CN111263305A - Multi-terminal indoor positioning method and device based on 5G signals - Google Patents
Multi-terminal indoor positioning method and device based on 5G signals Download PDFInfo
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/02—Services making use of location information
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- 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
The invention discloses a multi-terminal indoor positioning method and a multi-terminal indoor positioning device based on 5G signals, wherein the positioning method comprises the following steps: at a first moment, establishing a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position; at the second moment, calculating the end point position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; and converting the end position of the target user terminal in the positioning coordinate system at the second moment into the actual position of the target user terminal in the designated indoor area at the second moment. The invention can realize high-precision positioning indoors without installing a special positioning base station and purchasing a special positioning label.
Description
Technical Field
The invention relates to the technical field of indoor positioning application, in particular to a multi-terminal indoor positioning method and device based on 5G signals.
Background
At present, the popularization of smart phones enables people to have higher dependence on the mobile phones, particularly, the service of providing accurate positioning by the mobile phones is expected to be remarkably improved, but the accurate positioning service of the mobile phones cannot be realized in the scenes of market hospitals, underground parking lots and the like. In addition, the existing global satellite navigation systems such as GPS, beidou, GLONASS, Galileo and other technologies cannot provide high-precision positioning indoors, and new positioning technologies such as 5G networks and the like are needed to realize indoor high-precision positioning. The current indoor positioning technologies include WiFi positioning, Ultra Wide Band (UWB) positioning, ultrasonic positioning, and the like, and most of the technologies need to be supported by an indoor reference station. For example, WiFi requires an Access Point (AP), UWB requires a location base station, and ultrasonic location requires an anchor node that transmits and receives ultrasonic signals. The prior arts are mainly applied to positioning based on ranging, that is, a built model and a data processing algorithm are used for finally calculating the position of a target according to the known position of a base station and the distance between the target point and the base station. The main drawbacks of WiFi positioning technology include: 1. when the mobile phone moves in a small range, the positioning technology based on the distance measurement has larger error; WiFi indoor positioning determines the position of a receiving end relative to an access point, and the actual physical position of the receiving end cannot be obtained under the condition that the installation position of the access point is unknown or not fixed. Disadvantages of Ultra Wideband (UWB) positioning include: 1. a special positioning base station needs to be installed, and the cost is high because the independent defense is needed; 2. ultra-wideband positioning requires a special positioning tag to be used in cooperation with a positioning base station, and cannot use equipment such as a mobile phone and the like which are commonly used by people. The main drawbacks of ultrasound localization include: 1, because the frequency of the sound wave is lower, the signal communication speed is slow, and the positioning error is larger; 2, the ultrasonic waves are greatly influenced by multipath effect and non-line-of-sight propagation, and the ultrasonic frequency is influenced by Doppler effect and temperature; 3, the positioning based on the ultrasonic wave also needs to be assisted by installing a large number of anchor nodes, and the cost is high.
Disclosure of Invention
The embodiment of the invention provides a multi-terminal indoor positioning method and device based on 5G signals, and aims to solve the problem that in the prior art, accurate positioning service of a mobile phone cannot be realized in scenes such as market hospitals, underground parking lots and the like.
In order to solve the above technical problem, a first technical solution adopted in the embodiments of the present invention is as follows:
a multi-terminal indoor positioning method based on 5G signals comprises the following steps: at a first moment, establishing a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position; at a second moment, calculating the end position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; converting the end position of the target user terminal at the second time and in the positioning coordinate system into an actual position of the target user terminal at the second time and in the designated indoor area.
Optionally, the establishing, at the first time, a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area includes: at the first moment, acquiring the target initial position corresponding to the target user terminal in the designated indoor area; acquiring a first position corresponding to a first user terminal and a second position corresponding to a second user terminal in the designated indoor area through a D2D communication mode, wherein the perimeter corresponding to a triangle formed by the target initial position, the first position and the second position is shortest; establishing the positioning coordinate system according to the target initial position, the first position and the second position, wherein the target initial position, the first position and the second position are not on a straight line.
Optionally, the calculating, at the second time, the end position of the target user terminal in the positioning coordinate system at the second time according to the target initial position and the distances between the target user terminal and the plurality of other user terminals includes: acquiring the positions of all user terminals using 5G signals in the designated indoor area; calculating the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area by calculating the communication time difference in a D2D communication mode; and calculating the end position of the target user terminal at the second moment and in the positioning coordinate system according to the distance between each user terminal using the 5G signal and other user terminals using the 5G signal in the designated indoor area.
Optionally, the acquiring the location of all the user terminals using 5G signals in the designated indoor area includes: and acquiring the position of each user terminal in the designated indoor area by using the sensor of the user terminal which is arranged in the designated indoor area and totally uses the 5G signal.
Optionally, after calculating the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area by calculating the communication time difference through the D2D communication manner, the method includes: and sharing the distance between each user terminal using the 5G signal and other user terminals using the 5G signal in the designated indoor area to the other user terminals using the 5G signal in the designated indoor area in real time.
Optionally, the sharing, in real time, the distance between each user terminal using 5G signals in the designated indoor area and other user terminals using 5G signals to other user terminals using 5G signals in the designated indoor area includes: and establishing a virtual network information table among all the user terminals using the 5G signals in the specified indoor area, wherein each user terminal uses a unique virtual number for substitution in the virtual network information table, and the real-time position of each user terminal in the virtual network information table is shared to other user terminals using the 5G signals in real time.
Optionally, the converting the end position of the target user terminal at the second time and in the positioning coordinate system into an actual position of the target user terminal at the second time and in the designated indoor area includes: converting the positioning coordinate system into a GPS positioning mode, and converting the origin position of the positioning coordinate system into the origin position of the GPS positioning mode; and converting the destination position of the target user terminal in the positioning coordinate system at the second moment into a destination position corresponding to the GPS positioning mode according to the origin position of the GPS positioning mode, and taking the destination position as the actual position of the target user terminal in the designated indoor area at the second moment.
In order to solve the above technical problem, a second technical solution adopted in the embodiments of the present invention is as follows:
a multi-terminal indoor positioning device based on 5G signals, comprising: the system comprises a coordinate establishing module, a positioning module and a positioning module, wherein the coordinate establishing module is used for establishing a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area at a first moment, one of the user terminals is a target user terminal, and the position corresponding to the target user terminal is a target initial position; a position calculating module, configured to calculate, at a second time, a terminal position of the target user terminal at the second time and in the positioning coordinate system according to the target initial position and distances between the target user terminal and the other user terminals in the designated indoor area; a location conversion module, configured to convert the end location of the target user terminal in the positioning coordinate system at the second time into an actual location of the target user terminal in the designated indoor area at the second time.
In order to solve the above technical problem, a third technical solution adopted in the embodiments of the present invention is as follows:
a computer-readable storage medium, on which a computer program is stored, which when executed, implements the 5G signal-based multi-terminal indoor positioning method as described above.
In order to solve the above technical problem, a fourth technical solution adopted in the embodiments of the present invention is as follows:
a computer device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the 5G signal based multi-terminal indoor positioning method as described above when executing the computer program.
The embodiment of the invention has the beneficial effects that: different from the prior art, in the embodiment of the present invention, at a first time, a positioning coordinate system is established according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, where one of the user terminals is a target user terminal and a position corresponding to the target user terminal is a target initial position; at the second moment, calculating the end point position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; and converting the end position of the target user terminal in the positioning coordinate system at the second moment into the actual position of the target user terminal in the designated indoor area at the second moment. The invention can realize high-precision positioning indoors without installing a special positioning base station and purchasing a special positioning label, and solves the problem that the mobile phone precision positioning service can not be realized in the scenes of market hospitals, underground parking lots and the like in the prior art.
Drawings
Fig. 1 is a flowchart of an implementation of an embodiment of a multi-terminal indoor positioning method based on 5G signals according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of establishing a coordinate system according to an embodiment of a multi-terminal indoor positioning method based on 5G signals in an embodiment of the present invention;
fig. 3 is a schematic diagram of the distance between D2D communication acquisition devices according to an embodiment of the first 5G signal-based multi-terminal indoor positioning method of the present invention;
FIG. 4 is a partial structural frame diagram of an embodiment of a multi-terminal indoor positioning device based on 5G signals according to a second embodiment of the present invention;
FIG. 5 is a partial structural framework diagram of an embodiment of a computer-readable storage medium according to a third embodiment of the present invention;
fig. 6 is a partial structural framework diagram of an embodiment of a computer device according to a fourth embodiment of the present invention.
Detailed Description
Example one
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a multi-terminal indoor positioning method based on 5G signals according to an embodiment of the present invention, which can be obtained by referring to fig. 1, and the multi-terminal indoor positioning method based on 5G signals according to the present invention includes:
step S101: at a first moment, a positioning coordinate system is established according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, wherein one user terminal is a target user terminal (the user terminal can be selected to be a terminal such as a mobile phone), and the position corresponding to the target user terminal is a target initial position. Among them, one of the 3 positions serves as a center point, the other two positions serve as reference points, and the number of user terminals using 5G signals around the center point is the largest.
Referring to fig. 2, fig. 2 is a schematic diagram of a coordinate system established by the multi-terminal indoor positioning method based on 5G signals in this embodiment, in which fig. 2 is distributed with a plurality of terminal devices 30, wherein the corresponding positions of three terminal devices 30 are a reference point a1, a reference point a2 and a center point O, and it is assumed that the positions of the reference points a1 and a2 in the positioning coordinate system are (x) respectivelyA1，0)，(xA20), the position of the center point O is (0, y)o). The distances between the three points are dO，A1，dO，A2，dA1，A2Then, there is the following relationship:
dA1，A2＝|xA1-xA2| (3)；
further, it is found that:
the principle of selecting the three position points is as follows: 1. the maximum number of terminal devices 30 within a certain range of the central point; 2. the reference points are the two terminal devices 30 closest to the central point; 3. the three points are not on the same straight line. After the selection of the three points is completed, a positioning coordinate system can be established, but the center point is not the origin of the newly established positioning coordinate system.
Step S102: and at a second moment, calculating the end position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area. Wherein the second time is after the first time.
Step S103: converting the end position of the target user terminal at the second time and in the positioning coordinate system into an actual position of the target user terminal at the second time and in the designated indoor area.
In this embodiment, optionally, the establishing, at the first time, a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area includes:
firstly, at the first moment, the target initial position corresponding to the target user terminal in the designated indoor area is obtained. In the step, the target initial position information of the target user terminal is obtained through the distance information of the target user terminal and the 5G base station, and the target initial position information of the target user terminal can also be obtained through positioning information such as outdoor GPS/Beidou and the like and a sensor of the user terminal.
Secondly, a first position corresponding to a first user terminal and a second position corresponding to a second user terminal in the designated indoor area are obtained through a D2D (device-to-device) communication mode, wherein a perimeter corresponding to a triangle formed by the target initial position, the first position and the second position is shortest, that is, the first position and the second position are two positions closest to the target initial position. Currently, 5G handsets provide device-to-device (D2D) communication and high-precision positioning as services they provide, in addition to low-latency, high-bandwidth, and high-rate communication services. In this step, the 5G user terminal will provide device-to-device (D2D) communication, specifically, direct inter-communication between devices without passing through the cellular network under the authority of the base station, to reduce the load on the base station. In this mode, distance information between the mobile phone terminals can be obtained by calculating the signal arrival time between the (mobile) user terminals.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a principle of obtaining distances between devices in D2D communication according to the 5G signal-based multi-terminal indoor positioning method of the present embodiment, where the 5G communication technology provides device-to-device (D2D) communication, specifically, terminal devices 30 (such as mobile phones) communicate with each other directly without a cellular network under authorization of a base station 40, so as to reduce load on the base station 40. In this mode, the terminal devices 30 can obtain distance information therebetween by calculating the signal arrival time. Since the terminal device 30(a) and the terminal device 30(B) are not completely synchronized in time, the distance information is obtained in a time difference of arrival manner, and the specific process is as shown in fig. 2, after obtaining authorization of the base station 40, the terminal device 30(a) sends a message 1 to the terminal device 30(B), after receiving the message 1, the terminal device 30(B) sends a message 2 to the terminal device 30(a), and at the same time, the time difference t is calculated3-t2Put into message 2, terminal device 30(A) returns message 3 after receiving terminal device 30(B), and at the same time, the time difference t is calculated5-t4Put into the message 3, the terminal device 30(a) and the terminal device 30(B) can both obtain the distance between a and B, and the calculation formula is as follows (7):
after the new terminal device 30 is added, the distance information between the new terminal device 30 and other terminal devices 30 can be obtained through the calculation mode. The distance information can be processed by establishing a virtual network information table, the terminal device 30 in the information table is replaced by a unique virtual number to protect personal privacy information, the network information table can be shared and commonly maintained by a plurality of terminal devices 30 in the same network environment, and if the terminal device 30 leaves the network environment, the virtual information is deleted in the virtual network information table after a period of time, and the virtual number can be redistributed for use.
Thirdly, establishing the positioning coordinate system according to the target initial position, the first position and the second position, wherein the target initial position, the first position and the second position are not on a straight line.
In this embodiment, optionally, the calculating, at the second time, the end position of the target user terminal in the positioning coordinate system at the second time according to the target initial position and the distances between the target user terminal and a plurality of other user terminals includes:
firstly, acquiring the positions of all user terminals using 5G signals in the designated indoor area;
secondly, the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area is calculated by calculating the communication time difference through the D2D communication mode. The distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area can be calculated by using an Extended Kalman filtering algorithm, which is an algorithm for linearizing a nonlinear system, and estimating the system state by inputting and outputting observation data through the system using a system state equation. The estimation process can also be considered as a filtering process, since the observation data includes the effects of noise and interference in the system.
Thirdly, according to the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area, the end position of the target user terminal at the second moment and in the positioning coordinate system is calculated.
The algorithm for positioning and updating the position of the user terminal by using the extended Kalman filtering algorithm is as follows:
according to the virtual network information table under the established positioning coordinate system, the state of the ith user terminal is assumed as follows:
wherein (x)i(k)，yi(k) For the ith user terminal at tkThe position of the moment of time is,
for the ith user terminal at tkThe speed of (2). Considering that the user walks freely, the motion model is:
xi(k)＝Fkxi(k-1)+wk(9)；
wherein T isk＝tk-tk-1，wkIs process noise, I2Is a2 x 2 identity matrix of the cells,
representing the Kronecker product. Then, the extended kalman filter estimation algorithm can be given by the following equation:
Pk＝(I-KkHk)Pk|k-1(15)；
wherein the content of the first and second substances,
representing position estimation, z is a measurement value, P is a state covariance matrix, Q is a process noise covariance matrix, R is a measurement noise covariance matrix, F is a state transition matrix, K is a Kalman gain, H is an observation matrix, and H is a measurement equation.
d (k) represents tkAnd (3) measuring distances between the ith mobile phone terminal and other mobile phone terminals at the moment, wherein n represents the measuring noise.
R(k)＝E[n(k)nT(k)](17)。
In this embodiment, the subsequent ue can calculate its location information according to the above algorithm, and theoretically, after the ue obtains the initial location, the ue does not need to rely on the base station information to derive and calculate the location of the ue. On one hand, the dependence on the base station is reduced, and on the other hand, the communication mode of the D2D greatly reduces the communication pressure of the base station.
In this embodiment, optionally, the acquiring the positions of all the user terminals using 5G signals in the designated indoor area includes:
and acquiring the position of each user terminal in the designated indoor area by using the sensor of the user terminal which is arranged in the designated indoor area and totally uses the 5G signal.
In this embodiment, optionally, after the calculating, by using the extended kalman filter algorithm, a distance between each user terminal using the 5G signal and another user terminal using the 5G signal in the designated indoor area, the method includes:
and sharing the distance between each user terminal using the 5G signal and other user terminals using the 5G signal in the designated indoor area to the other user terminals using the 5G signal in real time, namely sharing the real-time position and motion state of each user terminal with the other user terminals, so that each user terminal can know the positions and motion states of the other user terminals.
In this embodiment, optionally, the sharing, in real time, the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area to the other user terminals using 5G signals in the designated indoor area includes:
and establishing a virtual network information table among all the user terminals using the 5G signals in the specified indoor area, wherein each user terminal uses a unique virtual number for substitution in the virtual network information table, and the real-time position of each user terminal in the virtual network information table is shared to other user terminals using the 5G signals in real time.
In this step, each user terminal (mobile phone) combines with other sensors to acquire specific position information, such as indoor and outdoor signal switching, going up and down stairs, entering an elevator closed space and the like, and the information is transmitted to other user terminals under the same network in real time. The position information corresponding to these areas is fixed in the indoor environment, so that the established positioning coordinate system can be corrected as a reference signal, and the positioning accuracy is improved.
In this embodiment, optionally, the converting the end position of the target ue at the second time and in the positioning coordinate system into an actual position of the target ue within the designated indoor area at the second time includes:
firstly, the positioning coordinate system is converted into a GPS positioning mode, and the origin position of the positioning coordinate system is converted into the origin position of the GPS positioning mode.
Secondly, according to the origin position of the GPS positioning mode, the destination position of the target user terminal at the second time and in the positioning coordinate system is converted into a destination position corresponding to the GPS positioning mode, and the destination position is used as an actual position of the target user terminal at the second time and in the designated indoor area.
According to the embodiment of the invention, at a first moment, a positioning coordinate system is established according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position; at the second moment, calculating the end point position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; and converting the end position of the target user terminal in the positioning coordinate system at the second moment into the actual position of the target user terminal in the designated indoor area at the second moment. The invention can realize high-precision positioning indoors without installing a special positioning base station and purchasing a special positioning label, and solves the problem that the mobile phone precision positioning service can not be realized in the scenes of market hospitals, underground parking lots and the like in the prior art.
Example two
Referring to fig. 4, fig. 4 is a partial structural frame diagram of a multi-terminal indoor positioning device 100 based on 5G signals according to an embodiment of the present invention, which can be obtained by combining fig. 4, and the multi-terminal indoor positioning device 100 based on 5G signals according to the present invention includes:
a coordinate establishing module 110, configured to establish a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a designated indoor area at a first time, where one user terminal is a target user terminal, and a position corresponding to the target user terminal is a target initial position.
A position calculating module 120, configured to calculate, at a second time, an end position of the target user terminal in the positioning coordinate system at the second time according to the target initial position and distances between the target user terminal and the plurality of other user terminals in the designated indoor area. Wherein the second time is after the first time.
A location conversion module 130, configured to convert the end location of the target user terminal in the positioning coordinate system at the second time into an actual location of the target user terminal in the designated indoor area at the second time.
According to the embodiment of the invention, at a first moment, a positioning coordinate system is established according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position; at the second moment, calculating the end point position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; and converting the end position of the target user terminal in the positioning coordinate system at the second moment into the actual position of the target user terminal in the designated indoor area at the second moment. The invention can realize high-precision positioning indoors without installing a special positioning base station and purchasing a special positioning label, and solves the problem that the mobile phone precision positioning service can not be realized in the scenes of market hospitals, underground parking lots and the like in the prior art.
EXAMPLE III
Referring to fig. 5, a computer-readable storage medium 10 according to an embodiment of the present invention can be seen, where the computer-readable storage medium 10 includes: ROM/RAM, magnetic disks, optical disks, etc., on which a computer program 11 is stored, which computer program 11, when executed, implements a 5G signal based multi-terminal indoor positioning method as described in the first embodiment. Since the multi-terminal indoor positioning method based on the 5G signal is described in detail in the first embodiment, the description is not repeated here.
In the multi-terminal indoor positioning method based on the 5G signal, a positioning coordinate system is established according to 3 positions corresponding to 3 user terminals using the 5G signal in a specified indoor area at a first moment, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position; at the second moment, calculating the end point position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; and converting the end position of the target user terminal in the positioning coordinate system at the second moment into the actual position of the target user terminal in the designated indoor area at the second moment. The invention can realize high-precision positioning indoors without installing a special positioning base station and purchasing a special positioning label, and solves the problem that the mobile phone precision positioning service can not be realized in the scenes of market hospitals, underground parking lots and the like in the prior art.
Example four
Referring to fig. 6, a computer device 20 according to an embodiment of the present invention includes a processor 21, a memory 22, and a computer program 221 stored in the memory 22 and executable on the processor 21, wherein the processor 21 executes the computer program 221 to implement the multi-terminal indoor positioning method based on 5G signals according to an embodiment. Since the multi-terminal indoor positioning method based on the 5G signal is described in detail in the first embodiment, the description is not repeated here.
In the multi-terminal indoor positioning method based on the 5G signal, a positioning coordinate system is established according to 3 positions corresponding to 3 user terminals using the 5G signal in a specified indoor area at a first moment, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position; at the second moment, calculating the end point position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area; and converting the end position of the target user terminal in the positioning coordinate system at the second moment into the actual position of the target user terminal in the designated indoor area at the second moment. The invention can realize high-precision positioning indoors without installing a special positioning base station and purchasing a special positioning label, and solves the problem that the mobile phone precision positioning service can not be realized in the scenes of market hospitals, underground parking lots and the like in the prior art.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A multi-terminal indoor positioning method based on 5G signals is characterized by comprising the following steps:
at a first moment, establishing a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area, wherein one user terminal is a target user terminal, and the position corresponding to the target user terminal is a target initial position;
at a second moment, calculating the end position of the target user terminal in the positioning coordinate system at the second moment according to the target initial position and the distances between the target user terminal and a plurality of other user terminals in the designated indoor area;
converting the end position of the target user terminal at the second time and in the positioning coordinate system into an actual position of the target user terminal at the second time and in the designated indoor area.
2. The method according to claim 1, wherein the establishing a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area at a first time comprises:
at the first moment, acquiring the target initial position corresponding to the target user terminal in the designated indoor area;
acquiring a first position corresponding to a first user terminal and a second position corresponding to a second user terminal in the designated indoor area through a D2D communication mode, wherein the perimeter corresponding to a triangle formed by the target initial position, the first position and the second position is shortest;
establishing the positioning coordinate system according to the target initial position, the first position and the second position, wherein the target initial position, the first position and the second position are not on a straight line.
3. The method according to claim 1, wherein the calculating the end position of the target ue at the second time and in the positioning coordinate system according to the target initial position and the distances between the target ue and a plurality of other ues at the second time comprises:
acquiring the positions of all user terminals using 5G signals in the designated indoor area;
calculating the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area by calculating the communication time difference in a D2D communication mode;
and calculating the end position of the target user terminal at the second moment and in the positioning coordinate system according to the distance between each user terminal using the 5G signal and other user terminals using the 5G signal in the designated indoor area.
4. The method according to claim 3, wherein the obtaining the location of all 5G signal-based user terminals in the designated indoor area comprises:
and acquiring the position of each user terminal in the designated indoor area by using the sensor of the user terminal which is arranged in the designated indoor area and totally uses the 5G signal.
5. The 5G-signal-based multi-terminal indoor positioning method according to claim 3, wherein after calculating the distance between each 5G-signal-using user terminal and other 5G-signal-using user terminals in the designated indoor area by calculating the communication time difference through the D2D communication mode, the method comprises:
and sharing the distance between each user terminal using the 5G signal and other user terminals using the 5G signal in the designated indoor area to the other user terminals using the 5G signal in the designated indoor area in real time.
6. The 5G-signal-based multi-terminal indoor positioning method according to claim 5, wherein the sharing of the distance between each user terminal using 5G signals and other user terminals using 5G signals in the designated indoor area to other user terminals using 5G signals in the designated indoor area in real time comprises:
and establishing a virtual network information table among all the user terminals using the 5G signals in the specified indoor area, wherein each user terminal uses a unique virtual number for substitution in the virtual network information table, and the real-time position of each user terminal in the virtual network information table is shared to other user terminals using the 5G signals in real time.
7. The method according to claim 1, wherein the converting the end position of the target ue in the positioning coordinate system at the second time into the actual position of the target ue in the designated indoor area at the second time comprises:
converting the positioning coordinate system into a GPS positioning mode, and converting the origin position of the positioning coordinate system into the origin position of the GPS positioning mode;
and converting the destination position of the target user terminal in the positioning coordinate system at the second moment into a destination position corresponding to the GPS positioning mode according to the origin position of the GPS positioning mode, and taking the destination position as the actual position of the target user terminal in the designated indoor area at the second moment.
8. A multi-terminal indoor positioning device based on 5G signals is characterized by comprising:
the system comprises a coordinate establishing module, a positioning module and a positioning module, wherein the coordinate establishing module is used for establishing a positioning coordinate system according to 3 positions corresponding to 3 user terminals using 5G signals in a specified indoor area at a first moment, one of the user terminals is a target user terminal, and the position corresponding to the target user terminal is a target initial position;
a position calculating module, configured to calculate, at a second time, a terminal position of the target user terminal at the second time and in the positioning coordinate system according to the target initial position and distances between the target user terminal and the other user terminals in the designated indoor area;
a location conversion module, configured to convert the end location of the target user terminal in the positioning coordinate system at the second time into an actual location of the target user terminal in the designated indoor area at the second time.
9. A computer-readable storage medium, having a computer program stored thereon, wherein the computer program is executed to implement the 5G signal-based multi-terminal indoor positioning method according to any one of claims 1 to 7.
10. Computer device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the method for 5G signal based multi-terminal indoor positioning according to any of claims 1 to 7 when executing the computer program.
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