CN113382359B - Positioning method, positioning device, computer readable medium and electronic equipment - Google Patents

Abstract

The present disclosure provides a positioning method, apparatus, electronic device and computer readable medium; relates to the technical field of wireless communication. The positioning method comprises the following steps: determining reference data corresponding to data acquisition equipment contained in a target scene, and acquiring data of positioning objects contained in the target scene through the data acquisition equipment to obtain positioning data corresponding to the positioning objects; eliminating invalid positioning data from the positioning data based on the invalid condition to obtain valid positioning data; ranking the effective positioning data of each positioning object based on the precision rule, and determining the effective positioning data with the highest ranking as the target positioning data of each positioning object; and determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition equipment corresponding to the target positioning data. The method and the device can eliminate invalid positioning data in the positioning data, perform positioning based on target positioning data with higher precision grade, and improve positioning accuracy.

Description

Positioning method, positioning device, computer readable medium and electronic equipment

Technical Field

The present disclosure relates to the field of wireless communication technologies, and in particular, to a positioning method, a positioning apparatus, an electronic device, and a computer-readable medium.

Background

Coverage of mobile networks in the context of terrestrial closed and underground tunnels is an indispensable part, but positioning of users within tunnels also becomes difficult due to the inability of satellite signals to cover them. In the related art, methods for locating objects in underground passages can be divided into two categories: the first is a fixed point marking method and the second is an area positioning method. The first method uses fixed point to set probing equipment and uses manual marking to mark the position. Although the method has the characteristic of positioning in a single point, the method also has the defects that the region outside the positioning position cannot be detected, the operation is limited by time, space and personnel density, and the like; the second method is area location by placing a fence within the area. The method can be used for positioning the scene with dense personnel, but the positioning accuracy is limited in the region, and the requirement of accurate positioning cannot be met.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The present disclosure is directed to a new positioning method, a positioning apparatus, an electronic device, and a computer readable medium, so as to improve positioning accuracy and reduce positioning cost to a certain extent.

According to a first aspect of the present disclosure, there is provided a positioning method applied in a target scene, the target scene including one track or a plurality of mutually parallel tracks, and the tracks only allowing a positioning object to move forward or backward along the tracks, the method including: determining reference data corresponding to data acquisition equipment contained in a target scene, and acquiring data of positioning objects contained in the target scene through the data acquisition equipment to obtain positioning data corresponding to the positioning objects; eliminating invalid positioning data from the positioning data based on an invalid condition to obtain valid positioning data; ranking the effective positioning data of each positioning object based on an accuracy rule, and determining the effective positioning data with the highest ranking as the target positioning data of each positioning object; and determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition equipment corresponding to the target positioning data.

Optionally, the reference data includes coordinates and an identifier of the data acquisition device; the determining of the reference data corresponding to the data acquisition device included in the target scene includes: determining coordinates corresponding to the data acquisition equipment based on the position of the data acquisition equipment on the track; identifying the data acquisition device based on the coordinates.

Optionally, the positioning data comprises a timing advance TA; the data acquisition of the positioning object included in the target scene by each data acquisition device includes: identifying a positioning object and a positioning port corresponding to the positioning object; and acquiring the TA corresponding to the positioning object in an acquisition period at a preset frequency through the positioning port corresponding to the positioning object.

Optionally, the invalid condition includes: when a plurality of positioning ports are accessed in the same positioning object by taking the data acquisition equipment as a unit, confirming TAs except the minimum TA in the TAs acquired by the plurality of positioning ports as invalid positioning data; and confirming all TA acquired at the acquisition time to be processed as invalid positioning data when the number of TA acquired at the acquisition time to be processed is smaller than the number of positioning ports corresponding to the positioning object by taking the positioning object as a unit; and confirming all TA collected at the time to be processed as invalid positioning data when the TA collected at the time to be processed is equal to the TA collected at the previous time by taking the positioning object as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence.

Optionally, when the positioning data includes reference signal received power RSRP, the invalid condition further includes: and determining the TA acquired by the positioning port as invalid positioning data when the RSRP acquired by the positioning port is smaller than a preset threshold value by taking the positioning port as a unit.

Optionally, ranking effective positioning data of each positioning object based on an accuracy rule, and determining the effective positioning data with the highest ranking as target positioning data of each positioning object, including: when the TA acquired by the positioning port at the time to be processed is different from the TA acquired at the previous time, the TA acquired by the positioning port at the time to be processed is confirmed as the TA with the highest grade of the positioning port at the time to be processed by taking the positioning port as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence; and generating target positioning data of the positioning object corresponding to each positioning port based on the TA with the highest grade of each positioning port at the to-be-processed moment.

Optionally, determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition device corresponding to the target positioning data, includes: marking the motion state of the target positioning data corresponding to the positioning object; determining position data of the positioning object based on the object positioning data with the motion state mark and reference data corresponding to the data acquisition equipment; a positioning position of each of the positioning objects is determined based on the motion state and the position data.

According to a second aspect of the present disclosure, there is provided a positioning device for use in a target scene, the target scene including one track or a plurality of mutually parallel tracks, and the track only allowing a positioning object to move forward or backward along the track; the device includes: the data acquisition module is used for determining reference data corresponding to data acquisition equipment contained in a target scene and acquiring data of positioning objects contained in the target scene through the data acquisition equipment to obtain positioning data corresponding to the positioning objects; the data removing module is used for removing invalid positioning data from the positioning data based on invalid conditions to obtain valid positioning data; the data rating module is used for rating the effective positioning data of each positioning object based on an accuracy rule and determining the effective positioning data with the highest rating as the target positioning data of each positioning object; and the position determining module is used for determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition equipment corresponding to the target positioning data.

According to a third aspect of the present disclosure, there is provided an electronic device comprising: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the method of any of the above via execution of the executable instructions.

According to a fourth aspect of the disclosure, there is provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above.

Exemplary embodiments of the present disclosure may have some or all of the following benefits:

in the positioning method provided by an example embodiment of the present disclosure, a data acquisition device is disposed in an object scene that includes at least one linear motion track and only allows a positioning object to move forward or backward along the linear motion track, and then the positioning data of the positioning object acquired by the data acquisition device is subjected to null elimination and precision rating to determine target positioning data, and then a positioning position of each positioning object is determined based on the target positioning data of each positioning object and reference data of the data acquisition device corresponding to the target positioning data. Invalid positioning data in the positioning data can be rejected by carrying out invalid rejection on the collected positioning data, then the effective data is subjected to precision grading, the target positioning data with higher precision grade can be reserved, and then the positioning is carried out based on the target positioning data with higher precision grade, so that a positioning position with higher accuracy can be obtained. Meanwhile, the positioning process is not limited by the number of positioning objects, a positioning time window and scenes which cannot be covered by underground satellite signals and the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

FIG. 1 illustrates a schematic diagram of an exemplary system architecture to which embodiments of the present disclosure may be applied;

FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device used to implement embodiments of the present disclosure;

FIG. 3 schematically illustrates a flow chart of a positioning method in an exemplary embodiment of the disclosure;

FIG. 4 schematically illustrates a flow chart of a method of determining reference data in an exemplary embodiment of the disclosure;

FIG. 5 schematically illustrates a flow chart of a method of data acquisition in an exemplary embodiment of the disclosure;

FIG. 6 schematically illustrates a flow chart of a method of determining a position location in an exemplary embodiment of the present disclosure;

fig. 7 schematically illustrates a composition diagram of a positioning device in an exemplary embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

Fig. 1 is a schematic diagram illustrating a system architecture of an exemplary application environment to which a positioning method and apparatus according to an embodiment of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include one or more of the positioned objects 101, 102, 103, a network 104 and a data acquisition device 105. The network 104 serves as a medium for providing a communication link between the positioned objects 101, 102, 103 and the data acquisition devices 105, 106. The network 104 may include various types of wireless connections, such as wireless communication links and the like. The positioning objects 101, 102, 103 may be various removable electronic devices with communication capabilities, including but not limited to portable computers, smart phones, tablets, and the like. It should be understood that the number of positioning objects, networks, and data acquisition devices in FIG. 1 is merely illustrative. There may be any number of terminal devices, networks, and data collection devices, as desired for implementation. Such as one or more of the data acquisition devices 105, 106, etc.

The positioning method provided by the embodiment of the present disclosure is generally performed by the data acquisition devices 105 and 106, and accordingly, the positioning device is generally disposed in the data acquisition devices 105 and 106. However, it is easily understood by those skilled in the art that the positioning method provided in the embodiment of the present disclosure may also be executed by the positioning objects 101, 102, and 103, and accordingly, the positioning object device may also be disposed in the terminal devices 101, 102, and 103, which is not particularly limited in the present exemplary embodiment. For example, in an exemplary embodiment, the positioning data of the positioning objects 101, 102, 103 may be acquired by the data acquisition devices 105, 106, etc., and then the positioning data and the reference data are sent to any one of the positioning objects, and the positioning data is processed by the positioning object, so as to obtain the positioning data corresponding to each positioning object.

FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device implementing an embodiment of the present disclosure.

It should be noted that the computer system 200 of the electronic device shown in fig. 2 is only an example, and should not bring any limitation to the functions and the application scope of the embodiment of the present disclosure.

As shown in fig. 2, the computer system 200 includes a Central Processing Unit (CPU) 201 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 202 or a program loaded from a storage section 208 into a Random Access Memory (RAM) 203. In the RAM 203, various programs and data necessary for system operation are also stored. The CPU 201, ROM 202, and RAM 203 are connected to each other via a bus 204. An input/output (I/O) interface 205 is also connected to bus 204.

The following components are connected to the I/O interface 205: an input portion 206 including a keyboard, a mouse, and the like; an output section 207 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 208 including a hard disk and the like; and a communication section 209 including a network interface card such as a LAN card, a modem, or the like. The communication section 209 performs communication processing via a network such as the internet. A drive 210 is also connected to the I/O interface 205 as needed. A removable medium 211 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 210 as necessary, so that a computer program read out therefrom is mounted into the storage section 208 as necessary.

In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 209 and/or installed from the removable medium 211. The computer program, when executed by a Central Processing Unit (CPU) 201, performs various functions defined in the methods and apparatus of the present application. In some embodiments, the computer system 200 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

It should be noted that the computer readable media shown in the present disclosure may be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may be separate and not incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method in the embodiments described below. For example, the electronic device may implement the steps shown in fig. 3 to 6, and the like.

The technical solution of the embodiment of the present disclosure is explained in detail below:

based on one or more problems in the related art, the present example embodiment provides a positioning method. The positioning method can be applied to a target scene, wherein the target scene comprises one track or a plurality of mutually parallel tracks, and the tracks only allow the positioning object to move forwards or backwards along the tracks. For example, in a particular subway track, two parallel tracks are included, and the subway is only allowed to move on one track in the forward direction and on the other track in the reverse direction; as another example, in a highway, two parallel tracks are also typically included, and only vehicles are allowed to move in a forward direction on one track and in a reverse direction on the other track. In addition, the positioning method may be applied to the data acquisition devices 105 and 106, and may also be applied to one or more of the positioning objects 101, 102, and 103, which is not particularly limited in this exemplary embodiment.

Timing Advance (TA), generally used for uplink transmission of user equipment, refers to predicting radio frequency transmission delay caused by distance in order to enable an uplink packet of the user equipment to reach a base station at a desired time, and sending out a data packet at a corresponding time in Advance. TA exists in both GSM and LTE radio systems, and it is the distance between the user equipment and the radio port that is characterized by the calculation. In practical applications and measurements, the TA can calculate the relative position of the ue. Based on the characteristics of the TA time synchronization attribute, the position information of the relative radio frequency port of the object can be accurately positioned by overlapping the TA corresponding to the data sent by the user equipment. Specifically, effective positioning data is determined through data such as TA, RSRP and the like acquired by a positioning port of data acquisition equipment within a certain time, and positioning data precision grade and association between a positioning object and the data acquisition equipment are obtained through analysis; then, the motion form of the positioning object can be confirmed according to the fluctuation of the positioning data with higher precision grade, and the motion direction is obtained through the reverse motion mark; and then, taking the intersection of the positioning data belonging to the positioning object, and comparing the intersection with the expected positioning data to obtain the positioning position.

Referring to fig. 3, the positioning method may include the following steps S310 to S340:

step S310, determining reference data corresponding to data acquisition equipment contained in a target scene, and acquiring data of positioning objects contained in the target scene through the data acquisition equipment to obtain positioning data corresponding to the positioning objects;

step S320, eliminating invalid positioning data from the positioning data based on the invalid condition to obtain valid positioning data;

step S330, ranking the effective positioning data of each positioning object based on the precision rule, and determining the effective positioning data with the highest ranking as the target positioning data of each positioning object;

step S340, determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition device corresponding to the target positioning data.

In the positioning method provided by the exemplary embodiment, invalid positioning data in the positioning data can be rejected by carrying out invalid rejection on the collected positioning data, then the effective data is subjected to precision ranking, target positioning data with higher precision grade can be reserved, and then positioning is carried out based on the target positioning data with higher precision grade, so that a positioning position with higher accuracy can be obtained. Meanwhile, the positioning process is not limited by the number of positioning objects, a positioning time window and scenes that cannot be covered by underground satellite signals and the like.

The above steps of the present exemplary embodiment will be described in more detail below.

In step S310, reference data corresponding to the data acquisition devices included in the target scene is determined, and data acquisition is performed on the positioning objects included in the target scene through the data acquisition devices, so as to obtain positioning data corresponding to the positioning objects.

Wherein, the data acquisition device may include a device capable of receiving and processing positioning objects TA and RSRP, such as a base station device; the positioning object may comprise a device with mobile network access function, such as a mobile phone, a tablet computer, etc.

In an exemplary embodiment, in order to accurately distinguish the data acquisition devices, reference data corresponding to each data acquisition device needs to be determined. The reference data may include, among other things, the coordinates and identification of the data acquisition device.

In an exemplary embodiment, when determining the reference data corresponding to the data acquisition device included in the target scene, as shown in fig. 4, the following steps S410 to S420 may be included:

and step S410, determining the corresponding coordinates of the data acquisition equipment based on the position of the data acquisition equipment on the track.

In an exemplary embodiment, when the coordinates of the data acquisition devices include distance coordinates, the distance coordinates corresponding to the data acquisition devices may be determined by taking any point in the track in the target scene as a point 0, and using the distance and the direction along the track between each data acquisition device and the point 0. For example, assuming that the middle point of the track is 0 point, the distance coordinate of the data acquisition device 100 meters away from the 0 point in the positive direction may be determined as 100; the distance coordinate of the data acquisition device 100 meters away from the 0 point in the reverse direction is determined to be-100.

Step S420, identifying the data acquisition device based on the coordinates.

In an exemplary embodiment, when the coordinates of the data collection device include distance coordinates, the data collection device may be identified based on the distance coordinates after determining the corresponding distance coordinates of the data collection device based on the position of the data collection device on the track. It should be noted that the identifier of the data acquisition device may be a number, a symbol, or the like, and is used to determine a unique data acquisition device.

It should be noted that, in order to facilitate numbering of the data acquisition devices, one end point of the track is usually taken as a point 0, the position of the track is determined according to the distance coordinate, and then the data acquisition devices are identified according to the distance length from the point 0, that is, the distance coordinate, so as to accurately determine the data acquisition devices. In addition, if the same data acquisition equipment comprises a plurality of positioning ports, the positioning ports are required to be numbered, so that the ports for acquiring positioning object positioning data can be accurately determined.

For example, a locating port of a certain data acquisition device can be represented as B (c, o, n), where c represents a distance coordinate, o represents a data acquisition device number, and n identifies a locating port number.

In an exemplary embodiment, when the data acquisition devices acquire data of positioning objects included in the target scene to obtain positioning data corresponding to the positioning objects, referring to fig. 5, the method may include the following steps S510 to S520:

step S510, identifying the positioning object and the positioning port corresponding to the positioning object.

After the reference data is determined, in order to facilitate distinguishing which positioning object the positioning data collected by the data collecting device belongs to, and in order to be able to distinguish which data collecting device the positioning data of each positioning object collected, the positioning object and the positioning port corresponding to the positioning object may be identified.

In an exemplary embodiment, positioning objects contained in the target scene may be identified first, so as to distinguish to which positioning object the positioning data acquired by the data acquisition device belongs. Specifically, each positioning object may be identified. For example, a location object may identify it as P.

In an exemplary embodiment, after the positioning objects are identified, for each positioning object, a data acquisition device capable of acquiring the positioning data of the positioning object needs to be determined, that is, a positioning port corresponding to the positioning object. For example, for a positioning object P, a positioning port capable of acquiring data thereof may be marked as P (e, o), where e represents a cell access number corresponding to the positioning object, and o represents a data acquisition device number.

It should be noted that, when determining the positioning port corresponding to the positioning object, an invalid port may occur, and therefore, the validity of the positioning port needs to be verified. Specifically, in the positioning port, the number of the data acquisition device must be the first position; and the cell access number in the positioning port can be repeated, but the number of the data acquisition equipment cannot be repeated. The invalid positioning port can be screened out through the conditions, and the valid port is reserved.

Step S520, a TA corresponding to the positioning object is acquired within the acquisition period at a preset frequency through the positioning port corresponding to the positioning object.

In an exemplary embodiment, the positioning data may comprise a TA. At this time, after the positioning port corresponding to each positioning object is identified, the TA corresponding to the positioning object may be acquired within the acquisition period at a preset frequency based on the positioning port corresponding to each positioning object. The acquisition period can comprise an acquisition starting time and an acquisition time length, and is used for limiting the total time length of data acquisition; the preset frequency may define the interval of data acquisition. It should be noted that, besides setting the preset frequency, the frequency of the acquisition may be defined by directly setting the time interval.

In addition, because different positioning ports can simultaneously acquire the positioning data of the same positioning object, before the positioning data is acquired, the association relationship between the positioning ports belonging to the positioning objects can be established by taking the positioning objects as units. The association relationship may include a same-root relationship and a different-root relationship. For example, it may be determined for P (e, o) whether the positioning objects P are equal. The same root relationship is used when P is equal, and the different root relationship is used when P is not equal. After the association relationship is determined, a PT set can be established according to the same root relationship; at this time, based on all the positioning ports in the PT set, the TAs corresponding to the positioning objects may be acquired simultaneously within the acquisition period at the preset frequency. For example, the number of P (e, o) in PT set is labeled Npt, and each P (e, o) should belong to a same root relation PT set. At this time, npt TAs can be acquired at the same time for the positioning object P.

In step S320, the invalid positioning data is rejected from the positioning data based on the invalid condition, so as to obtain valid positioning data.

The invalidity condition may include a condition for determining whether the positioning data is invalid.

In an exemplary embodiment, when the positioning data includes TA, the invalidity condition may include: when a plurality of positioning ports are accessed in the same positioning object by taking the data acquisition equipment as a unit, confirming TAs except the minimum TA in the TAs acquired by the plurality of positioning ports as invalid positioning data; and confirming all TA collected at the to-be-processed collection time as invalid positioning data when the quantity of TA collected at the to-be-processed collection time is smaller than the quantity of positioning ports corresponding to the positioning objects by taking the positioning objects as a unit; and confirming all TA collected at the time to be processed as invalid positioning data when the TA collected at the time to be processed is equal to the TA collected at the previous time by taking the positioning object as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence.

In addition, when the positioning data further includes Reference Signal Receiving Power (RSRP), the invalid condition may further include: and determining the TA acquired by the positioning port as invalid positioning data when the RSRP acquired by the positioning port is smaller than a preset threshold value by taking the positioning port as a unit.

It should be noted that, in order to distinguish between valid positioning data and invalid positioning data, the positioning data may be marked as invalid after the positioning data is determined to be invalid positioning data. Then, after all the positioning data is judged based on the invalidity condition, the positioning data without the invalidity mark is subjected to the valid mark.

In step S330, the effective positioning data of each positioning object is ranked based on the accuracy rule, and the highest ranked effective positioning data is determined as the target positioning data of each positioning object.

The accuracy rule may include various rules for determining the accuracy of the positioning data, for example, for a certain port P (e, o), the TA acquired at the time to be processed and the TA acquired at the time (previous time) immediately before the time to be processed in the time sequence are different, and the TA at the time to be processed may be determined as the TA with the highest ranking of the positioning port at the time to be processed. It should be noted that the accuracy rule may be implemented by different devices according to different target scenes, and this disclosure does not make any special limitation on this.

In an exemplary embodiment, the accuracy rule is that when the TA acquired at the time to be processed and the TA acquired at the time of the last acquisition (previous time) in the time sequence of the time to be processed are different, the TA at the time to be processed is determined as the TA with the highest rating of the positioning port at the time to be processed. At this time, the TA with the highest rating at the time of waiting for processing of each positioning port may be determined first in units of each positioning port, and then the TA with the highest rating at the time of waiting for processing of each positioning object may be determined based on the TA with the highest rating at the time of waiting for processing determined by each positioning port.

It should be noted that, when positioning objects are taken as a unit and TAs collected by positioning ports corresponding to all the positioning objects are integrated together in data collection combination of the data collection device B at the same time to be processed, only one positioning data TA with the highest rating may be available and only one positioning data TA with the highest rating is recorded. Therefore, if a positioning object has a plurality of highest-ranked TAs at the same pending time after integration, one of the highest-ranked TAs at the pending time as the positioning object can be determined by the RSRP value.

For example, in units of P (e, o), the TA values collected at Tx and Tx-1 time points are different, i.e., TAx ≠ TAx-1, and can be labeled as the highest-ranking TA, i.e., PA (e, o) T = the highest-ranking TA of P (e, o) at T. Taking P as a unit, a data line DTRx formed by TAs acquired by P (e, o) ports in a data set acquired by the data acquisition device B in the positioning area at the same time to be processed may be only one highest-ranking TA and only one highest-ranking TA is recorded at the same time point, i.e. DTRx = PA (e, o) t. If two or more TA with highest rating appear at the same time, the RSRP of PA (e, o) t is taken for comparison, and the PA (e, o) t with the maximum RSRP value in DTRx is taken as the TA with the highest rating of DTRx, namely DTRx = MAX _RSRP (PA(e，o)t1，PA(e，o)t2，PA(e，o)t3，……)。

In step S340, a positioning position of each positioning object is determined according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition device corresponding to the target positioning data.

In an exemplary embodiment, after obtaining the target location data corresponding to each located object, when determining the location position corresponding to the located object, as shown in fig. 6, the following steps S610 to S630 may be included:

step S610, performing motion state marking on the object location data corresponding to the location object.

In an exemplary embodiment, after obtaining the object location data, the location data needs to be integrated, and then the motion state of the located object is determined based on the integrated location data. Wherein the motion state may comprise a direction of motion. For example, forward along the track or reverse along the track; the motion state may also include a stationary state.

In an exemplary embodiment, when integrating the positioning data, TA (e, o) x of P (e, o) x of the same positioning port may be integrated into a value range by taking the positioning object P as a unit, that is: PTA (e, o) = P (e, o) location span. Upon determining PTA (e, o), PTA (e, o) = (TA (e, o) x, (TA (e, o) x + (TA (e, o) x-1))); PTA (e, o) = (0, 1) if TA (e, o) x = 0.

In an exemplary embodiment, after obtaining the positioning range, if it is defined that, in units of positioning objects, the positioning data acquired by the positioning port at the same time to be processed P (e, o) is DTR, DTRx = Px or DTRx = PTAx. At this time, when TA (e, o) x =0, the data acquisition device B (c, o, n) x to which all the positioning ports P (e, o) x belong in DTRx may be extracted, B (c, o, n) with the largest c value is taken, and the results of PA (e, o) t and PA (e, o) t +1 at the time point of P (e, o) t at which B (c, o, n) is positioned are determined to be compared and labeled. If PA (e, o) t < PA (e, o) t +1, PTA (e, o) is not marked; if PA (e, o) t > PA (e, o) t +1, the PTA (e, o) can be identified with reverse motion, i.e. PTA (e, o) f; in addition, the reverse motion flag of PA (e, o) t is also needed, that is, when PA (e, o) t =0, the reverse motion flag of DTRx +1 is taken for marking. The direction of motion of the located object can be determined by the above process.

Furthermore, the motion state of the located object may also be determined based on the volatility of the object location data. Specifically, whether the positioning object is in a relatively stationary state may be determined based on the relatively stationary condition. In particular, the relative stationary conditions may include: by taking the positioning port as a unit, the obtained TA is continuously unchanged, the continuous times exceed Y times, and the positioning data collected by P (e, o) can be determined to be in a relatively static state and marked as PJ (e, o); and taking the positioning object as a unit, the TA acquired by each of all the positioning ports P (e, o) corresponding to the positioning object is continuously unchanged, and the continuous times exceed Y times. This localization object P can be determined to be in a relatively stationary state, denoted PJ. Further, without satisfying the above condition, it may be determined that the positioning data collected by P (e, o) is in an exercise state, or that P is in an exercise state.

Step S620, determining the position data of the positioning object based on the object positioning data with the motion state mark and the reference data corresponding to the data acquisition equipment.

In an exemplary embodiment, after obtaining the object location data with the motion status flag, the object location data may be subjected to data conversion, that is, TA is converted into relative distance data. Specifically, the relative distance may be calculated based on the relative distance D = TA × 16 × m. Where M is a conversion unit of length unit, and the practical application process is usually calculated by M =4.89 meters.

In an exemplary embodiment, after the relative distance D is obtained, the actual position of the positioning object may be determined based on the motion state markers. Specifically, for the positioning data without the reverse motion identifier, the corresponding B (c, o, n) may be obtained according to o in PTA (e, o), and the c value of B (c, o, n) is taken. And calculating to obtain a corresponding value range based on the c and the relative distance D. Namely PTA (e, o) _D = (D (e, o), D (e, o) 1), positioning position W (e, o) = c-D (e, o); a positioning range PTW (e, o) = (W (e, o), W (e, o) 1) is determined by the positioning data collected by the corresponding P (e, o). It should be noted that, if PA (e, o) has an acquisition time identifier, that is, PA (e, o) t, PTW (e, o) t = J (e, o); for the positioning data with the reverse motion identifier, W (e, o) = c + D (e, o), the other processing procedures are consistent with the calculation procedure of the positioning data without the reverse motion identifier.

In step S630, the positioning position of each positioning object is determined based on the motion state and the position data.

In an exemplary embodiment, after obtaining the PTW (e, o) corresponding to each PTA (e, o), the PTWs (e, o) corresponding to the same positioning object may be integrated together to obtain the positioning area range of the positioning object. That is, taking P as a unit, the positioning region range is obtained by taking the intersection of all PTW (e, o) data of P under DTRn, and can be represented by the following formula: <xnotran> PTW = PTW (e, o) ∩ PTW (e, o) 1 ∩ PTW (e, o) 2 ∩ PTW (e, o) 3 … … ∩ PTW (e, o) n, PTW = (W, W1). </xnotran> It should be noted that, if PA (e, o) has an acquisition time identifier, that is, PA (e, o) t, the correspondingly obtained PTW may be labeled as PTWt, PTWt = W, that is, at the acquisition time t, the positioning position of the positioning object is W.

When the positioning object is determined to be in a relatively stationary state according to the above algorithm, the positioning position of the positioning object may be directly the PTW determined by the TAs which are continuously unchanged and continuously times more than Y times.

In an exemplary embodiment, after determining the location range of the positioning object during the acquisition period, the movement speed of the positioning object in the non-relative static state can be calculated according to the location position of the positioning object at each acquisition moment. Specifically, the distance between the positioning positions at two acquisition times can be calculated by taking the positioning object as a unit, and then the speed of the positioning pair is calculated according to the time difference between the two acquisition times, that is, S = | PTWt-PTWt1|/| t-t1|.

Further, after the movement speed of the positioning object is obtained, the positioning data of the positioning object at the specific time F can be predicted to obtain the dynamic positioning data PF. Specifically, the prediction data PF' = PTJt ± S × (F-t) at the time F may be calculated from the positioning speed of the positioning target; based on the PF', the motion state flag and the localization area PTW of the localization object during the acquisition period determine the PF.

Note that, when PTA (e, o) has no reverse motion flag, PF' = PTJt-S × (F-t); when PTA (e, o) is identified with reverse motion, PF' = PTJt + S × (F-t).

Specifically, when determining the PF based on the PF', the motion state flag and the location area PTW of the located object during the acquisition period include the following cases: one is that when PF '∈ PTW, PF = PF' can be determined; second, when

And PF ' is the minimum value between PF ', W1, i.e. PF ' is smaller than the minimum value of the localization area, PF = Min (W, W1) is determined; III is when

And PF ' is the maximum value between PF ', W and W1, namely the maximum value of PF ' ratio to the positioning areaWhen the large value is also large, PF = Max (W, W1) is determined.

In conclusion, the technical scheme of the embodiment of the present disclosure proposes the scheme of positioning data multiple attribution in a unique way, analyzes the effectiveness of the positioning data and the analysis of the level system and checks the positioning result by combining the operation direction and the operation speed, improves the positioning accuracy, ensures the consistency of the measured data and the actual situation, and is compared with the related technology: on one hand, the method of 'division-normalization, multi-region simultaneous intersection, speed orientation and contrast correction' is creatively provided, and is vivid and visual; on the other hand, the method and the device can be applied to the scene of the same cell number, and are the positioning method and the device in the current best channel; on the other hand, the system analysis reduces the interference of human factors, improves the positioning efficiency and reduces the cost; meanwhile, in an implementation mode, a reverse motion identifier and a rating algorithm are creatively adopted, so that the problems of motion direction judgment and positioning verification in a target scene are solved, and the consistency of positioning data and an actual situation is improved; the positioning data set is verified according to the movement speed, the positioning effect is systematically optimized, and the positioning method is more visualized and visualized without artificial judgment.

The positioning method provided by the disclosure can solve the problem that scenes of the overground closed type and the underground passage type are difficult to position, required data are collected by the system side, the accuracy rate is high, and the working frequency of repeated verification is reduced. It should be noted that, when the positioning method is implemented, relevant data can be collected through a professional webmaster, and then the relevant data is positioned and displayed through processing; and related data can be acquired through a professional network management system, then uploaded to a management system corresponding to the base station, and then a positioning result is presented by using the management system, so that the problem of checking the implementation effect of the maintenance operation plan is solved. Experiments prove that under the two-fan coverage scene, the positioning error in motion is within plus or minus 1 meter, the static positioning error is within 5 meters, and the accuracy of the coverage sector is greatly improved if the coverage sector is increased.

It should be noted that although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order or that all of the depicted steps must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

Further, in the present exemplary embodiment, a positioning apparatus is also provided. The positioning device can be applied to a target scene, wherein the target scene comprises one track or a plurality of mutually parallel tracks, and the tracks only allow the positioning object to move forwards or backwards along the tracks. Referring to fig. 7, the positioning apparatus 700 may include a data collection module 710, a data culling module 720, a data rating module 730, and a location determination module 740. Wherein:

the data acquisition module 710 is configured to determine reference data corresponding to data acquisition devices included in the target scene, and perform data acquisition on positioning objects included in the target scene through the data acquisition devices to obtain positioning data corresponding to the positioning objects.

And the data removing module 720 is configured to remove the invalid positioning data from the positioning data based on the invalid condition to obtain valid positioning data.

And the data rating module 730 is configured to rate the effective location data of each location object based on the accuracy rule, and determine the effective location data with the highest rating as the target location data of each location object.

The data rating module 740 is configured to determine a location position of each location object according to the object location data corresponding to each location object and the reference data of the data acquisition device corresponding to the object location data.

In an exemplary embodiment, the data acquisition module 710 may be configured to determine coordinates corresponding to the data acquisition device based on the position of the data acquisition device on the track; identifying data collection devices based on coordinates

In an exemplary embodiment, the positioning data may include a timing advance, TA; the data acquisition module 710 may be configured to identify a positioning object and a positioning port corresponding to the positioning object; and acquiring the TA corresponding to the positioning object in the acquisition period at a preset frequency through the positioning port corresponding to the positioning object.

In an exemplary embodiment, the invalidation condition may include: when a plurality of positioning ports are accessed in the same positioning object by taking the data acquisition equipment as a unit, confirming TAs except the minimum TA in the TAs acquired by the plurality of positioning ports as invalid positioning data; and confirming all TA collected at the to-be-processed collection time as invalid positioning data when the quantity of TA collected at the to-be-processed collection time is smaller than the quantity of positioning ports corresponding to the positioning objects by taking the positioning objects as a unit; and confirming all TA collected at the time to be processed as invalid positioning data when the TA collected at the time to be processed is equal to the TA collected at the previous time by taking the positioning object as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence.

In an exemplary embodiment, when the positioning data includes reference signal received power, RSRP, the invalid condition may further include: and determining the TA acquired by the positioning port as invalid positioning data when the RSRP acquired by the positioning port is smaller than a preset threshold value by taking the positioning port as a unit.

In an exemplary embodiment, the data rating module 730 may be configured to, in units of the positioning port, when the TA acquired by the positioning port at the time to be processed is not equal to the TA acquired at the previous time, determine the TA acquired at the time to be processed as the TA with the highest rating of the positioning port at the time to be processed; the time to be processed is the next acquisition time of the previous time in the time sequence; and generating target positioning data of the positioning object corresponding to each positioning port based on the TA with the highest grade of each positioning port at the time to be processed.

In an exemplary embodiment, the position determining module 740 may be configured to perform motion state labeling on object location data corresponding to the located object; determining position data of a positioning object based on the target positioning data with the motion state mark and reference data corresponding to the data acquisition equipment; the positioning position of each positioning object is determined based on the motion state and the position data.

The specific details of each module or unit in the positioning device have been described in detail in the corresponding positioning method, and therefore are not described herein again.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (8)

1. The positioning method is applied to a target scene, wherein the target scene comprises one track or a plurality of mutually parallel tracks, and the tracks only allow a positioning object to move forwards or backwards along the tracks; the method comprises the following steps:

determining reference data corresponding to data acquisition equipment contained in a target scene, and acquiring data of positioning objects contained in the target scene through the data acquisition equipment to obtain positioning data corresponding to the positioning objects; the positioning data comprises a Timing Advance (TA);

eliminating invalid positioning data from the positioning data based on an invalid condition to obtain valid positioning data; the invalid condition includes: when a plurality of positioning ports are accessed in the same positioning object by taking the data acquisition equipment as a unit, confirming TA (timing advance) except the minimum TA in TA acquired by the plurality of positioning ports as invalid positioning data; and determining all TA collected at the to-be-processed collection time as invalid positioning data when the quantity of TA collected at the to-be-processed collection time is smaller than the quantity of positioning ports corresponding to the positioning objects by taking the positioning objects as a unit; and confirming all TA collected at the time to be processed as invalid positioning data when the TA collected at the time to be processed is equal to the TA collected at the previous time by taking the positioning object as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence;

when the TA acquired by the positioning port at the time to be processed is different from the TA acquired at the previous time, the TA acquired by the positioning port at the time to be processed is confirmed as the TA with the highest grade of the positioning port at the time to be processed by taking the positioning port as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence; generating target positioning data of a positioning object corresponding to each positioning port based on the TA with the highest grade of each positioning port at the to-be-processed moment;

and determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition equipment corresponding to the target positioning data.

2. The method of claim 1, wherein the reference data comprises coordinates and an identification of the data acquisition device;

the determining of the reference data corresponding to the data acquisition device included in the target scene includes:

determining coordinates corresponding to the data acquisition equipment based on the position of the data acquisition equipment on the track;

identifying the data acquisition device based on the coordinates.

3. The method of claim 1,

the data acquisition of the positioning object included in the target scene by each data acquisition device includes:

identifying a positioning object and a positioning port corresponding to the positioning object;

and acquiring the TA corresponding to the positioning object in an acquisition period at a preset frequency through the positioning port corresponding to the positioning object.

4. The method of claim 1, wherein when the positioning data comprises reference signal received power, RSRP, the invalid condition further comprises:

and determining the TA acquired by the positioning port as invalid positioning data when the RSRP acquired by the positioning port is smaller than a preset threshold value by taking the positioning port as a unit.

5. The method of claim 1, wherein the determining the positioning position of each positioning object according to the object positioning data corresponding to each positioning object and the reference data of the data acquisition device corresponding to the object positioning data comprises:

marking the motion state of the target positioning data corresponding to the positioning object;

determining position data of the positioning object based on the object positioning data with the motion state mark and reference data corresponding to the data acquisition equipment;

a positioning position of each of the positioning objects is determined based on the motion state and the position data.

6. The positioning device is applied to a target scene, wherein the target scene comprises one track or a plurality of mutually parallel tracks, and the tracks only allow a positioning object to move forwards or backwards along the tracks; the device comprises:

the data acquisition module is used for determining reference data corresponding to data acquisition equipment contained in a target scene, and acquiring data of positioning objects contained in the target scene through the data acquisition equipment to obtain positioning data corresponding to the positioning objects; the positioning data comprises a Timing Advance (TA);

the data removing module is used for removing invalid positioning data from the positioning data based on invalid conditions to obtain valid positioning data; the invalid condition includes: when a plurality of positioning ports are accessed in the same positioning object by taking the data acquisition equipment as a unit, confirming TA (timing advance) except the minimum TA in TA acquired by the plurality of positioning ports as invalid positioning data; and determining all TA collected at the to-be-processed collection time as invalid positioning data when the quantity of TA collected at the to-be-processed collection time is smaller than the quantity of positioning ports corresponding to the positioning objects by taking the positioning objects as a unit; and confirming all TA collected at the time to be processed as invalid positioning data when the TA collected at the time to be processed is equal to the TA collected at the previous time by taking the positioning object as a unit; the time to be processed is the next acquisition time of the previous time in the time sequence; the data rating module is used for determining the TA acquired at the time to be processed as the TA with the highest rating of the positioning port at the time to be processed when the TA acquired at the time to be processed by the positioning port is different from the TA acquired at the previous time by taking the positioning port as a unit; wherein the time to be processed is the next acquisition time of the previous time in the time sequence; generating target positioning data of a positioning object corresponding to each positioning port based on the TA with the highest grade of each positioning port at the to-be-processed moment;

and the position determining module is used for determining the positioning position of each positioning object according to the target positioning data corresponding to each positioning object and the reference data of the data acquisition equipment corresponding to the target positioning data.

7. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1-5.

8. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the method of any of claims 1-5 via execution of the executable instructions.

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