CN114449650A - Single base station positioning method based on 5G - Google Patents
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Abstract
The invention provides a single base station positioning method based on 5G, which comprises the following steps: measuring and calculating the array direction vector of the circular antenna array by using a time division multiplexing technology; utilizing multiple subcarriers based on orthogonal frequency division multiplexing signals to carry out ranging according to the array direction vector to obtain a ranging result; and formulating a single base station positioning scheme based on 5G according to the ranging result. The method saves subcarrier resources, can be used for communication, reduces the measurement quantity of subcarrier phases, reduces the time for ranging and improves the ranging efficiency.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a single base station positioning method based on 5G.
Background
With the development of communication technology, location information is becoming important information on which people live and develop. Location-based services have been produced and become an emerging mobile internet industry with good prospects for development. The intelligent logistics and warehousing system has the advantages that various application scenes such as unmanned driving, intelligent medical treatment, intelligent logistics and warehousing provide fine requirements for higher positioning performance on position services, and higher standards are provided in the aspects of positioning accuracy, reliability, available range of the position services and the like. Therefore, the need to quickly and accurately obtain location information of a mobile terminal is becoming increasingly urgent. Although the big dipper navigation system, the united states global positioning system and the like in China have solved most of the positioning and navigation problems of outdoor scenes, the signal transmission attenuation of satellite signals is fast even completely shielded in complex environments such as urban canyons, and therefore high-performance and sustainable position service is difficult to provide. The combined positioning method of multiple base stations greatly improves the range and the precision of positioning service, but has requirements on the number of the base stations received by the terminal. In the case that only one base station can provide service, how to acquire accurate location information becomes a research hotspot. The industry and academia are seeking a high-precision and high-reliability single base station positioning technology to realize full-coverage navigation positioning service.
The base station positioning technology is mainly divided into two types: one is fingerprint library construction and matching, and the other is signal parameter estimation. The first fingerprint database construction and matching is mainly to collect characteristic parameters in a specific position area in advance and establish a fingerprint database by the one-to-one correspondence relationship between the characteristic parameters and the position information. When the positioning service is needed, the characteristic parameters acquired in real time are matched with the characteristic parameters in the fingerprint database, and the highest matching degree is selected as the positioning result. The method for positioning by using fingerprints is to extract and collect offline fingerprints. Meanwhile, in the matching process, the change of the environmental factors can cause the problem of failure of the fingerprint database. The second method uses the estimated parameters of the signal and the coordinates of the base station to perform the solution of the position of the mobile terminal. The method is used for estimating the relative distance between the vehicle and the base station and then matching the relative distance with the absolute position of the base station so as to obtain the absolute position of the measured vehicle. Each measurement technique has its degree of accuracy and complexity.
Under the condition that the single base station positioning technology is continuously developed, the requirement on the positioning accuracy is higher and higher. Currently, the single base station approach lacks the combination with the 5G features of the network, such as masivemimo, millimeter wave, ultra dense networks.
The development trend of 5G networks is well-established, and it is a hot spot of make internal disorder or usurp research to utilize new technical features to solve the positioning problem. In order to meet the communication interaction requirements in different scenes, 5G adopts a series of key technologies: the millimeter wave has larger spectrum resource development space, and can provide higher transmission bandwidth and more access devices; the large-scale antenna technology improves the gain in a certain direction through beam forming, and the defect of strong millimeter wave attenuation is compensated; although there have been many studies on 5G positioning technology, there is a lack of make internal disorder or usurp research on single base station positioning.
Disclosure of Invention
In view of the above, the present invention has been made to provide a 5G-based single base station positioning method that overcomes or at least partially solves the above-mentioned problems.
According to an aspect of the present invention, there is provided a 5G-based single base station positioning method, including:
measuring and calculating the array direction vector of the circular antenna array by using a time division multiplexing technology;
utilizing multiple subcarriers based on orthogonal frequency division multiplexing signals to carry out ranging according to the array direction vector to obtain a ranging result;
and formulating a single base station positioning scheme based on 5G according to the ranging result.
Optionally, the measuring and calculating the array direction vector of the circular antenna array by using the time division multiplexing technology specifically includes:
arranging a circular antenna array based on a time division multiplexing technology, arranging one antenna at the center of a circle, determining the antenna as the center of the circle, and uniformly distributing the other 6 antennas on the circumference;
taking the circle center antenna as a reference antenna, and respectively calculating phase differences of signals reaching the other antennas to obtain a direction vector a (theta, phi) of the array;
wherein the pitch angle theta is an included angle between a connecting line from an original point to the information source and the z axis, the azimuth angle phi is an included angle between the projection of the connecting line from the original point to the information source on the xOy plane and the x axis, R is the radius of the circular antenna array, M is the number of antennas in the array, and gamma ism2 pi M/M (M is 0,1,., M-1) is an included angle between the antenna and the x axis;
and obtaining angle measurement information of the signal by adopting an MUSIC algorithm according to the direction vector a (theta, phi).
Optionally, the performing, according to the array direction vector, the ranging by using multiple subcarriers based on signals of an orthogonal frequency division multiplexing technique specifically includes:
constructing a single base station positioning system based on 5G, which comprises a mobile node R and a fixed node S, wherein the mobile node R is provided with an antenna for receiving an orthogonal frequency division multiplexing technology signal and sending an angle measurement signal, and the fixed node S is provided with an antenna for transmitting the orthogonal frequency division multiplexing technology signal and receiving the angle measurement signal;
initializing the bandwidth of the OFDM signal sent from the fixed node S to the mobile node R as B and the center frequency as fcThe number of the sub-carriers contained in the OFDM technology signal is N, and N is more than or equal to 4;
selecting three frequencies f ═ f in N subcarriers according to the orthogonal frequency division multiplexing technology signal parameters sent by the fixed node S to the mobile node R1,fj,f3Using the sub-carrier as a ranging sub-carrier a ═ { a (1), a (j), a (3) }, where the data transmitted on a is c ═ c (1), c (j), c (3) }:
fj＝f2＝fc
wherein the content of the first and second substances,
denotes a rounding-down, a (j) denotes the j-th frequency of S transmission as fjC (j) represents the transmission data at a (j);
calculating the number of cycles of the ranging subcarrier a passing through the channel, specifically comprising: setting the ranging subcarrier, after receiving the jth ranging subcarrier a (j) sent by the fixed node S and undergoing channel attenuation, as R (j), and calculating the number of cycles, T (j), experienced by the ranging subcarrier a (j) in the channel transmission process according to a (j) and R (j), where the set of cycles corresponding to a is T ═ T (1), T (j), and T (3), where T (j) is an integer;
and calculating the distance D between the fixed node S and the mobile node R according to the periodicity.
Optionally, the calculating the distance D between the fixed node S and the mobile node R according to the number of cycles specifically includes:
reading the phase information in the data frame format file of the ranging sub-carrier a (j) to obtain the phase information set of the ranging sub-carrier a
Wherein
Sending phase information at a (j) time to the fixed node S;
reading phase information in a data frame format file of a ranging subcarrier R (j) received by the mobile node R to obtain a phase information set of three ranging subcarriers R (j) subjected to channel attenuation
Wherein the content of the first and second substances,
receiving phase information of a (j) ranging subcarrier R (j) sent by the fixed node S for the mobile node R;
computing
And
is not equal to
And according to
And the number of cycles t (j) calculating a distance set D ═ D (1), D (j), D (3) } of S and R corresponding to a (j), wherein D (j) is the distance between S and R corresponding to a (j);
let the distance difference threshold be DeltaDminAnd determining that | D (1) -D (j) | is less than or equal to Δ DminAnd delta D is less than or equal to | D (1) -D (3) |minAnd | D (j) -D (3) | is less than or equal to delta DminIf yes, calculating an average value D of D (1), D (j) and D (3) to obtain the distance from the fixed node S to the mobile node R;
otherwise, calculating the phase observation value of a (j) sent by the mobile node R receiving S to obtain a phase observation value set
And observing the three phases
And
and linear combination is carried out to obtain a phase observed value phi, wherein,
receiving the phase observed value of a (j) sent by S for the mobile node R;
calculating a wavelength observation value corresponding to phi to obtain a wavelength observation value lambda;
and calculating the distance D from the fixed node S to the mobile node R according to phi and lambda.
Optionally, the formulating a 5G-based single base station positioning scheme according to the ranging result specifically includes:
the message types include: a goniometric signal Message Poll Message initiated by said mobile node R;
an ofdm signal Message Response Message sent from the fixed node S to the mobile node R;
in the single base station positioning system based on 5G, the transceiving response process is as follows:
the fixed node S is in a Listen for Poll state and waits for receiving the test traffic signal Poll Message;
the mobile node R initiates a Poll Message of the angle measuring signal;
after receiving the Poll Message, the fixed node S sends one of the ofdm signal messages to the corresponding mobile node R;
the fixed node S sends an orthogonal frequency division multiplexing technology signal to the mobile node R, wherein the orthogonal frequency division multiplexing technology signal needs to carry self position and angle measurement information of the S;
and solving the estimated position of the mobile node R according to the self position, the angle measurement information and the distance measurement information.
Optionally, the jth frequency sent by the fixed node S is fjThe ranging subcarrier a (j) of (a), whose expression is:
Optionally, the number of cycles t (j) experienced by the ranging subcarrier a (j) during channel transmission is calculated according to the following formula:
optionally, the distance d (j) between the fixed node S and the mobile node R corresponding to the ranging subcarrier a (j) is calculated as:
wherein the content of the first and second substances,
is at a frequency fjThe wavelength of the ranging subcarrier a (j).
Optionally, the mobile node R receives the phase observation value of a (j) sent by the fixed node S
The phase observed value phi corresponding to the fixed node S is calculated according to the following formula:
N＝xN(1)+yN(2)+zN(3)
ε＝xε(1)+yε(2)+zε(3)
where p represents the true value of the geometric distance from the fixed node S to the mobile node R, and ε (j) is the phase observation
N (j) is a phase observation value
N is the phase ambiguity of the phase observation phi, epsilon is the phase noise of the phase observation phi, and x, y, z are linear combination coefficients.
Optionally, the wavelength observation value λ corresponding to the fixed node S, and the distance D between the fixed node S and the mobile node R respectively have the following calculation formulas:
D＝(N+φ+ε)λ
the phase observation value phi is a phase observation value corresponding to the fixed node S, N is the phase ambiguity of the phase observation value phi, epsilon is the phase noise of the phase observation value phi, and x, y and z are linear combination coefficients.
The invention provides a single base station positioning method based on 5G, which comprises the following steps: measuring and calculating the array direction vector of the circular antenna array by using a time division multiplexing technology; utilizing multiple subcarriers based on orthogonal frequency division multiplexing signals to carry out ranging according to the array direction vector to obtain a ranging result; and formulating a single base station positioning scheme based on 5G according to the ranging result. The method saves subcarrier resources, can be used for communication, reduces the measurement quantity of subcarrier phases, reduces the time for ranging and improves the ranging efficiency.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a design diagram of a single base station positioning method based on 5G according to an embodiment of the present invention;
fig. 2 is a flowchart of a single base station positioning method based on 5G according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the measurement and calculation of the array direction vector based on the TDM circular antenna array adopted in the present invention;
FIG. 4 is a data frame format file diagram of the ranging sub-carriers of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terms "comprises" and "comprising," and any variations thereof, in the present description and claims and drawings are intended to cover a non-exclusive inclusion, such as a list of steps or elements.
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1, referring to fig. 1-4, the present invention mainly comprises the following steps:
step 1) utilizing the TDM circular antenna array to carry out array direction vector measurement:
(1) a TDM based 6+1 circular antenna array is employed:
as shown in fig. 3, the TDM-based 6+1 circular antenna array used in this embodiment is arranged with one antenna at the center of a circle, and the remaining 6 antennas are uniformly distributed on the circumference. The antenna array is arranged on a base station, and an angle measuring signal transmitting antenna is installed at a mobile node end. The central antenna is kept in working state permanently, and the antennas on the other circumferences are switched to receive and measure signals on the antennas through a switch switching method. After receiving the first incoming wave signal, the antenna change-over switch is sequentially switched to each antenna at the interval of delta t, and then the antenna is switched to each antenna at t1,t2......tnN signals are received at a time. Power and thus cost may be reduced by time-division keyed antenna designs. The central antenna is adopted for ranging, the other antennas are used for DOA estimation, and the central antenna keeps the working state all the time, so that ranging information can be continuously obtained. And keeps the switch switching frequency synchronized with the ranging period. In actual circumstances, however, parts of the signal may be interrupted and lost due to object motion and environmental causes. In order to verify the robustness of the array antenna system, partial antennas can not receive data in simulation, and good angle measurement can still be obtained after simulationAccuracy, confirming the good robustness of the system.
(2) Calculating an antenna array direction vector:
after receiving the angle measurement signal sent by the mobile node, the base station takes the antenna at the center of the circle as a reference antenna, and respectively calculates the phase difference of the signal reaching each antenna to obtain the direction vector a (theta, phi) of the array:
wherein the pitch angle theta is an included angle between a connecting line from an original point to the information source and a z axis, the azimuth angle phi is an included angle between a projection of the connecting line from the original point to the information source on an xOy plane and an x axis, R is the radius of the circular antenna array, M is the number of antennas in the array, and gamma ism2 pi M/M (M0, 1.., M-1) is the angle between the antenna and the x-axis.
Step 2) carrying out ranging by using multiple subcarriers of the OFDM signal based on 5G communication:
(1) constructing a ranging system based on a 5G OFDM signal:
a distance measuring system based on OFDM signals and comprising a mobile node R and a base station S is constructed, wherein an antenna for receiving the OFDM signals is configured on the R, and an antenna for transmitting the OFDM signals is configured on the S.
(2) Initializing OFDM signal parameters sent by a base station S to a mobile node R:
initializing the bandwidth of the OFDM signal sent by the base station S to the mobile node R as B and the center frequency as fcThe number of the sub-carriers contained in the OFDM signal is N, and N is more than or equal to 4. In this embodiment, the bandwidth B of the OFDM signal is set to 480MHz, and the center frequency f is setcThe OFDM signal includes N121 subcarriers at 5 GHz.
(3) Obtaining a ranging subcarrier sent by a base station S to a mobile node R:
according to each base station SiSelecting three frequencies f ═ f in N subcarriers according to OFDM signal parameters transmitted to mobile node R1,fj,f3Using the sub-carrier as the ranging sub-carrier ai＝{ai(1),ai(j),ai(3)}，aiData transmitted at the upper part is ci＝{ci(1),ci(j),ci(3)}：
fj＝f2＝fc
Wherein the content of the first and second substances,
denotes rounding down, ai(j) Denotes SiTransmitted j at frequency fjOf the ranging sub-carrier, ci(j) Denotes ai(j) To transmit data. Ranging subcarrier ai(j) The expression of (a) is:
wherein exp (-) represents an exponential function, transmitting data ci(j) The value of (a) is a value on a QPSK constellation, the frequencies of the three ranging subcarriers are selected according to the Fisher-Tropsch information F, and the calculation formula is as follows:
wherein ω isc＝2πfc，
N0Is the noise power spectral density, E, of the OFDM signalTIs the maximum total energy transmitted, N in this example0＝1，ETF ═ F can be found by the formula for FcMaximizing three measurements according to the definition of the lower boundary of Cramer RowThe frequency distance from the subcarrier can improve the ranging precision, so that the frequency of three ranging subcarriers is f in the embodiment1＝4.76GHz，fj＝f2＝fc＝5GHz，f3＝5.24GHz。
(4) Calculating ranging subcarrier aiNumber of cycles through the channel:
let R receive SiTransmitted jth ranging subcarrier ai(j) The ranging subcarrier after channel attenuation is Ri(j) According to ai(j) And Ri(j) Calculating ranging subcarrier ai(j) Number of cycles T experienced during transmission of a channeli(j) Then a isiCorresponding set of period numbers as Ti＝{Ti(1),Ti(j),Ti(3) Where T isi(j) Are integers. T is a unit ofi(j) The calculation formula of (2) is as follows:
(5) calculate each base station SiDistance D to mobile node Ri：
(5a) Reading ranging subcarrier ai(j) A in the data frame format filei(j) Obtaining the ranging sub-carrier aiPhase information set of
Wherein
Denotes SiSending ai(j) Phase information of the time. The data frame format file diagram of the ranging sub-carrier is shown in fig. 4: the data frame format file comprises a 2-byte frame header, wherein the frame header comprises a 1-byte equipment ID which indicates a signal transmitted from which base station; a 1-byte check frame containing phase information when signals are transmitted and received, for checking data; the longitude and latitude height of the transmitting antenna is respectively 8 bytes, and the total number is 24 bytes; subcarrier ID one byte, which indicates which measurement to measureThe signal from the subcarrier. In the present embodiment, the first and second electrodes are,
(5b) reading ranging subcarrier R received by mobile node Ri(j) R in the data frame format filei(j) To obtain Ri(j) Phase information set of three ranging subcarriers after channel attenuation
Wherein the content of the first and second substances,
indicating that the mobile node R receives SiA of transmissioni(j) Of the ranging sub-carrier Ri(j) The phase information of (1).
(5c) Calculating out
And
is not equal to
And according to
And the number of cycles Ti(j) Calculating ai(j) Corresponding SiSet of distances D from Ri＝{Di(1),Di(j),Di(3) In which D isi(j) Denotes ai(j) Corresponding SiDistance from R. Di(j) The calculation formula of (2) is as follows:
wherein the content of the first and second substances,
is at a frequency fjOf the ranging sub-carrier ai(j) The wavelength of (a), in this embodiment,
(6d) let the distance difference threshold be Δ DminAnd judging | Di(1)-Di(j)|≤ΔDminAnd | Di(1)-Di(3)|≤ΔDminAnd | Di(j)-Di(3)|≤ΔDminIf true, calculate Di(1)、Di(j) And Di(3) Average value D ofiGet each base station SiDistance set D to mobile node R ═ D1,…,Di,…DqAnd otherwise, executing the step (5 e). DiThe calculation formula of (2) is as follows:
in this example,. DELTA.Dmin＝0.05m。
(5e) Calculating mobile node R reception SiA of transmissioni(j) Obtaining a set of phase observations
And observing the three phases
And
linear combination is carried out to obtain a phase observation value set phi ═ phi { [ phi ]1,…,φi,…,φqAnd (c) the step of (c) in which,
indicating that the mobile node R receives SiA of transmissioni(j) Of the phase observed value phiiDenotes SiThe corresponding phase observations. Phase observationMeasured value phiiThe calculation formulas of (A) and (B) are respectively as follows:
Ni＝xNi(1)+yNi(2)+zNi(3)
εi＝xεi(1)+yεi(2)+zεi(3)
where ρ isiDenotes SiTrue value of the geometric distance to the mobile node R, εi(j) Represent
Phase noise of (2), Ni(j) To represent
Phase ambiguity of, NiIs indicative of phiiOf phase ambiguity, ∈iIs indicative of phiiX, y, z are linear combining coefficients, the selection of which is associated with the ranging sub-carrier ai(j) Frequency f ofjIn relation to this, the linear combination coefficient calculation formula is as follows:
where t is any non-zero constant, in this embodiment, ρ1＝ρ2＝ρ3＝ρ4＝2m，Ni∈[-0.1π，0.1π]，ε1＝ε2＝ε3＝0.01π，
x＝0.476，y＝0.500，z＝0.524。
(5f) Calculating the wave corresponding to phiObtaining a long observation value, and obtaining a wavelength observation value set lambda ═ lambda { [ lambda ]1,…,λi,…,λqAnd calculating each base station S according to phi and lambdaiDistance set D to mobile node R ═ D1,…,Di,…DqIn which λ isiDenotes SiCorresponding wavelength observation, DiDenotes SiAnd R. Lambda [ alpha ]iAnd DiThe calculation formulas of (A) and (B) are respectively as follows:
Di＝(Ni+φi+εi)λi
wherein phi isiDenotes SiCorresponding phase observation, NiIs indicative of phiiOf phase ambiguity, ∈iIs indicative of phiiX, y, z are linear combination coefficients, in this embodiment, Ni∈[-0.1π，0.1π]，ε1＝ε2＝ε3＝0.01π，x＝0.476，y＝0.500，z＝0.524。
Step 3) single base station positioning scheme based on 5G:
(1) there are two main message types:
poll Message: and the mobile node R sends an angle measurement signal message to inform the base station end of angle measurement estimation.
Response Message: the OFDM signal information sent by the base station S to the mobile node R contains the corresponding angle measurement information and the position of the base station, and the distance measurement work can be completed through multiple carriers.
(2) The specific receiving and sending response process is as follows:
in a 5G-based single base station positioning system, as shown in fig. 1, a specific transceiving response process is as follows:
(b1) the base station S is in a Listen for Poll state and waits for receiving the Poll Message;
(b2) the mobile node R initiates a Poll Message to request angle measurement and distance measurement information;
(b3) after receiving the Poll Message, the base station S sends a Response Message to the corresponding mobile node R, where the Response Message includes an OFDM signal Message of the required information.
(a) The OFDM signal sent by the base station S to the mobile node R needs to carry the self position and angle measurement information of the S, and the node R can be solved to obtain the estimated position of the mobile node R by adding the obtained distance measurement information after receiving the OFDM signal sent by the S.
Suppose the location of the base station is (x)S,yS,zS)TThe estimated position of the mobile node is (x)R,yR,zR)TThe distance is d, the pitch angle is theta, and the azimuth angle is phi. The estimated position (x) of the mobile node R can be obtained from FIG. 3R,yR,zR)TComprises the following steps:
the technical effects of the present invention will be further explained below with reference to experimental data:
1. the experimental conditions are as follows:
the experimental environment was: area of 1000m2Left and right continuous outdoor track and field areas.
The hardware equipment is as follows: two wonderful notebook computers provided with intel 5300 network cards externally connected with antennas, wherein one notebook computer used for sending OFDM signals and receiving angle measuring signals is provided with 8 antennas, and the other computer used for sending angle measuring signals and receiving OFDM signals is provided with 2 antennas.
The software platform is as follows: the Ubuntu 14.04 operating system and the CSITool toolbox module.
2. And (3) analyzing the experimental content and the result:
the results of comparative experiments on the root mean square error of the positioning of the present invention and the prior art are shown in table 1.
TABLE 1 error Table for the method of the present invention and the existing positioning method
The positioning error calculation formula is as follows:
where σ represents the error between the estimated position obtained by the present invention and the true position, (x)R,yR,zR)TRepresents the estimated position of the mobile node R measured using the method of the invention, (x)T,yT,zT)TRepresenting the true location of the mobile node R.
It can be seen by combining the numerical expressions given in table 1 that the positioning error of the present invention is smaller than that of the prior art method under the condition that the signal-to-noise ratio of the OFDM signal is the same.
Has the advantages that: the invention adopts the TDM-based 6+1 circular antenna array to carry out array direction vector measurement, thereby saving frequency spectrum resources and reducing power consumption; the array antenna time division keying design adopted by the invention has good DOA estimation performance under the condition that partial angle measuring signals are interrupted or lost; meanwhile, the invention reduces the mutual interference generated during the ranging of a plurality of subcarriers and improves the ranging precision by using the subcarriers in the OFDM signals based on the 5G communication for ranging. Through the mode, the positioning precision is improved, and a new thought and a new method are provided for the future research make internal disorder or usurp of the single-base-station positioning algorithm.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, 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. A single base station positioning method based on 5G is characterized in that the positioning method comprises the following steps:
measuring and calculating the array direction vector of the circular antenna array by using a time division multiplexing technology;
utilizing multiple subcarriers based on orthogonal frequency division multiplexing signals to carry out ranging according to the array direction vector to obtain a ranging result;
and formulating a single base station positioning scheme based on 5G according to the ranging result.
2. The single base station positioning method based on 5G as claimed in claim 1,
the measuring and calculating the array direction vector of the circular antenna array by using the time division multiplexing technology specifically comprises the following steps:
arranging a circular antenna array based on a time division multiplexing technology, arranging one antenna at the center of a circle, determining the antenna as the center of the circle, and uniformly distributing the other 6 antennas on the circumference;
taking the circle center antenna as a reference antenna, and respectively calculating phase differences of signals reaching the other antennas to obtain a direction vector a (theta, phi) of the array;
wherein the pitch angle theta is an included angle between a connecting line from an original point to the information source and the z axis, the azimuth angle phi is an included angle between the projection of the connecting line from the original point to the information source on the xOy plane and the x axis, R is the radius of the circular antenna array, M is the number of antennas in the array, and gamma ism2 pi M/M (M is 0,1,., M-1) is an included angle between the antenna and the x axis;
and obtaining angle measurement information of the signal by adopting an MUSIC algorithm according to the direction vector a (theta, phi).
3. The method as claimed in claim 1, wherein the performing ranging using the multiple subcarriers based on the ofdm signals according to the array direction vector specifically comprises:
constructing a single base station positioning system based on 5G, which comprises a mobile node R and a fixed node S, wherein the mobile node R is provided with an antenna for receiving an orthogonal frequency division multiplexing technology signal and sending an angle measurement signal, and the fixed node S is provided with an antenna for transmitting the orthogonal frequency division multiplexing technology signal and receiving the angle measurement signal;
initializing the bandwidth of the OFDM signal sent from the fixed node S to the mobile node R as B and the center frequency as fcThe number of the sub-carriers contained in the OFDM technology signal is N, and N is more than or equal to 4;
selecting three frequencies f ═ f in N subcarriers according to the orthogonal frequency division multiplexing technology signal parameters sent by the fixed node S to the mobile node R1,fj,f3Using the sub-carrier as a ranging sub-carrier a ═ { a (1), a (j), a (3) }, where the data transmitted on a is c ═ c (1), c (j), c (3) }:
fj＝f2＝fc
wherein the content of the first and second substances,
denotes a rounding-down, a (j) denotes the j-th frequency of S transmission as fjC (j) represents the transmission data at a (j);
calculating the number of cycles of the ranging subcarrier a passing through the channel, specifically comprising: setting the ranging subcarrier, after receiving the jth ranging subcarrier a (j) sent by the fixed node S and undergoing channel attenuation, as R (j), and calculating the number of cycles, T (j), experienced by the ranging subcarrier a (j) in the channel transmission process according to a (j) and R (j), where the set of cycles corresponding to a is T ═ T (1), T (j), and T (3), where T (j) is an integer;
and calculating the distance D between the fixed node S and the mobile node R according to the periodicity.
4. The method as claimed in claim 1, wherein the calculating the distance D between the fixed node S and the mobile node R according to the number of cycles includes:
reading the phase information in the data frame format file of the ranging sub-carrier a (j) to obtain the phase information set of the ranging sub-carrier a
Wherein
Sending phase information at a (j) time to the fixed node S;
reading phase information in a data frame format file of a ranging subcarrier R (j) received by the mobile node R to obtain a phase information set of three ranging subcarriers R (j) subjected to channel attenuation
Wherein the content of the first and second substances,
receiving phase information of a (j) ranging subcarrier R (j) sent by the fixed node S for the mobile node R;
computing
And
is not equal to
And according to
And the number of cycles t (j) calculating a (j) corresponding set of distances D between S and R { D (1), D (j), D (3) }, where D (j) is a (j) corresponding distance between S and R;
let the distance difference threshold be DeltaDminAnd determining that | D (1) -D (j) | is less than or equal to Δ DminAnd delta D is less than or equal to | D (1) -D (3) |minAnd | D (j) -D (3) | ≦ Δ DminIf yes, calculating an average value D of D (1), D (j) and D (3) to obtain the distance from the fixed node S to the mobile node R;
otherwise, calculating the phase observation value of a (j) sent by the mobile node R receiving S to obtain a phase observation value set
And observing the three phases
And
linear combination is carried out to obtain a phase observation value phi, wherein,
receiving the phase observed value of a (j) sent by S for the mobile node R;
calculating a wavelength observation value corresponding to phi to obtain a wavelength observation value lambda;
and calculating the distance D from the fixed node S to the mobile node R according to phi and lambda.
5. The method as claimed in claim 4, wherein the step of formulating a 5G-based single base station positioning scheme according to the ranging result specifically comprises:
the message types include: a goniometric signal Message Poll Message initiated by said mobile node R; an ofdm signal Message Response Message sent from the fixed node S to the mobile node R;
in the single base station positioning system based on 5G, the transceiving response process is as follows:
the fixed node S is in a Listen for Poll state and waits for receiving the test traffic signal Poll Message;
the mobile node R initiates a Poll Message of the angle measuring signal;
after receiving the Poll Message, the fixed node S sends one of the ofdm signal messages to the corresponding mobile node R;
the fixed node S sends an orthogonal frequency division multiplexing technology signal to the mobile node R, wherein the orthogonal frequency division multiplexing technology signal needs to carry self position and angle measurement information of the S;
and solving the estimated position of the mobile node R according to the self position, the angle measurement information and the distance measurement information.
6. The 5G-based single base station positioning method according to claim 3, wherein the j-th frequency transmitted by the fixed node S is fjThe ranging subcarrier a (j) of (a), whose expression is:
7. The method of claim 3, wherein the calculating the number of cycles t (j) experienced by the ranging sub-carrier a (j) during the channel transmission is according to the following formula:
8. the 5G-based single base station positioning method according to claim 4, wherein the fixed node S and the mobile node corresponding to the ranging sub-carriers a (j)The distance D (j) between R is calculated by the formula:
wherein the content of the first and second substances,
is at a frequency fjThe wavelength of the ranging subcarrier a (j).
9. The 5G-based single base station positioning method according to claim 4, wherein the mobile node R receives the phase observation of a (j) sent by the fixed node S
The phase observed value phi corresponding to the fixed node S is calculated according to the following formula:
N＝xN(1)+yN(2)+zN(3)
ε＝xε(1)+yε(2)+zε(3)
where p represents the true value of the geometric distance from the fixed node S to the mobile node R, and ε (j) is the phase observation
N (j) is a phase observation value
N is the phase ambiguity of the phase observation phi, epsilon is the phase noise of the phase observation phi, and x, y, z are linear combination coefficients.
10. The method as claimed in claim 4, wherein the fixed node S corresponds to a wavelength observation λ, and the distance D between the fixed node S and the mobile node R is calculated according to the following formula:
D＝(N+φ+ε)λ
the phase observation value phi is a phase observation value corresponding to the fixed node S, N is the phase ambiguity of the phase observation value phi, epsilon is the phase noise of the phase observation value phi, and x, y and z are linear combination coefficients.
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