CN111669819A - Air-ground cooperative positioning method, device, system and storage medium - Google Patents
Air-ground cooperative positioning method, device, system and storage medium Download PDFInfo
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- CN111669819A CN111669819A CN201910175736.5A CN201910175736A CN111669819A CN 111669819 A CN111669819 A CN 111669819A CN 201910175736 A CN201910175736 A CN 201910175736A CN 111669819 A CN111669819 A CN 111669819A
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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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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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
- G01S5/0252—Radio frequency fingerprinting
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
The embodiment of the invention relates to an air-ground cooperative positioning method, equipment, a system and a storage medium, wherein the method comprises the following steps: acquiring terminal information of a first terminal by using data transmission equipment, and sending the terminal information to positioning equipment in the air; and determining the position information of the first terminal by utilizing a plurality of measuring positions of the positioning equipment in the air and adopting a dotting measuring algorithm according to the terminal information. The influence of factors such as terrain environment is avoided, the direction is measured at a plurality of measuring positions in the air, and the accuracy is higher compared with the direction measurement at a single azimuth distance.
Description
Technical Field
The embodiment of the invention relates to the field of communication, in particular to an air-ground cooperative positioning method, equipment, a system and a storage medium.
Background
The traditional mobile communication terminal positioning method is mainly carried out in a vehicle-mounted direction finding mode, downlink signals of a base station are analyzed through vehicle-mounted direction finding equipment, uplink signals of communication between a mobile terminal and the base station are obtained, direction finding is carried out on the uplink signals, and final position confirmation is carried out through portable equipment when the uplink signals are close to a target.
However, in environments such as mountainous areas, rural areas, high buildings and the like, the influence of surrounding buildings and terrain environments is limited, and the traditional direction-finding positioning method has inaccurate direction-finding direction and low direction-finding efficiency in complex environments.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method, an apparatus, a system, and a storage medium for air-ground cooperative positioning.
In a first aspect, an embodiment of the present invention provides an air-ground cooperative positioning method, including:
acquiring terminal information of a first terminal by using data transmission equipment, and sending the terminal information to positioning equipment in the air;
and determining the position information of the first terminal by utilizing a plurality of measuring positions of the positioning equipment in the air and adopting a dotting measuring algorithm according to the terminal information.
In one possible implementation, the acquiring the terminal information of the first terminal includes:
receiving a downlink data signal sent by a first terminal responding to a second terminal receiving base station;
decoding the downlink data signal;
determining characteristic information of the first terminal according to the decoded downlink data signal;
judging whether the characteristic information is consistent with pre-stored target characteristic information of the first terminal or not;
and when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
In one possible implementation, the acquiring the terminal information of the first terminal further includes:
when the decoding of the downlink data signal fails and/or the characteristic information of the first terminal cannot be determined according to the decoded downlink data signal, taking the terminal with the largest number of times of terminal identification as the first terminal based on the multiple interaction of the second terminal and all terminals in the base station;
and determining the terminal information of the first terminal according to the terminal identification.
In a possible embodiment, the determining, by using the positioning device to measure a plurality of positions in the air, the position information of the first terminal by using a dotting measurement algorithm according to the terminal information includes:
acquiring parameters of uplink data signals sent by a first terminal to a base station at a plurality of measurement positions in the air respectively;
determining an energy value of the uplink data signal according to the parameter;
and determining the position information of the first terminal according to the energy value.
In one possible implementation, the determining the location information of the first terminal according to the energy value includes:
determining the position range of the first terminal corresponding to each measuring position according to the energy value;
and determining the intersection of the plurality of position ranges as the position information of the first terminal.
In a possible embodiment, the interaction mode between the first terminal and the second terminal is: and the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station.
In a second aspect, an embodiment of the present invention provides a positioning apparatus, including:
the receiving and sending module is used for acquiring the terminal information of the first terminal and sending the terminal information to the air;
and the positioning module is used for receiving the terminal information, determining the position information of the first terminal at a plurality of measurement positions in the air by adopting a dotting measurement algorithm according to the terminal information.
In a third aspect, an embodiment of the present invention provides a positioning system, including:
the data transmission equipment is used for determining and acquiring the terminal information of the first terminal and sending the terminal information to the air;
and the positioning equipment is used for receiving the terminal information, determining the position information of the first terminal at a plurality of measurement positions in the air by adopting a dotting measurement algorithm according to the terminal information.
In a fourth aspect, an embodiment of the present invention provides a positioning apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the space-ground coordination positioning method according to any one of the first aspect.
In a fifth aspect, an embodiment of the present invention provides a storage medium, where the storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the air-ground cooperative positioning method according to any one of the above first aspects.
According to the positioning method provided by the embodiment, the terminal information of the first terminal is obtained, and the position information of the first terminal is determined at a plurality of aerial measurement positions by adopting a dotting measurement algorithm according to the terminal information, so that the influence of factors such as terrain environment is avoided, the aerial multi-measurement position direction finding is realized, and the accuracy is higher compared with the single azimuth distance direction finding.
Drawings
Fig. 1 is an application scenario diagram of an air-ground cooperative positioning method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an air-ground cooperative positioning method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of another air-ground cooperative positioning method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of determining location information of the first terminal according to the energy value according to the embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a dotting measurement algorithm for determining location information of a first terminal at a plurality of measurement locations in the air according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of another air-ground cooperative positioning method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a positioning system according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of another positioning apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
For the convenience of understanding of the embodiments of the present invention, the following description will be further explained with reference to specific embodiments, which are not to be construed as limiting the embodiments of the present invention.
Fig. 1 is an application scenario diagram of a space-ground cooperative positioning method according to an embodiment of the present invention, and as shown in fig. 1, in the application scenario, a data transmission device and a positioning device are used to accurately position a terminal in a base station.
The terminal related to the embodiment is located in mountainous areas, rural areas, high-rise buildings and other environments, is limited by influences of surrounding buildings and terrain environments, and in order to improve accuracy of positioning of the terminal in the areas, a data transmission device is used for capturing downlink data signals of interaction between a base station and a first terminal, and terminal information of the first terminal is determined based on the downlink data signals.
The second terminal adopts a called communication mode to enable the first terminal to communicate with the base station, the data transmission equipment captures a downlink data signal sent by the base station to the first terminal, and the positioning equipment captures an uplink data signal sent by the first terminal to the base station, so that the positioning of the first terminal is realized.
Further, the data transmission device and the positioning device may each include: antenna, radio frequency board, digital board, group battery, display interface and number biography module.
Wherein, the radio frequency board includes: up signal and downstream signal processing unit, the digital board includes: an intermediate frequency processing unit and a baseband processing unit.
The data transmission device is arranged at an optimal position of the base station, and the position can be as follows: the location where the signal-to-noise ratio and energy are optimal, e.g., place the digital transmission device in the region corresponding to-10 dB < signal-to-noise ratio <10dB, -60dBm < energy < -80 dBm.
In an alternative of this embodiment, one data transmission device may be disposed in one base station, and one data transmission device may be disposed in each cell of a plurality of cells of the base station, which may be set according to actual requirements, which is not limited in this embodiment.
For example, base station a, including cells a1, a2, and a3, may determine an optimal location in base station a at which to place a data transfer device, which may be within one of cells a1, a2, or a 3; in addition, data transmission devices may be respectively placed in cells a1, a2 and a3, where the location where the data transmission device is placed in the cell may be an optimal location in the cell.
The positioning device may be, but is not limited to: unmanned aerial vehicle positioning device adopts unmanned aerial vehicle positioning device to carry out the location at terminal in a plurality of different positions aerial.
It should be noted that, besides the unmanned aerial vehicle, a plurality of fixed positioning devices with different positions and different heights may be used for positioning, for example, the positioning devices are fixed at relatively high positions such as a signal tower and a roof, and then data measured at a plurality of fixed positions are integrated to position the terminal.
Fig. 2 is a schematic flow chart of an air-ground cooperative positioning method provided in an embodiment of the present invention, and as shown in fig. 2, the method specifically includes:
s201, acquiring terminal information of a first terminal by using data transmission equipment, and sending the terminal information to positioning equipment in the air.
In this embodiment, under the condition that the second terminal interacts with the first terminal through the base station, the data transmission device captures an interaction signal between the base station and the first terminal, determines terminal information of the first terminal to be positioned in the base station through the interaction signal, and sends the terminal information of the first terminal to the positioning device.
S202, determining the position information of the first terminal by utilizing a plurality of measuring positions of the positioning equipment in the air and adopting a dotting measuring algorithm according to the terminal information.
The positioning device determines a first terminal device to be positioned according to the received terminal information, and determines the position information of the first terminal by adopting a dotting measurement algorithm at a plurality of aerial measurement positions, wherein the plurality of aerial measurement positions can be: the position of the object above the current ground, for example, the first terminal can be at a measuring position higher than the rural building or higher than the roof when located in the rural, high-rise and other environments.
Furthermore, the position information of the first terminal is determined at a plurality of measurement positions in the air by adopting a dotting measurement algorithm, and the method is more accurate compared with the traditional direction finding mode of azimuth and distance.
According to the positioning method provided by the embodiment, the terminal information of the first terminal is obtained, and the position information of the first terminal is determined at a plurality of aerial measurement positions by adopting a dotting measurement algorithm according to the terminal information, so that the influence of factors such as terrain environment is avoided, the aerial multi-measurement position direction finding is realized, and the accuracy is higher compared with the single azimuth distance direction finding.
Fig. 3 is a schematic flow chart of another air-ground cooperative positioning method according to an embodiment of the present invention, as shown in fig. 3, the method specifically includes:
in the data transmission device according to the embodiment, terminal information of the first terminal to be tested may be stored in advance, and the first terminal to be tested is determined in a feature matching manner, which may specifically refer to the following steps:
s301, receiving a downlink data signal sent by the first terminal responding to the second terminal receiving base station.
The second terminal forces the first terminal to communicate with the base station to which the first terminal belongs by adopting a called communication mode, specifically, the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station, and the non-inductive short message inducing mode can automatically enable the first terminal to be tested to interact with the base station under the condition that a user cannot perceive the non-inductive short message inducing mode, wherein the interaction signal comprises: a downlink data signal (transmitted by the second terminal to the first terminal via the base station) and an uplink data signal (transmitted by the first terminal to the second terminal via the base station).
In an alternative of this embodiment, while acquiring the downlink data signal, information of a base station to which the first terminal belongs may also be determined, such as an identifier of the base station, information of a large cell or a small cell in the base station, and the like.
The positioning scheme of this embodiment needs to determine in which cell of the base station the first terminal is located according to the base station information and the terminal information of the first terminal.
S302, decoding the downlink data signal.
And S303, determining the characteristic information of the first terminal according to the decoded downlink data signal.
And the data transmission equipment captures the downlink data signal, decodes the downlink data signal according to a pre-stored decoding mode, and extracts the characteristic information of the first terminal from the decoded downlink data signal after the decoding is successful.
The characteristic information may be, but is not limited to: international mobile subscriber identity Number (IMSI) or Electronic Serial Number (ESN).
S304, judging whether the characteristic information is consistent with the pre-stored target characteristic information of the first terminal.
S305, when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
And matching the feature information extracted from the downlink data signal with the pre-stored target feature information of the first terminal in a matching mode, determining whether the feature information and the pre-stored target feature information are consistent, and when the feature information and the pre-stored target feature information are consistent, determining that the first terminal to be detected is equipment stored in the data transmission equipment, and determining the first terminal to be the terminal information of the first terminal according to the feature information.
It should be noted that, for the case that the decoding fails in S302 and the feature information in S304 is inconsistent with the pre-stored target feature information of the first terminal, reference may be made to the related description of fig. 4 for a brief description, and no further description is given here.
It should be noted that: and determining the terminal information of the first terminal by the data transmission equipment, and transmitting the terminal information to the positioning equipment by the data transmission equipment in a wireless mode.
S306, parameters of uplink data signals sent by the first terminal to the base station are respectively obtained at a plurality of measurement positions in the air.
And S307, determining the energy value of the uplink data signal according to the parameters.
After the first terminal receives the signal of the second terminal through the base station, the first terminal needs to perform feedback on the second terminal based on the signal, and then the first terminal sends an uplink data signal to the base station.
The positioning device performs targeted capture at a plurality of measurement positions in the air according to the determined terminal information of the first terminal, that is, the positioning device captures an uplink data signal sent by the first terminal to the base station according to the terminal information, and determines a parameter of the uplink data signal, and the parameter determines an energy value of the uplink data signal.
It should be noted that the plurality of positions related to the present embodiment may be: 2, 3, 4, etc., the number of the measurement positions may be set according to actual requirements, and this embodiment is not particularly limited.
And S308, determining the position information of the first terminal according to the energy value.
For determining the location information of the first terminal according to the energy value, refer to fig. 4 specifically, and include the following sub-steps:
s3081, determining the position range of the first terminal corresponding to each measuring position according to the energy value.
As shown in fig. 5, the measurement positions A, B and C are used to perform direction finding positioning on the first terminal, and the corresponding position range is determined according to the energy value of the uplink data signal sent by the first terminal measured at point a as follows: a, determining the corresponding position range according to the energy value of the uplink data signal transmitted by the first terminal measured at the point B as follows: b, determining the corresponding position range as follows according to the energy value of the uplink data signal sent by the first terminal measured at the point C: c.
s3082, determining a meeting point of the plurality of location ranges as the location information of the first terminal.
Superimposing the position ranges of the first terminal measured at the measurement positions A, B and C, determining a corresponding intersection, determining longitude and latitude coordinates of the intersection, and using the longitude and latitude coordinates as the position information of the first terminal, as shown in fig. 5, the position information of the first terminal is: longitude: 113.102021, latitude: 23.019375.
the positioning method of the embodiment captures downlink data signals of the base station through the data transmission device, determines terminal information, completes authentication of the identity of the terminal, captures uplink data signals through the positioning device, determines the position information of the terminal at a plurality of measurement positions in the air, avoids the problem that the terminal position cannot be accurately positioned under the condition that the signals of the base station are unstable, is high in flexibility due to the fact that the positioning device adopts an unmanned aerial vehicle form, can adjust the measurement positions according to actual topographic environment factors, and improves positioning efficiency.
Fig. 6 is a schematic flow chart of another air-ground cooperative positioning method provided in an embodiment of the present invention, as shown in fig. 6, the method specifically includes:
when the decoding fails in S302 and the feature information in S304 is inconsistent with the pre-stored target feature information of the first terminal, as shown in fig. 3, that is, the data transmission device cannot directly acquire the information of the first terminal to be detected, the following steps may be adopted to determine the terminal information of the first terminal.
S601, based on multiple interactions between the second terminal and all terminals in the base station, taking the terminal with the most frequent terminal identification as the first terminal.
When the data transmission equipment can not determine the terminal information through the downlink data signals sent by the base station, the second terminal sends the non-sensing short messages to all the terminal equipment in the base station for multiple times in a non-sensing short message inducing mode, and the data transmission equipment detects the uplink and downlink data signals of the base station and analyzes the identification of all the terminals which carry out interaction.
And counting the occurrence times of all the terminal identifications in a unit time period, and taking the terminal with the highest occurrence time of the terminal identifications as a first terminal.
Wherein, the terminal identifier may be: international Mobile Equipment Identity (IMEI), IMSI or ESN, etc.
S602, determining the terminal information of the first terminal according to the terminal identification.
And determining the terminal information of the first terminal through network query according to the identifier of the terminal.
S603, obtaining parameters of uplink data signals sent by the first terminal to the base station at a plurality of measurement locations in the air.
And S604, determining the energy value of the uplink data signal according to the parameters.
And S605, determining the position information of the first terminal according to the energy value.
S603-S605 are similar to S306-S308 shown in FIG. 3, and are not described herein for brevity.
Fig. 7 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention, and as shown in fig. 7, the apparatus specifically includes:
a transceiver module 701, configured to acquire terminal information of a first terminal and send the terminal information to the air;
a positioning module 702, configured to receive the terminal information, determine, at a plurality of measurement positions in the air, the position information of the first terminal according to the terminal information by using a dotting measurement algorithm.
Optionally, the transceiver module 701 is specifically configured to receive a downlink data signal sent by the first terminal in response to the second terminal receiving base station; decoding the downlink data signal; determining characteristic information of the first terminal according to the decoded downlink data signal; judging whether the characteristic information is consistent with pre-stored target characteristic information of the first terminal or not; and when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
Optionally, the transceiver module 701 is further configured to, when the decoding of the downlink data signal fails and/or the characteristic information of the first terminal cannot be determined according to the decoded downlink data signal, use a terminal with a maximum number of times of occurrence of the terminal identifier as the first terminal based on multiple interactions between the second terminal and all terminals in the base station; determining the terminal information of the first terminal according to the terminal identification
Optionally, the positioning module 702 is specifically configured to obtain parameters of uplink data signals sent by the first terminal to the base station at multiple measurement positions in the air, respectively; determining an energy value of the uplink data signal according to the parameter; and determining the position information of the first terminal according to the energy value.
Optionally, the positioning module 702 is specifically configured to determine, according to the energy value, a position range of the first terminal corresponding to each measurement position; and determining the intersection of the plurality of position ranges as the position information of the first terminal.
Optionally, an interaction manner between the first terminal and the second terminal is: and the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station.
The positioning device provided in this embodiment may be the positioning device shown in fig. 7, and may perform all the steps of the positioning method shown in fig. 2 to 6, so as to achieve the technical effects of the positioning method shown in fig. 2 to 6, which are described with reference to fig. 2 to 6 for brevity and will not be described herein again.
Fig. 8 is a schematic structural diagram of a positioning system according to an embodiment of the present invention, and as shown in fig. 8, the apparatus specifically includes:
the data transmission device 801 is used for determining and acquiring terminal information of a first terminal and sending the terminal information to the air;
and the positioning device 802 is configured to receive the terminal information, determine a plurality of measurement positions in the air, and determine the position information of the first terminal by using a dotting measurement algorithm according to the terminal information.
Optionally, the positioning device 802 is specifically configured to obtain parameters of uplink data signals sent by the first terminal to the base station at multiple measurement positions in the air; determining an energy value of the uplink data signal according to the parameter; and determining the position information of the first terminal according to the energy value.
Optionally, the positioning device 802 is specifically configured to determine, according to the energy value, a position range of the first terminal corresponding to each measurement position; and determining the intersection of the plurality of position ranges as the position information of the first terminal.
Optionally, the data transmission device 801 is specifically configured to receive a downlink data signal sent by the first terminal in response to the second terminal receiving base station; decoding the downlink data signal; determining characteristic information of the first terminal according to the decoded downlink data signal; judging whether the characteristic information is consistent with pre-stored target characteristic information of the first terminal or not; and when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
Optionally, the data transmission device 801 is specifically configured to, when the decoding of the downlink data signal fails and/or the feature information of the first terminal cannot be determined according to the decoded downlink data signal, use, as the first terminal, a terminal with a maximum number of times of occurrence of the terminal identifier based on multiple interactions between the second terminal and all terminals in the base station; and determining the terminal information of the first terminal according to the terminal identification.
Optionally, an interaction manner between the first terminal and the second terminal is: and the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station.
The positioning system provided in this embodiment may be the positioning system shown in fig. 8, and may perform all the steps of the positioning method shown in fig. 2 to 6, so as to achieve the technical effects of the positioning method shown in fig. 2 to 6, which are described with reference to fig. 2 to 6 for brevity and will not be described herein again.
Fig. 9 is a schematic structural diagram of another positioning apparatus provided in an embodiment of the present invention, and as shown in fig. 9, the positioning apparatus specifically includes:
a processor 910, a memory 920, and a transceiver 930.
The processor 910 may be a Central Processing Unit (CPU), or a combination of a CPU and a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
The memory 920 is used to store various applications, operating systems, and data. The memory 920 may transfer the stored data to the processor 910. The memory 920 may include a volatile memory, a nonvolatile dynamic random access memory (NVRAM), a phase change random access memory (PRAM), a Magnetoresistive Random Access Memory (MRAM), and the like, such as at least one magnetic disk memory device, an electrically erasable programmable read-only memory (EEPROM), a flash memory device, such as a flash memory (NOR) or a flash memory (NAND), a semiconductor device, such as a Solid State Disk (SSD), and the like. The memory 920 may also include a combination of memories of the sort described above.
A transceiver 930 for transmitting and/or receiving data, the transceiver 930 may be an antenna, etc.
The working process of each device is as follows:
a processor 910 configured to determine to acquire terminal information of a first terminal, and a transceiver 930 configured to transmit the terminal information to the air;
the transceiver 930 is further configured to receive the terminal information, and the processor 910 is further configured to determine, at a plurality of measurement locations in the air, the location information of the first terminal by using a dotting measurement algorithm according to the terminal information.
Optionally, the processor 910 is specifically configured to obtain parameters of uplink data signals sent by the first terminal to the base station at multiple measurement positions in the air, respectively; determining an energy value of the uplink data signal according to the parameter; and determining the position information of the first terminal according to the energy value.
Optionally, the processor 910 is specifically configured to determine, according to the energy value, a position range of the first terminal corresponding to each measurement position; and determining the intersection of the plurality of position ranges as the position information of the first terminal.
Optionally, the transceiver 930 is specifically configured to receive a downlink data signal sent by the base station in response to the second terminal receiving by the first terminal; decoding the downlink data signal; determining characteristic information of the first terminal according to the decoded downlink data signal; judging whether the characteristic information is consistent with pre-stored target characteristic information of the first terminal or not; and when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
Optionally, the processor 910 is specifically configured to, when decoding of the downlink data signal fails and/or the characteristic information of the first terminal cannot be determined according to the decoded downlink data signal, use, as the first terminal, a terminal with a maximum number of times of occurrence of the terminal identifier based on multiple interactions between the second terminal and all terminals in the base station; and determining the terminal information of the first terminal according to the terminal identification.
Optionally, an interaction manner between the first terminal and the second terminal is: and the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station.
The positioning device provided in this embodiment may be the positioning device shown in fig. 9, and may perform all the steps of the positioning method shown in fig. 2 to 6, so as to achieve the technical effects of the positioning method shown in fig. 2 to 6, which are described with reference to fig. 2 to 6 for brevity and will not be described herein again.
The embodiment of the invention also provides a storage medium (computer readable storage medium). The storage medium herein stores one or more programs. Among others, the storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, a hard disk, or a solid state disk; the memory may also comprise a combination of memories of the kind described above.
When one or more programs in the storage medium are executable by one or more processors, the space-ground cooperative positioning method executed on the space-ground cooperative positioning apparatus side is implemented.
The processor is configured to execute the air-ground cooperative positioning program stored in the memory to implement the following steps of the air-ground cooperative positioning method executed on the side of the air-ground cooperative positioning device:
acquiring terminal information of a first terminal by using data transmission equipment, and sending the terminal information to positioning equipment in the air; and determining the position information of the first terminal by utilizing a plurality of measuring positions of the positioning equipment in the air and adopting a dotting measuring algorithm according to the terminal information.
Optionally, parameters of uplink data signals sent by the first terminal to the base station are respectively acquired at a plurality of measurement positions in the air; determining an energy value of the uplink data signal according to the parameter; and determining the position information of the first terminal according to the energy value.
Optionally, determining a position range of the first terminal corresponding to each measurement position according to the energy value; and determining the intersection of the plurality of position ranges as the position information of the first terminal.
Optionally, receiving a downlink data signal sent by the first terminal in response to the second terminal receiving base station; decoding the downlink data signal; determining characteristic information of the first terminal according to the decoded downlink data signal; judging whether the characteristic information is consistent with pre-stored target characteristic information of the first terminal or not; and when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
Optionally, when the decoding of the downlink data signal fails and/or the feature information of the first terminal cannot be determined according to the decoded downlink data signal, based on multiple interactions between the second terminal and all terminals in the base station, the terminal with the largest number of times of occurrence of the terminal identifier is taken as the first terminal; and determining the terminal information of the first terminal according to the terminal identification.
Optionally, an interaction manner between the second terminal and the first terminal is: and the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An air-ground cooperative positioning method is characterized by comprising the following steps:
acquiring terminal information of a first terminal by using data transmission equipment, and sending the terminal information to positioning equipment in the air;
and determining the position information of the first terminal by utilizing a plurality of measuring positions of the positioning equipment in the air and adopting a dotting measuring algorithm according to the terminal information.
2. The method of claim 1, wherein the obtaining the terminal information of the first terminal comprises:
receiving a downlink data signal sent by a first terminal responding to a second terminal receiving base station;
decoding the downlink data signal;
determining characteristic information of the first terminal according to the decoded downlink data signal;
judging whether the characteristic information is consistent with pre-stored target characteristic information of the first terminal or not;
and when the characteristic information is consistent with the target characteristic information, determining the terminal information of the first terminal according to the characteristic information.
3. The method of claim 2, wherein the obtaining the terminal information of the first terminal further comprises:
when the decoding of the downlink data signal fails and/or the characteristic information of the first terminal cannot be determined according to the decoded downlink data signal, taking the terminal with the largest number of times of terminal identification as the first terminal based on the multiple interaction of the second terminal and all terminals in the base station;
and determining the terminal information of the first terminal according to the terminal identification.
4. The method of claim 1, wherein the determining the position information of the first terminal by using a dotting measurement algorithm according to the terminal information at a plurality of measurement positions in the air by using the positioning device comprises:
acquiring parameters of uplink data signals sent by a first terminal to a base station at a plurality of measurement positions in the air respectively;
determining an energy value of the uplink data signal according to the parameter;
and determining the position information of the first terminal according to the energy value.
5. The method of claim 4, wherein the determining the location information of the first terminal according to the energy value comprises:
determining the position range of the first terminal corresponding to each measuring position according to the energy value;
and determining the intersection of the plurality of position ranges as the position information of the first terminal.
6. The method according to any one of claims 1 to 5, wherein the interaction between the first terminal and the second terminal is: and the second terminal adopts a non-inductive short message inducing mode to enable the first terminal to interact with the base station.
7. A positioning apparatus, comprising:
the receiving and sending module is used for acquiring the terminal information of the first terminal and sending the terminal information to the air;
and the positioning module is used for receiving the terminal information, determining the position information of the first terminal at a plurality of measurement positions in the air by adopting a dotting measurement algorithm according to the terminal information.
8. A positioning system, comprising:
the data transmission equipment is used for determining and acquiring the terminal information of the first terminal and sending the terminal information to the air;
and the positioning equipment is used for receiving the terminal information, determining the position information of the first terminal at a plurality of measurement positions in the air by adopting a dotting measurement algorithm according to the terminal information.
9. A positioning apparatus, comprising: memory, processor and computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the space-ground cooperative positioning method according to any one of claims 1 to 6.
10. A storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the space-ground cooperative positioning method according to any one of claims 1 to 6.
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