CN111596256B - Positioning method and device for fusion of low-frequency auxiliary signal and high-frequency conduction integrated signal - Google Patents
Positioning method and device for fusion of low-frequency auxiliary signal and high-frequency conduction integrated signal Download PDFInfo
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- CN111596256B CN111596256B CN202010485272.0A CN202010485272A CN111596256B CN 111596256 B CN111596256 B CN 111596256B CN 202010485272 A CN202010485272 A CN 202010485272A CN 111596256 B CN111596256 B CN 111596256B
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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
- G01S5/0257—Hybrid positioning
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention provides a positioning method and a positioning device for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal, wherein the method comprises the following steps: acquiring low-frequency auxiliary signals sent by a plurality of base stations; based on the low-frequency auxiliary signal, assisting to receive a high-frequency positioning signal contained in the high-frequency conduction integrated signal sent by each base station; determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal; and positioning according to the distance between the base station and each base station and the known position of the base station. It is thus clear that the basic station is on the basis of the integrative signal of transmission high frequency conductance, additionally transmits low frequency auxiliary signal, because low frequency auxiliary signal's penetrability is stronger, even the receiving end also can receive low frequency auxiliary signal under the scene that has a large amount of obstacles, and then according to the information that low frequency auxiliary signal carried, supplementary low-powered high frequency positioning signal of receiving has improved the sensitivity of receiving high frequency positioning signal, and then improves the positioning accuracy under the scene that has a large amount of obstacles.
Description
Technical Field
The invention relates to the technical field of positioning navigation and communication, in particular to a positioning method and a positioning device for fusing a low-frequency auxiliary signal and a high-frequency communication integrated signal.
Background
Currently, a positioning function is widely existed in a communication system. In 4G and 5G communication systems, PRS (positioning Reference Signal) dedicated to positioning has been added. However, the PRS signal is not continuously transmitted, so it is difficult to accurately track the signal, resulting in poor positioning accuracy.
In order to improve positioning accuracy, in some existing researches, a low-power positioning signal is superimposed on a high-power communication signal to realize continuous broadcasting of the positioning signal, and the positioning accuracy is improved compared with a positioning technology based on a PRS signal.
However, in a scene with a large number of obstacles, such as an urban scene, a canyon scene, etc., the occlusion of the obstacles may cause a low-power positioning signal to be difficult to be received by the terminal, resulting in a failure to position or poor positioning accuracy.
Disclosure of Invention
The embodiment of the invention aims to provide a positioning method and a positioning device for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal, so as to improve the sensitivity of receiving a low-power positioning signal in a complex scene and improve the positioning accuracy. The specific technical scheme is as follows:
in order to achieve the above object, an embodiment of the present invention provides a positioning method for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal, where the method includes:
acquiring low-frequency auxiliary signals transmitted by a plurality of base stations;
based on the low-frequency auxiliary signals, assisting in receiving high-frequency positioning signals contained in high-frequency conduction integrated signals sent by the base stations;
determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal;
and positioning according to the distance between the base station and each base station and the known position of the base station.
Optionally, the step of assisting to receive, based on the low-frequency auxiliary signal, a high-frequency positioning signal included in the high-frequency channel-to-channel integrated signal sent by each base station includes:
acquiring the transmission parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal;
and searching the high-frequency positioning signal according to the transmitting parameter information.
Optionally, the transmission parameter information includes:
power spectrum information, beamforming parameter information, modulation format information, frame structure information, synchronization information, and/or signal strength information.
Optionally, the step of assisting to receive, based on the low-frequency auxiliary signal, a high-frequency positioning signal included in a high-frequency on-off integrated signal sent by each base station includes:
calculating the Doppler frequency shift of the channel according to the received low-frequency auxiliary signal;
and assisting in receiving the high-frequency positioning signal according to the Doppler frequency shift.
In order to achieve the above object, an embodiment of the present invention further provides a positioning apparatus for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal, where the apparatus includes:
the device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring low-frequency auxiliary signals sent by a plurality of base stations;
a receiving module, configured to assist in receiving, based on the low-frequency auxiliary signal, a high-frequency positioning signal included in the high-frequency conduction integrated signal sent by each base station;
the determining module is used for determining the distance between the determining module and each base station according to the received high-frequency positioning signals;
and the positioning module is used for positioning according to the distance between the positioning module and each base station and the known position of the base station.
Optionally, the receiving module is specifically configured to:
acquiring the transmission parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal;
and searching the high-frequency positioning signal according to the transmission parameter information.
Optionally, the transmission parameter information includes:
power spectrum information, beamforming parameter information, modulation format information, frame structure information, synchronization information, and/or signal strength information.
Optionally, the receiving module is specifically configured to:
calculating the Doppler frequency shift of the channel according to the received low-frequency auxiliary signal;
and assisting in receiving the high-frequency positioning signal according to the Doppler frequency shift.
In order to achieve the above object, an embodiment of the present invention further provides an electronic device, which includes a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface and the memory complete mutual communication through a communication bus;
a memory for storing a computer program;
and a processor for implementing any of the above method steps when executing the program stored in the memory.
To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements any of the above method steps.
The embodiment of the invention has the following beneficial effects:
by applying the positioning method and the positioning device for fusing the low-frequency auxiliary signal and the high-frequency communication and conduction integrated signal provided by the embodiment of the invention, the low-frequency auxiliary signals sent by a plurality of base stations are obtained; based on the low-frequency auxiliary signals, the high-frequency positioning signals contained in the high-frequency conduction integrated signals sent by each base station are received in an auxiliary mode; determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal; and positioning according to the distance between the base station and each base station and the known position of the base station. It can be seen that, the base station additionally transmits the low-frequency auxiliary signal on the basis of transmitting the high-frequency communication and conduction integrated signal, and because the penetrability of the low-frequency auxiliary signal is strong, the low-frequency auxiliary signal can be received by the receiving end even in a scene with a large number of obstacles, so that the low-power high-frequency positioning signal can be received in an auxiliary manner according to the information carried by the low-frequency auxiliary signal, the sensitivity of receiving the high-frequency positioning signal is improved, and the positioning accuracy in the scene with a large number of obstacles is improved.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by using the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a positioning method for fusing a low-frequency auxiliary signal and a high-frequency conductance integrated signal according to an embodiment of the present invention;
fig. 2 is a schematic diagram of fusion of a low-frequency auxiliary signal and a high-frequency conduction integrated signal provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a positioning method for fusing a low-frequency auxiliary signal and a high-frequency conductance integrated signal according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning apparatus for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present 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 order to solve the technical problem that a low-power positioning signal is difficult to receive by a terminal due to the fact that a large number of obstacles are shielded, and therefore positioning cannot be performed or positioning accuracy is poor, embodiments of the present invention provide a positioning method, an apparatus, an electronic device, and a computer-readable storage medium for integrating a low-frequency auxiliary signal and a high-frequency conductance integrated signal.
Referring to fig. 1, fig. 1 is a schematic flow chart of a positioning method for fusing a low-frequency auxiliary signal and a high-frequency conductance integrated signal according to an embodiment of the present invention, where the method may include the following steps:
s101: and acquiring low-frequency auxiliary signals transmitted by a plurality of base stations.
The positioning method for fusing the low-frequency auxiliary signal and the high-frequency communication integrated signal provided by the embodiment of the invention can be applied to terminal equipment, and the terminal equipment positions itself according to the signal sent by the base station.
In the embodiment of the invention, in order to expand the coverage area of the positioning signal and facilitate the terminal equipment to better receive the positioning signal, the base station additionally sends the low-frequency auxiliary signal on the basis of sending the high-frequency positioning signal to the terminal equipment.
As will be readily understood by those skilled in the art, the low frequency signal has a stronger penetration capability, so that the terminal device can easily receive the low frequency auxiliary signal, and further, the received low frequency auxiliary signal can be utilized to better receive the high frequency positioning signal, as described in detail below.
In addition, during the positioning process, the terminal device needs to receive positioning signals sent by a plurality of base stations. Therefore, when positioning is needed, a positioning request signal can be sent to a plurality of base stations, and after each base station receives the positioning request signal, a low-frequency auxiliary signal is sent to the terminal device, so that the terminal device can receive the low-frequency auxiliary signals sent by the plurality of base stations.
S102: and based on the low-frequency auxiliary signal, assisting in receiving a high-frequency positioning signal contained in the high-frequency conduction integral signal transmitted by each base station.
In the embodiment of the invention, because the low-frequency signal has strong penetrability, even in a scene with a large number of obstacles, the terminal equipment can receive the low-frequency auxiliary signal, and further can better receive the high-frequency conduction integrated signal sent by the base station by utilizing the received low-frequency auxiliary signal.
The high-frequency communication and conduction integrated signal is formed by superposing a high-frequency communication signal and a high-frequency positioning signal, namely based on the high-frequency communication and conduction integrated signal, the communication requirement of a user can be met through the high-frequency communication signal contained in the high-frequency communication and conduction integrated signal, and the positioning requirement of the user can be met through the high-frequency positioning signal contained in the high-frequency communication and conduction integrated signal.
In the embodiment of the invention, a high-frequency communication and conduction integrated signal can be generated by adopting a same-frequency heterogeneous coupling coding technology. Specifically, the information in the high-frequency positioning signal is encoded on a series of frequency domain resources of the high-frequency communication signal, so that the high-frequency communication signal and the high-frequency positioning signal are transmitted in a common frequency band.
In the embodiment of the present invention, referring to fig. 2, fig. 2 is a schematic diagram of the fusion of the low-frequency auxiliary signal and the high-frequency conduction integrated signal provided in the embodiment of the present invention. As shown in fig. 2, on the basis of the same-frequency heterogeneous coupling code, a low-frequency auxiliary signal is additionally added, so that the same-frequency heterogeneous coupling code and the multi-frequency heterogeneous coupling auxiliary can be combined, that is, the low-frequency auxiliary signal and the high-frequency conduction integrated signal are mutually auxiliary, so as to improve the positioning sensitivity.
In addition, in the embodiment of the invention, when the base station sends the signal, the low-frequency auxiliary signal, the high-frequency positioning signal and the high-frequency communication signal are ensured to be synchronous to the same clock source, thereby providing necessary premise for realizing accurate positioning.
Wherein the power of the high frequency positioning signal is much less than the power of the high frequency communication signal. Therefore, the receiving end easily receives the high frequency communication signal, but may not receive the high frequency positioning signal in a scene where a large number of obstacles exist.
In order to improve the receiving capability of the receiving end for the high-frequency positioning signal, in the embodiment of the present invention, the low-frequency auxiliary signal may be designed to assist in receiving the signal of the high-frequency positioning signal.
For convenience of understanding, referring to fig. 3, fig. 3 is a schematic diagram of a positioning method for fusing a low-frequency auxiliary signal and a high-frequency communication-and-conduction integrated signal according to an embodiment of the present invention, on the premise of clock synchronization, a high-frequency communication-and-conduction integrated signal is generated according to communication information and a high-frequency positioning information code by using same-frequency heterogeneous coupling coding, where the high-frequency communication-and-conduction integrated signal includes a high-frequency communication signal and a high-frequency positioning signal; in addition, a low frequency assistance signal is generated from the low frequency location information code. And the receiving end receives the signals through a baseband to obtain the low-frequency auxiliary signals and the high-frequency communication signals. And then the receiving end can provide auxiliary information for receiving the high-frequency positioning signal according to the received low-frequency auxiliary signal, so that the high-sensitivity receiving of the high-frequency positioning signal is realized.
In one embodiment of the present invention, the low frequency auxiliary signal may carry transmission parameter information of the high frequency positioning signal. And then the terminal equipment can demodulate the transmission parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal, and search the high-frequency positioning signal according to the transmission parameter information so as to receive the high-frequency positioning signal under the scene with more obstacles.
In one embodiment of the present invention, the transmission parameter information of the high-frequency positioning signal carried in the low-frequency auxiliary signal may include power spectrum information, beamforming parameter information, modulation format information, frame structure information, synchronization information, and/or signal strength information. The terminal equipment can search the high-frequency positioning signal in a targeted manner according to the transmission parameter information, and the probability of receiving the high-frequency positioning signal in a scene with a large number of obstacles can be improved.
As an example, when the low-frequency auxiliary signal carries the beamforming parameter information of the high-frequency positioning signal, the receiving device may demodulate the beamforming parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal, and determine the beam direction of the high-frequency positioning signal according to the beamforming parameter information, so as to search for a signal in the beam direction in a targeted manner, so as to better receive the high-frequency positioning signal.
In addition, the above listed transmission parameter information is only the preferred embodiment of the present invention, and is not used to limit the protection scope of the present invention. All schemes of additionally transmitting a low-frequency auxiliary signal, wherein the low-frequency auxiliary signal carries related information of a high-frequency positioning signal, so that a receiving end can receive the high-frequency positioning signal, belong to the protection scope of the invention.
In an embodiment of the present invention, the terminal device may further estimate channel parameters according to the received low-frequency auxiliary signal, so as to better receive the high-frequency positioning signal. As an example, the terminal device may calculate a doppler shift of the channel from the received low frequency secondary signal.
During signal transmission, relative motion exists between the terminal equipment and the base station, each multipath wave undergoes an obvious frequency shift process, and the frequency shift of the received signal caused by the motion is called Doppler frequency shift.
The Doppler frequency shift seriously affects the receiving of the positioning signal, and in consideration of the factor, the terminal equipment can calculate the Doppler frequency shift of the channel according to the received low-frequency auxiliary signal, so as to estimate and compensate the Doppler frequency shift factor, and better receive the high-frequency positioning signal.
In the embodiment of the present invention, the order in which the base station transmits the low-frequency auxiliary signal and the high-frequency positioning signal is not limited, and the low-frequency auxiliary signal may be transmitted first, and then the high-frequency positioning signal may be transmitted, or the low-frequency auxiliary signal and the high-frequency positioning signal may be transmitted simultaneously.
S103: and determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal.
In the embodiment of the invention, the terminal equipment can determine the distance between the terminal equipment and each base station according to the received high-frequency positioning signal. The high-frequency positioning signal can be a pseudo-random code signal, and the terminal equipment determines the signal propagation delay according to the random code phase so as to determine the distance between the terminal equipment and the base station.
According to the same principle, the terminal device can determine its distance from a plurality of base stations.
S104: and positioning according to the distance between the base station and each base station and the known position of the base station.
In the embodiment of the invention, after the terminal equipment determines the distances between the terminal equipment and a plurality of base stations, the positioning can be carried out by combining the known positions of the base stations. For example, triangulation may be used for localization.
The positioning method for fusing the low-frequency auxiliary signal and the high-frequency communication and conduction integrated signal provided by the embodiment of the invention is applied to obtain the low-frequency auxiliary signals sent by a plurality of base stations; based on the low-frequency auxiliary signals, the high-frequency positioning signals contained in the high-frequency conduction integrated signals sent by each base station are received in an auxiliary mode; determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal; and positioning according to the distance between the base station and each base station and the known position of the base station. It is thus clear that the basic station is on the basis of the integrative signal of transmission high frequency conductance, additionally transmits low frequency auxiliary signal, because low frequency auxiliary signal's penetrability is stronger, even the receiving end also can receive low frequency auxiliary signal under the scene that has a large amount of obstacles, and then according to the information that low frequency auxiliary signal carried, supplementary low-powered high frequency positioning signal of receiving has improved the sensitivity of receiving high frequency positioning signal, and then improves the positioning accuracy under the scene that has a large amount of obstacles.
Based on the same inventive concept, according to the embodiment of the positioning method for fusing the low-frequency auxiliary signal and the high-frequency conduction integrated signal, the embodiment of the present invention further provides a positioning device for fusing the low-frequency auxiliary signal and the high-frequency conduction integrated signal, and referring to fig. 4, the positioning device may include the following modules:
an obtaining module 401, configured to obtain low-frequency auxiliary signals sent by multiple base stations;
a receiving module 402, configured to assist in receiving a high-frequency positioning signal included in a high-frequency on-off integrated signal sent by each base station based on a low-frequency auxiliary signal;
a determining module 403, configured to determine distances between itself and each base station according to the received high-frequency positioning signal;
and a positioning module 404, configured to perform positioning according to the distance between the positioning module and each base station and the known position of the base station.
In an embodiment of the present invention, the receiving module 402 is specifically configured to:
acquiring the transmission parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal;
and searching the high-frequency positioning signal according to the transmission parameter information.
In one embodiment of the present invention, the transmission parameter information may include:
power spectrum information, beamforming parameter information, modulation format information, frame structure information, synchronization information, and/or signal strength information.
In an embodiment of the present invention, the receiving module 402 is specifically configured to:
calculating the Doppler frequency shift of the channel according to the received low-frequency auxiliary signal;
and assisting in receiving the high-frequency positioning signal according to the Doppler frequency shift.
The positioning device with the integration of the low-frequency auxiliary signal and the high-frequency communication integrated signal provided by the embodiment of the invention is applied to obtain the low-frequency auxiliary signals sent by a plurality of base stations; based on the low-frequency auxiliary signal, assisting to receive a high-frequency positioning signal contained in the high-frequency conduction integrated signal sent by each base station; determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal; and positioning according to the distance between the base station and each base station and the known position of the base station. It is thus clear that the basic station is on the basis of the integrative signal of transmission high frequency conductance, additionally transmits low frequency auxiliary signal, because low frequency auxiliary signal's penetrability is stronger, even the receiving end also can receive low frequency auxiliary signal under the scene that has a large amount of obstacles, and then according to the information that low frequency auxiliary signal carried, supplementary low-powered high frequency positioning signal of receiving has improved the sensitivity of receiving high frequency positioning signal, and then improves the positioning accuracy under the scene that has a large amount of obstacles.
Based on the same inventive concept, according to the above positioning method for fusing the low-frequency auxiliary signal and the high-frequency communication-integrated signal, as shown in fig. 5, an electronic device is further provided in the embodiments of the present invention, and includes a processor 501, a communication interface 502, a memory 503, and a communication bus 504, where the processor 501, the communication interface 502, and the memory 503 complete mutual communication through the communication bus 504,
a memory 503 for storing a computer program;
the processor 501 is configured to implement the following steps when executing the program stored in the memory 503:
acquiring low-frequency auxiliary signals transmitted by a plurality of base stations;
based on the low-frequency auxiliary signal, assisting to receive a high-frequency positioning signal contained in the high-frequency conduction integrated signal sent by each base station;
determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal;
and positioning according to the distance between the base station and each base station and the known position of the base station.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
By applying the electronic equipment provided by the embodiment of the invention, low-frequency auxiliary signals sent by a plurality of base stations are obtained; based on the low-frequency auxiliary signals, the high-frequency positioning signals contained in the high-frequency conduction integrated signals sent by each base station are received in an auxiliary mode; determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal; and positioning according to the distance between the base station and each base station and the known position of the base station. It can be seen that, the base station additionally transmits the low-frequency auxiliary signal on the basis of transmitting the high-frequency communication and conduction integrated signal, and because the penetrability of the low-frequency auxiliary signal is strong, the low-frequency auxiliary signal can be received by the receiving end even in a scene with a large number of obstacles, so that the low-power high-frequency positioning signal can be received in an auxiliary manner according to the information carried by the low-frequency auxiliary signal, the sensitivity of receiving the high-frequency positioning signal is improved, and the positioning accuracy in the scene with a large number of obstacles is improved.
In another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above positioning methods for fusing a low-frequency auxiliary signal and a high-frequency conductivity integration signal.
In another embodiment of the present invention, there is also provided a computer program product containing instructions, which when run on a computer, cause the computer to perform any one of the above embodiments of the positioning method for fusing a low-frequency auxiliary signal and a high-frequency conductivity integral signal.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the embodiments of the positioning apparatus, the electronic device, the computer-readable storage medium and the computer program product in which the low-frequency auxiliary signal is fused with the high-frequency conductivity integrated signal, since they are substantially similar to the embodiments of the positioning method in which the low-frequency auxiliary signal is fused with the high-frequency conductivity integrated signal, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the embodiments of the positioning method in which the low-frequency auxiliary signal is fused with the high-frequency conductivity integrated signal.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A positioning method for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal is characterized by comprising the following steps:
acquiring low-frequency auxiliary signals transmitted by a plurality of base stations;
based on the low-frequency auxiliary signals, assisting in receiving high-frequency positioning signals contained in high-frequency conduction integrated signals sent by the base stations; the high-frequency conduction integrated signal is formed by superposing a high-frequency communication signal and a high-frequency positioning signal;
determining the distance between the high-frequency positioning signal and each base station according to the received high-frequency positioning signal;
and positioning according to the distance between the base station and each base station and the known position of the base station.
2. The method according to claim 1, wherein the step of assisting in receiving the high-frequency positioning signal included in the high-frequency channel-to-channel integrated signal transmitted by each of the base stations based on the low-frequency auxiliary signal comprises:
acquiring the transmission parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal;
and searching the high-frequency positioning signal according to the transmission parameter information.
3. The method of claim 2, wherein the transmission parameter information comprises:
power spectrum information, beamforming parameter information, modulation format information, frame structure information, synchronization information, and/or signal strength information.
4. The method according to claim 1, wherein the step of assisting in receiving the high-frequency positioning signal included in the high-frequency channel bulk signal transmitted by each of the base stations based on the low-frequency assistance signal comprises:
calculating the Doppler frequency shift of the channel according to the received low-frequency auxiliary signal;
and assisting in receiving the high-frequency positioning signal according to the Doppler frequency shift.
5. A positioning device for fusing a low-frequency auxiliary signal and a high-frequency conduction integrated signal, the device comprising:
the system comprises an acquisition module, a transmission module and a processing module, wherein the acquisition module is used for acquiring low-frequency auxiliary signals transmitted by a plurality of base stations;
a receiving module, configured to assist in receiving, based on the low-frequency auxiliary signal, a high-frequency positioning signal included in a high-frequency on-off integrated signal sent by each base station; the high-frequency conduction integrated signal is formed by superposing a high-frequency communication signal and a high-frequency positioning signal;
the determining module is used for determining the distance between the determining module and each base station according to the received high-frequency positioning signal;
and the positioning module is used for positioning according to the distance between the positioning module and each base station and the known position of the base station.
6. The apparatus according to claim 5, wherein the receiving module is specifically configured to:
acquiring the transmission parameter information of the high-frequency positioning signal from the low-frequency auxiliary signal;
and searching the high-frequency positioning signal according to the transmitting parameter information.
7. The apparatus of claim 6, wherein the transmission parameter information comprises:
power spectrum information, beamforming parameter information, modulation format information, frame structure information, synchronization information, and/or signal strength information.
8. The apparatus of claim 5, wherein the receiving module is specifically configured to:
calculating the Doppler frequency shift of the channel according to the received low-frequency auxiliary signal;
and assisting in receiving the high-frequency positioning signal according to the Doppler frequency shift.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 4 when executing a program stored in the memory.
10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 4.
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