directly for existing equipment, without the need for being modified to existing equipment, while the side of ensure that
The flexibility of case and the reliability of algorithm.
Embodiment 2,
A kind of location equipment is embodiments provided, above-mentioned localization method is applied to, as the positioning shown in Fig. 1
Equipment 12, with reference to shown in Fig. 6, the equipment includes：
Receiving unit 1201, carries for receiving the son on the N number of channel sent by transmitting equipment by i-th reception antenna
Ripple, wherein, location equipment has a M reception antenna, M >=3, and 0<I≤M, M, N, i are positive integer；
Estimation unit 1202, for the subcarrier on N number of channel for being received to receiving unit 1201 physical layer is carried out
Channel estimation, obtains the channel status of the corresponding N number of channel of i-th reception antenna；
Acquiring unit 1203, the letter of the corresponding N number of channel of i-th reception antenna for being estimated according to estimation unit 1202
Road state obtains the residual time of the corresponding N number of channel of i-th reception antenna；
Computing unit 1204, for the corresponding N number of channel of i-th reception antenna according to acquired in acquiring unit 1203
Residual time is calculating the distance between i-th reception antenna and transmitting equipment；
Positioning unit 1205, for according between the M reception antenna and transmitting equipment obtained by computing unit 1204
Distance is positioned to transmitting equipment.
In a kind of possible design, acquiring unit 1203 specifically for：
According to the channel status H of k-th channel in the corresponding N number of channel of i-th reception antennak,i, obtain k-th channel
Residual phaseWherein, akFor the subcarrier of k-th channel
Amplitude, fkFor the frequency of the subcarrier of k-th channel, τk,iFor the subcarrier of k-th channel of i-th reception antenna reception
Transmission time, 0<K≤N, k are positive integer；
According to the residual phase △ h of corresponding k-th channel of i-th reception antennak,iObtain i-th reception antenna correspondence
K-th channel residual time
In a kind of possible design, computing unit 1204 specifically for：
Calculate (L1,i,…,Lk,i,…,LN,i) globally optimal solution, make N number of channelValue is closest, wherein, Lk,iFor i-th reception antenna correspondence
K-th channel subcarrier wavelength multiple and for positive integer,It is to be obtained according to k-th channel calculation
The distance between i-th reception antenna and transmitting equipment, c is the light velocity；
According to (L1,i,…,Lk,i,…,LN,i) globally optimal solution obtain between i-th reception antenna and transmitting equipment
Distance is
In a kind of possible design, computing unit 1204 specifically for：
N number of positive integer is initialized as the initial solution vector (l of N-dimensional1,i,…,lk,i,…,lN,i), wherein, lk,iRepresent k-th
The initial solution of channel；
Arranging evaluation function isVariance be less than predetermined threshold
Value；
Solved according to evaluation function and obtain feasible solution vector；
From feasible solution two groups of solution vectors are selected as two groups of mating objects according to selection rule；
Crossover rule is used to two groups of mating objects, two groups of mating results are drawn；
Two groups of mating results are carried out with mutation operator and obtains neonate's vector；
Neonate's vector is solved again according to evaluation function, obtain after pre-determined number vector until iterations reaches
(L1,i,…,Lk,i,…,LN,i) globally optimal solution.
In a kind of possible design, positioning unit 1205 specifically for：
It is fixed according to trilateration algorithm transmitting equipment to be carried out according to the distance between M reception antenna and transmitting equipment
Position.
Because the location equipment in the embodiment of the present invention can apply to above-mentioned localization method, therefore, it can be obtained
Technique effect also refers to said method embodiment, and the embodiment of the present invention will not be described here.
It should be noted that estimation unit, acquiring unit, computing unit and positioning unit can be the process individually set up
Device, it is also possible to be integrated in some processor of controller and realize, in addition it is also possible to be stored in control in the form of program code
In the memory of device processed, above estimation unit, acquiring unit, computing unit are called by some processor of controller and performed
With the function of positioning unit.Processor described here can be a central processing unit (English full name：central
Processing unit, English abbreviation：), or specific integrated circuit (English full name CPU：application
Specific integrated circuit, English abbreviation：ASIC), or be arranged to implement the embodiment of the present invention one
Individual or multiple integrated circuits.
It should be understood that in various embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to that execution is suitable
The priority of sequence, the execution sequence of each process should determine with its function and internal logic, and should not be to the enforcement of the embodiment of the present invention
Process constitutes any restriction.
Those of ordinary skill in the art are it is to be appreciated that the list of each example with reference to the embodiments described herein description
Unit and algorithm steps, being capable of being implemented in combination in electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Each specific application can be used different methods to realize described function, but this realization it is not considered that exceeding
The scope of the present invention.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with
Realize by another way.For example, apparatus embodiments described above are only schematic, for example, the unit
Divide, only a kind of division of logic function can have other dividing mode, such as multiple units or component when actually realizing
Can with reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings by some interfaces, equipment or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can according to the actual needs be selected to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
If the function is realized and as independent production marketing or when using using in the form of SFU software functional unit, can be with
In being stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (English full name:Read-only memory, English letter
Claim：ROM), random access memory (English full name：Random access memory, English abbreviation：RAM), magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by the scope of the claims.
Claims (10)
1. a kind of localization method, it is characterised in that include：
I-th reception antenna of location equipment receives the subcarrier on the N number of channel sent by transmitting equipment, wherein, it is described fixed
Position equipment has a M reception antenna, M >=3, and 0<I≤M, M, N, i are positive integer；
The location equipment carries out the channel estimation of physical layer to the subcarrier on N number of channel, obtains i-th reception
The channel status of the corresponding N number of channel of antenna；
The location equipment obtains described i-th according to the channel status of the corresponding N number of channel of i-th reception antenna
The residual time of the corresponding N number of channel of reception antenna；
The location equipment calculates described i-th according to the residual time of the corresponding N number of channel of i-th reception antenna
The distance between individual reception antenna and described transmitting equipment；
The location equipment is carried out according to the distance between the M reception antenna and described transmitting equipment to the transmitting equipment
Positioning.
2. method according to claim 1, it is characterised in that the location equipment is according to i-th reception antenna pair
The channel status of the described N number of channel answered obtains the residual time of the corresponding N number of channel of i-th reception antenna, bag
Include：
Channel status of the location equipment according to k-th channel in the corresponding N number of channel of i-th reception antenna
Hk,i, obtain the residual phase of k-th channelWherein,
akFor the amplitude of the subcarrier of k-th channel, fkFor the frequency of the subcarrier of k-th channel, τk,iFor described i-th
The transmission time of the subcarrier of k-th channel that reception antenna is received, 0<K≤N, k are positive integer；
Residual phase △ h of the location equipment according to corresponding k-th channel of i-th reception antennak,iObtain institute
State the residual time of corresponding k-th channel of i-th reception antenna
3. method according to claim 2, it is characterised in that the location equipment is according to i-th reception antenna pair
The residual time of the described N number of channel answered is calculating the distance between i-th reception antenna and described transmitting equipment, bag
Include：
The location equipment calculates (L1,i,…,Lk,i,…,LN,i) globally optimal solution, make N number of channelValue is closest, wherein, Lk,iFor i-th reception antenna correspondence
K-th channel subcarrier wavelength multiple and for positive integer,It is according to k-th channel calculation
The distance between i-th reception antenna for obtaining and described transmitting equipment, c is the light velocity；
According to (L1,i,…,Lk,i,…,LN,i) globally optimal solution obtain i-th reception antenna and the transmitting equipment it
Between distance be
4. method according to claim 3, it is characterised in that the location equipment calculates vector (L1,i,…,Lk,i,…,
LN,i) globally optimal solution, make N number of channelValue is most
It is close to, including：
N number of positive integer is initialized as the initial solution vector (l of N-dimensional1,i,…,lk,i,…,lN,i), wherein, lk,iRepresent k-th channel
Initial solution；
Arranging evaluation function isVariance be less than predetermined threshold；
Solved according to the evaluation function and obtain feasible solution vector；
From the feasible solution two groups of solution vectors are selected as two groups of mating objects according to selection rule；
Crossover rule is used to two groups of mating objects, two groups of mating results are drawn；
Mutation operator is carried out to two groups of mating results and obtains neonate's vector；
Neonate vector is solved again according to the evaluation function, obtain after pre-determined number until iterations is reached
Vector (the L1,i,…,Lk,i,…,LN,i) globally optimal solution.
5. the method according to any one of claim 1-4, it is characterised in that the location equipment connects according to the M
Receive the distance between antenna and described transmitting equipment to position the transmitting equipment, including：
The location equipment is right with the distance between the transmitting equipment according to the M reception antenna according to trilateration algorithm
The transmitting equipment is positioned.
6. a kind of location equipment, it is characterised in that include：
Receiving unit, for receiving the subcarrier on the N number of channel sent by transmitting equipment by i-th reception antenna, wherein,
The location equipment has a M reception antenna, M >=3, and 0<I≤M, M, N, i are positive integer；
Estimation unit, for carrying out the channel estimation of physical layer to the subcarrier on N number of channel, obtains described i-th and connects
Receive the channel status of the corresponding N number of channel of antenna；
Acquiring unit, for obtaining described i-th according to the channel status of the corresponding N number of channel of i-th reception antenna
The residual time of the corresponding N number of channel of individual reception antenna；
Computing unit, for calculating described according to the residual time of the corresponding N number of channel of i-th reception antenna
The distance between i reception antenna and described transmitting equipment；
Positioning unit, for being entered to the transmitting equipment according to the distance between the M reception antenna and described transmitting equipment
Row positioning.
7. equipment according to claim 6, it is characterised in that the acquiring unit specifically for：
According to the channel status H of k-th channel in the corresponding N number of channel of i-th reception antennak,i, obtain described
The residual phase of k channelWherein, akFor described k-th
The amplitude of the subcarrier of channel, fkFor the frequency of the subcarrier of k-th channel, τk,iFor i-th reception antenna reception
K-th channel subcarrier transmission time, 0<K≤N, k are positive integer；
According to the residual phase △ h of corresponding k-th channel of i-th reception antennak,iObtain i-th reception
The residual time of corresponding k-th channel of antenna
8. equipment according to claim 7, it is characterised in that the computing unit specifically for：
Calculate (L1,i,…,Lk,i,…,LN,i) globally optimal solution, make N number of channelValue is closest, wherein, Lk,iFor i-th reception antenna correspondence
K-th channel subcarrier wavelength multiple and for positive integer,It is according to k-th channel calculation
The distance between i-th reception antenna for obtaining and described transmitting equipment, c is the light velocity；
According to (L1,i,…,Lk,i,…,LN,i) globally optimal solution obtain i-th reception antenna and the transmitting equipment it
Between distance be
9. equipment according to claim 8, it is characterised in that the computing unit specifically for：
N number of positive integer is initialized as the initial solution vector (l of N-dimensional1,i,…,lk,i,…,lN,i), wherein, lk,iRepresent k-th channel
Initial solution；
Arranging evaluation function isVariance be less than predetermined threshold；
Solved according to the evaluation function and obtain feasible solution vector；
From the feasible solution two groups of solution vectors are selected as two groups of mating objects according to selection rule；
Crossover rule is used to two groups of mating objects, two groups of mating results are drawn；
Mutation operator is carried out to two groups of mating results and obtains neonate's vector；
Neonate vector is solved again according to the evaluation function, obtain after pre-determined number until iterations is reached
Vector (the L1,i,…,Lk,i,…,LN,i) globally optimal solution.
10. the equipment according to any one of claim 6-9, it is characterised in that the positioning unit specifically for：
According to trilateration algorithm according to the distance between the M reception antenna and described transmitting equipment to the transmitting equipment
Positioned.
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