CN114466452A - Indoor high-precision positioning system and method based on 5G - Google Patents
Indoor high-precision positioning system and method based on 5G Download PDFInfo
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- CN114466452A CN114466452A CN202210365533.4A CN202210365533A CN114466452A CN 114466452 A CN114466452 A CN 114466452A CN 202210365533 A CN202210365533 A CN 202210365533A CN 114466452 A CN114466452 A CN 114466452A
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The invention relates to the technical field of wireless communication networks, and provides a 5G-based indoor high-precision positioning system and a method, which comprises the following steps: the invention overcomes the defects of singly adopting AOA positioning and 5G positioning, and greatly reduces the deployment cost of the base station while improving the high-precision positioning coverage.
Description
Technical Field
The invention relates to the technical field of wireless communication networks, in particular to a 5G-based indoor high-precision positioning system and method, and the membership classification is H04W 4/02.
Background
With the gradual improvement of the living standard of people and the continuous progress of wireless communication technology, the demand of people for indoor positioning and navigation is increasing day by day, and especially in complex indoor environments such as airport halls, exhibition halls, supermarkets, parking lots and the like, the position information of the mobile terminal in the room is often and urgently needed to be determined. In addition, with the rise of domestic smart cities, the demand for indoor positioning is also stimulated. Therefore, the development of indoor positioning technology research and related product development has good market application prospect and economic and social benefits.
At present, the latest bluetooth 5.1 standard introduces an angle of arrival (aoa) (angle of arrival) characteristic, senses the arrival of a signal of a transmitting node through bluetooth 5.1 equipment, calculates the relative azimuth or angle between a receiving node and the transmitting node, and then calculates the position of an unknown node by using a triangulation method or other methods, wherein the positioning accuracy can reach centimeter level.
However, in the actual use environment of indoor stadiums, the following problems exist:
(1) the frequency band of the Bluetooth channel has more interference signals, and when the quality of the Bluetooth signals is weaker, the interference is easily caused, the positioning precision is influenced, the positioning error is enlarged, and the point position drift is caused;
(2) the high-precision coverage area is small, when the direction angle is larger than 50 degrees, the positioning precision is reduced and the positioning is unstable, so that more base stations need to be arranged to realize high-precision positioning coverage, and the cost is higher;
(3) more base stations need to be deployed, each base station needs to be deployed with a data line and a power line, the construction and debugging of equipment are complex, and more importantly, the construction is complex, and the potential damage risk to the exhibition items in the museum is caused by too many wiring lines;
(4) with the development of 5G, more and more indoor venues deploy 5G indoor sub-base stations, and 5G indoor positioning is also concerned more; at present, 5G indoor positioning accuracy can reach the meter level, but to the application scene in museum, showcase, exhibit locating position press close to, and this kind of positioning accuracy can't satisfy most scene user demand in the museum.
Disclosure of Invention
In order to solve the above problem, the present invention provides a 5G-based indoor high-precision positioning system and method to solve the problem.
In order to achieve the purpose, the invention provides the following technical scheme:
A5G-based indoor high-precision positioning system comprises: the mobile terminal, the 5G Lampsite base station, the MEC edge computing platform and the coordinate receiving terminal, wherein the 5G Lampsite base station collects signals sent by the mobile terminal, the output end of the 5G Lampsite base station is connected with the input end of the MEC edge computing platform, the output end of the MEC edge computing platform is connected with the input end of the coordinate receiving terminal, the MEC edge computing platform resolves the signals processed by the 5G Lampsite base station and sends the resolved coordinates to the coordinate receiving terminal.
Preferably, the 5G Lampsite base station includes: indoor basic station of 5G and bluetooth AOA basic station, the installation of indoor basic station of 5G and bluetooth AOA basic station integral type forms the integral type basic station, and the integral type basic station is provided with the multiunit, and indoor basic station of 5G and bluetooth AOA basic station are used for receiving and handle the signal that mobile terminal sent to with the signal transmission who has handled to MEC edge computing platform.
Preferably, the MEC edge computing platform comprises: the integrated base station judges whether a Bluetooth arrival angle is smaller than 50 degrees and a Bluetooth signal value RSSI is stable in received signals, sends the signals with the Bluetooth arrival angle smaller than 50 degrees and the Bluetooth signal value RSSI stable to the Bluetooth AOA positioning engine for resolving, sends the signals with the Bluetooth arrival angle larger than or equal to 50 degrees and the Bluetooth signal value RSSI unstable to the 5G & AOA combined resolving positioning engine for resolving, obtains coordinates of the mobile terminal after the resolving of the Bluetooth AOA positioning engine and the 5G & AOA combined resolving positioning engine is completed, and sends the coordinates of the mobile terminal to the coordinate receiving terminal.
Preferably, the coordinate receiving terminal includes: the system comprises a mobile cloud, a mobile network, a platform server and an application server.
A5G-based indoor high-precision positioning method comprises the following steps:
s1: the mobile terminal sends the 5G signal and the Bluetooth signal to the integrated base station;
s2: the integrated base station judges whether the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable in the received signals;
s3: when the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable, the integrated base station transmits signals to a Bluetooth AOA positioning engine to calculate the position, and transmits coordinate information to a coordinate receiving terminal after calculation is finished; when the Bluetooth arrival angle is larger than 50 degrees and the Bluetooth signal value RSSI is unstable, the integrated base station transmits signals to a 5G & AOA joint calculation positioning engine to calculate the coordinates of the mobile terminal by using a joint position calculation method, and transmits the coordinate information of the mobile terminal to a coordinate receiving terminal after the calculation is finished.
Preferably, the joint position solution method includes the steps of:
s4: constructing a positioning model diagram, and establishing an equation based on the measurement distance L and the arrival angle theta;
s5: and converting the nonlinear relation between the integrated base station and the mobile terminal into a linear relation, obtaining positioning straight lines through the linear relation and the multiple groups of integrated base stations, and determining possible position points of the mobile terminal by the intersection points of the positioning straight lines.
S6: a plurality of possible position points are obtained through the step S5, position point screening is performed by using a weighted least square method, coordinates of the mobile terminal are obtained, and then the MEC edge computing platform sends the coordinates to the coordinate receiving terminal.
S7: if possible position points which do not meet the requirements are screened in the step S6, determining a plurality of positioning straight lines according to the measured values of the N base stations, screening straight line intersection points, calculating objective function values corresponding to all the possible position points, calculating the coordinates of the mobile terminal by using the normalized reciprocal as a weight factor, and then sending the coordinates to a coordinate receiving terminal by the MEC edge calculation platform.
Preferably, in the step S4, a positioning model map is constructed, the distances L between the mobile terminal and the signals of the base stations are measured, and the following equation is established according to the distance measurement values and the pythagorean theorem:
at the same time, the following equation can be established from the angle-of-arrival measurements at the integral base station BSi:
the coordinates of the mobile terminal are (x, y), and the coordinates of the integrated base station are (x)BSi,yBSi) L represents a signal propagation distance determined from the signal arrival time measurement, followed by performing the step S5;
preferably, in the step S5, the nonlinear relationship between the one-piece base station and the mobile terminal is converted into a linear relationship, and for BSi and BSj, the following relationships are obtained:
(ii) a Subtracting the two formulas to obtain
(ii) a Therefore, the linear relation among the integrated base station BSi, the integrated base station BSj and the mobile terminal can be determined, and N (N) is>3) One integral base station can obtain CN 3The strips locating the straight line and simultaneously consisting of
Knowing that the mobile terminal is in presence of the integrated base station BSiθiOn a straight line at the corner, so that C is obtained in totalN 3+ N positioning lines, the intersection points of which are used to determine the possible location of the mobile terminal, and then performing step S6;
preferably, in the step S6, a plurality of possible location points are obtained through the step S5, and since the measured distance value is often greater than the actual distance due to the influence of the error of the environmental factors such as the obstacle, the location of the mobile terminal must satisfy the formula:
and the real position of the mobile terminal meets minF (x) by using a weighted least square method, wherein
；
(ii) a By using
The positioning intersection points of the straight lines are screened and utilized
The normalized reciprocal of the objective function value performs weighting processing on the coordinates of possible position points of the mobile terminal to improve positioning accuracy, sends the screened coordinates of the mobile terminal to the coordinate receiving terminal, and if no possible position point meeting the requirement exists after screening, executes step S7.
Preferably, in the step S7, when the formula is not satisfied
At the position point of (2), based on the measured values of the N base stations
，
To determine CN 3+ N positioning lines according to the formula
Screening the intersection points of the straight lines, wherein the screening result is the possible position points of the mobile terminal, the total number of the screening results is M, and all the possible points (x) are calculatedk,yk) Corresponding objective function value Fk，
(ii) a Using FkUsing the normalized reciprocal of the equation as a weight factor to calculate the coordinates of the mobile terminal
And then the MEC edge computing platform sends the mobile terminal coordinates to the coordinate receiving terminal.
The invention has the advantages that:
(1) the defects of independently adopting AOA positioning and independently adopting 5G positioning are overcome, coordinate calculation is carried out by using an MEC edge computing platform, and finally stable coordinates are output, so that a set of better high-precision positioning system can be provided for museums and other indoor positioning;
(2) the limitation of small coverage and high deployment cost of a traditional Bluetooth AOA positioning system is effectively solved, the scale of the system and the deployment cost of the system are greatly reduced, the 5G positioning technology is introduced into an AOA positioning blind area, the AOA positioning blind area is effectively reduced, the stability and the robustness of the system are improved, two core problems of positioning precision and positioning coverage are solved, and integrated communication and positioning coverage are realized;
(3) the communication network and the positioning network are integrated, the synchronous construction and the maintenance of the communication network and the positioning network are simple, and great convenience is brought to the infrastructure of the museum.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a system flowchart of a 5G-based indoor high-precision positioning system and method according to the present invention;
FIG. 2 is a flow chart of the integrated base station signal processing of the present invention;
FIG. 3 is a schematic diagram of a settlement area of the integrated base station of the present invention;
FIG. 4 is a flow chart of a joint position solution method of the present invention;
FIG. 5 is a diagram of a positioning model in the joint position solution method of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Example (b):
with reference to fig. 1, a 5G-based indoor high-precision positioning system includes: the mobile terminal, the 5G Lampsite base station, the MEC edge computing platform and the coordinate receiving terminal, wherein the 5G Lampsite base station collects signals sent by the mobile terminal, the output end of the 5G Lampsite base station is connected with the input end of the MEC edge computing platform, the output end of the MEC edge computing platform is connected with the input end of the coordinate receiving terminal, the MEC edge computing platform resolves the signals processed by the 5G Lampsite base station and sends the resolved coordinates to the coordinate receiving terminal.
The 5G Lampsite base station comprises: the 5G indoor base station and the Bluetooth AOA base station are installed in an integrated mode, the 5G indoor base station and the Bluetooth AOA base station form an integrated base station, the integrated base station is provided with a plurality of groups, the 5G indoor base station and the Bluetooth AOA base station are used for receiving and processing signals sent by the mobile terminal and sending the processed signals to the MEC edge computing platform, due to the fact that a large number of 5G indoor base stations (leather base stations and indoor branch antennas) are arranged in a venue, data channels and power supply networks are naturally provided for positioning data return of the Bluetooth AOA base stations, the arrangement density of the Bluetooth AOA base stations and the arrangement density of the 5G indoor base stations are close to 1:1, the excellent conditions of combined installation and combined return are provided, and the 5G network is established to provide convenience for power supply, transmission and arrangement in the aspect of a position network. The network and the positioning network are fused, the two synchronous infrastructures are complete, the overall cost is greatly reduced, the Bluetooth AOA base station and the 5G indoor base station are installed in an all-in-one mode, a mobile phone or a navigator held by a viewer transmits a 5G signal and a Bluetooth positioning signal, the integrated base station processes the signals after receiving the signals, and the signals are transmitted to an MEC edge computing platform through a 5G backbone network to start a corresponding positioning engine to solve the position.
The MEC edge computing platform includes: the integrated base station judges whether a Bluetooth arrival angle is smaller than 50 degrees and whether a Bluetooth signal value RSSI is stable in received signals, the integrated base station sends signals with the Bluetooth arrival angle smaller than 50 degrees and the Bluetooth signal value RSSI is stable to the Bluetooth AOA positioning engine for calculation, the integrated base station sends signals with the Bluetooth arrival angle larger than or equal to 50 degrees and the Bluetooth signal value RSSI is unstable to the 5G & AOA combined calculation positioning engine for calculation, coordinates of the mobile terminal are obtained after the Bluetooth AOA positioning engine and the 5G & AOA combined calculation positioning engine finish calculation, the coordinates of the mobile terminal are sent to the coordinate receiving terminal, the MEC edge calculation platform provides edge calculation resources, and the MEC edge calculation platform is combined with a 5G network to be deployed by a user and further reduce the time delay of the user network, can provide a calculation platform for positioning technology, the unified deployment of the positioning resolving service is met, and a unified external interface is provided to provide position information for the real-time calling of the third-party application service. Meanwhile, the MEC edge computing platform provides computing power for various positioning resolving services and application services, cooperatively fuses various positioning contents, realizes the possibility of combining various different positioning technologies, better provides position services for various positioning applications, and provides more valuable services through position big data.
The description is given by referring to fig. 2, wherein H is the installation height of the base station all-in-one machine, when the mobile terminal is in a 1.5H area, the RSSI of the bluetooth signal value is stable, the direction angle is less than 50 degrees, the positioning is stable, and the positioning accuracy is high; when the mobile terminal is in the 1.5H-2.5H area, the RSSI (received signal strength indicator) of the Bluetooth signal value is unstable, the direction angle is larger than 50 degrees, the positioning is extremely unstable, and the positioning precision is reduced.
The coordinate receiving terminal includes: the system comprises a mobile cloud, a mobile network, a platform server and an application server.
A5G-based indoor high-precision positioning method comprises the following steps:
s1: the mobile terminal sends the 5G signal and the Bluetooth signal to the integrated base station;
s2: the integrated base station judges whether the Bluetooth arrival angle is smaller than 50 degrees and whether the Bluetooth signal value RSSI is stable in the received signals;
s3: when the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable, the integrated base station transmits signals to a Bluetooth AOA positioning engine to calculate the position, and transmits coordinate information to a coordinate receiving terminal after calculation is finished; when the Bluetooth arrival angle is larger than 50 degrees and the Bluetooth signal value RSSI is unstable, the integrated base station transmits signals to a 5G & AOA joint calculation positioning engine to calculate the coordinates of the mobile terminal by using a joint position calculation method, and transmits the coordinate information of the mobile terminal to a coordinate receiving terminal after the calculation is finished.
As explained in conjunction with fig. 4, the joint position solution method includes the following steps:
s4: constructing a positioning model diagram, and establishing an equation based on the measurement distance L and the arrival angle theta;
s5: and converting the nonlinear relation between the integrated base station and the mobile terminal into a linear relation, obtaining positioning straight lines through the linear relation and the multiple groups of integrated base stations, and determining possible position points of the mobile terminal by the intersection points of the positioning straight lines.
S6: a plurality of possible position points are obtained through the step S5, position point screening is performed by using a weighted least square method, coordinates of the mobile terminal are obtained, and then the MEC edge computing platform sends the coordinates to the coordinate receiving terminal.
S7: if possible position points which do not meet the requirements are screened in the step S6, determining a plurality of positioning straight lines according to the measured values of the N base stations, screening straight line intersection points, calculating objective function values corresponding to all the possible position points, calculating the coordinates of the mobile terminal by using the normalized reciprocal as a weight factor, and then sending the coordinates to a coordinate receiving terminal by the MEC edge calculation platform.
Referring to fig. 5, in the step S4, a positioning model map is constructed, distances L between signals of the mobile terminal and each base station are measured, and the following equations are established according to the distance measurement values and the pythagorean theorem
At the same time, the following equation can be established from the angle-of-arrival measurements at the integral base station BSi:
wherein the mobile terminal coordinates are (x, y), and the integrated base station seatIs marked as (x)BSi,yBSi) L represents a signal propagation distance determined from the signal arrival time measurement, followed by performing the step S5;
in the step S5, the nonlinear relationship between the one-piece base station and the mobile terminal is converted into a linear relationship, and for BSi and BSj, the following may be obtained:
(ii) a Subtracting the two formulas to obtain
(ii) a Therefore, the linear relation among the integrated base station BSi, the integrated base station BSj and the mobile terminal can be determined, and N (N) is>3) One integral base station can obtain CN 3The strips locate the straight line and are formed by the equation
Knowing that the mobile terminal is in theta with the integrated base station BSiiOn a straight line at the corner, so that C is obtained in totalN 3+ N positioning lines, the intersection points of which are used to determine the possible location of the mobile terminal, and then performing step S3;
in the step S6, a plurality of possible location points can be obtained through the step S5, and the measured distance value is often greater than the actual distance due to the influence of the error of environmental factors such as obstacles, so the location of the mobile terminal must satisfy the formula:
and the real position of the mobile terminal meets minF (x) by using a weighted least square method, wherein
；
(ii) a Benefit to
The positioning intersection points of the straight lines are screened, and the method is beneficial to
The normalized reciprocal of the objective function value performs weighting processing on the coordinates of possible position points of the mobile terminal to improve positioning accuracy, sends the screened coordinates of the mobile terminal to the coordinate receiving terminal, and if no possible position point meeting the requirement exists after screening, executes step S7.
In the step S7, when the public is not satisfied
At the position point of (2), based on the measured values of the N base stations
，
To determine + N positioning straight lines according to the formula
Screening the intersection points of the straight lines, wherein the screening result is the possible position points of the mobile terminal, the total number of the screening results is M, and all the possible points (x) are calculatedk,yk) Corresponding objective function value Fk 
(ii) a Using FkThe normalized reciprocal of (a) is used as a weighting factor to calculate the mobile terminal coordinates,
and then the MEC edge computing platform sends the mobile terminal coordinates to the coordinate receiving terminal.
The working principle of the invention is as follows: the mobile terminal sends the 5G signal and the Bluetooth signal to the integrated base station;
the integrated base station judges whether the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable in the received signals; when the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable, the integrated base station transmits signals to a Bluetooth AOA positioning engine to calculate the position, and transmits coordinate information to a coordinate receiving terminal after calculation is finished; when the Bluetooth arrival angle is larger than 50 degrees and the Bluetooth signal value RSSI is unstable, the integrated base station transmits signals to the 5G & AOA combined solution positioning engine to use a combined position solution method to solve the coordinates of the mobile terminal, and transmits the coordinate information of the mobile terminal to the coordinate receiving terminal after the solution is completed.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (10)
1. A5G-based indoor high-precision positioning system is characterized by comprising: the mobile terminal, the 5G Lampsite base station, the MEC edge computing platform and the coordinate receiving terminal, wherein the 5G Lampsite base station collects signals sent by the mobile terminal, the output end of the 5G Lampsite base station is connected with the input end of the MEC edge computing platform, the output end of the MEC edge computing platform is connected with the input end of the coordinate receiving terminal, the MEC edge computing platform resolves the signals processed by the 5G Lampsite base station and sends the resolved coordinates to the coordinate receiving terminal.
2. The 5G-based indoor high-precision positioning system of claim 1, wherein the 5G Lampsite base station comprises: indoor basic station of 5G and bluetooth AOA basic station, the installation of indoor basic station of 5G and bluetooth AOA basic station integral type forms the integral type basic station, and the integral type basic station is provided with the multiunit, and indoor basic station of 5G and bluetooth AOA basic station are used for receiving and handle the signal that mobile terminal sent to with the signal transmission who has handled to MEC edge computing platform.
3. The 5G-based indoor high-precision positioning system of claim 2, wherein the MEC edge computing platform comprises: the integrated base station judges whether a Bluetooth arrival angle is smaller than 50 degrees and a Bluetooth signal value RSSI is stable in received signals, sends the signals with the Bluetooth arrival angle smaller than 50 degrees and the Bluetooth signal value RSSI stable to the Bluetooth AOA positioning engine for resolving, sends the signals with the Bluetooth arrival angle larger than or equal to 50 degrees and the Bluetooth signal value RSSI unstable to the 5G & AOA combined resolving positioning engine for resolving, obtains coordinates of the mobile terminal after the resolving of the Bluetooth AOA positioning engine and the 5G & AOA combined resolving positioning engine is completed, and sends the coordinates of the mobile terminal to the coordinate receiving terminal.
4. The 5G-based indoor high-precision positioning system according to claim 3, wherein the coordinate receiving terminal comprises: the system comprises a mobile cloud, a mobile network, a platform server and an application server.
5. A5G-based indoor high-precision positioning method is characterized by comprising the following steps:
s1: the mobile terminal sends the 5G signal and the Bluetooth signal to the integrated base station;
s2: the integrated base station judges whether the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable in the received signals;
s3: when the Bluetooth arrival angle is smaller than 50 degrees and the Bluetooth signal value RSSI is stable, the integrated base station transmits signals to a Bluetooth AOA positioning engine to calculate the position, and transmits coordinate information to a coordinate receiving terminal after calculation is finished; when the Bluetooth arrival angle is larger than 50 degrees and the Bluetooth signal value RSSI is unstable, the integrated base station transmits signals to a 5G & AOA joint calculation positioning engine to calculate the coordinates of the mobile terminal by using a joint position calculation method, and transmits the coordinate information of the mobile terminal to a coordinate receiving terminal after the calculation is finished.
6. The 5G-based indoor high-precision positioning method according to claim 5, wherein the joint position calculation method comprises the following steps:
s4: constructing a positioning model diagram, and establishing an equation based on the measurement distance L and the arrival angle theta;
s5: converting a nonlinear relation between the integrated base station and the mobile terminal into a linear relation, obtaining positioning straight lines through the linear relation and the multiple groups of integrated base stations, and determining possible position points of the mobile terminal by the intersection points of the positioning straight lines;
s6: obtaining a plurality of possible position points through the step 5, screening the position points by using a weighted least square method to obtain the coordinates of the mobile terminal, and then sending the coordinates to a coordinate receiving terminal by the MEC edge computing platform;
s7: if possible position points which do not meet the requirements are screened in the step S6, determining a plurality of positioning straight lines according to the measured values of the N base stations, screening straight line intersection points, calculating objective function values corresponding to all the possible position points, calculating the coordinates of the mobile terminal by using the normalized reciprocal as a weight factor, and then sending the coordinates to a coordinate receiving terminal by the MEC edge calculation platform.
7. A5G-based chamber according to claim 6The internal high-precision positioning method is characterized in that in the step S4, a positioning model graph is constructed, the distances L from the mobile terminal to the signals of each base station are measured, and the following equations are established according to the respective distance measurement values and the pythagorean theorem:
at the same time, the following equation can be established from the angle-of-arrival measurements at the integral base station BSi:
the coordinates of the mobile terminal are (x, y), and the coordinates of the integrated base station are (x)BSi,yBSi) And L denotes a signal propagation distance determined from the signal arrival time measurement, followed by performing step S5.
8. The method as claimed in claim 7, wherein the step S5 is implemented to convert a non-linear relationship between the one-piece BS and MT into a linear relationship, and BSi and BSj can be obtained
(ii) a Subtracting the above two equations can obtain:
(ii) a Therefore, the linear relation among the integrated base station BSi, the integrated base station BSj and the mobile terminal can be determined, and N (N) is>3) One integral base station can obtain CN 3The strips locate the straight line and are formed by the equation
Knowing that the mobile terminal is on a line with the BSi at an angle θ i, a total C can be obtainedN 3+ N positioning barsThe line, the intersection of which is used to determine the possible location of the mobile terminal, is located, and then the step S6 is performed.
9. The 5G-based indoor high-precision positioning method according to claim 8, wherein in the step S6, a plurality of possible position points are obtained through the step S5, and the measured distance value is often greater than the actual distance due to the influence of the error of environmental factors such as obstacles, so the position of the mobile terminal must satisfy the formula:
and the real position of the mobile terminal meets minF (x) by using a weighted least square method, wherein
；
；
(ii) a By using
The positioning intersection points of the straight lines are screened and utilized
The normalized reciprocal of the objective function value performs weighting processing on the coordinates of possible position points of the mobile terminal to improve positioning accuracy, the screened coordinates of the mobile terminal are sent to a coordinate receiving terminal, and if no possible position point meeting the requirement exists after screening, the step S7 is executed.
10. The 5G-based indoor high-precision positioning method according to claim 9, wherein in the step S7, when the formula is not satisfied
At the position point of (2), according to the measured value sum of N base stations
，
To determine CN 3+ N positioning lines, according to
Screening the intersection points of the straight lines, wherein the screening result is the possible position points of the mobile terminal, the total number of the screening results is M, and all the possible points (x) are calculatedk,yk) Corresponding objective function value Fk，
(ii) a Using FkUsing the normalized reciprocal of the equation as a weight factor to calculate the coordinates of the mobile terminal
And then the MEC edge computing platform sends the mobile terminal coordinates to the coordinate receiving terminal.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114814919A (en) * | 2022-06-21 | 2022-07-29 | 东南大学 | Fusion positioning system and positioning method based on pseudolite and UWB |
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| CN116887404A (en) * | 2023-09-09 | 2023-10-13 | 江苏蓝策电子科技有限公司 | Bluetooth ibeacon and AOA fusion positioning based method and system |
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