CN114584918A - Indoor positioning method, related equipment and computer readable storage medium - Google Patents

Indoor positioning method, related equipment and computer readable storage medium Download PDF

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Publication number
CN114584918A
CN114584918A CN202011380650.5A CN202011380650A CN114584918A CN 114584918 A CN114584918 A CN 114584918A CN 202011380650 A CN202011380650 A CN 202011380650A CN 114584918 A CN114584918 A CN 114584918A
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information
channel
channel characteristic
positioning
library
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张四海
王先敏
蓝天
朱近康
倪锐
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University of Science and Technology of China USTC
Huawei Technologies Co Ltd
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University of Science and Technology of China USTC
Huawei Technologies Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4053—Scaling of whole images or parts thereof, e.g. expanding or contracting based on super-resolution, i.e. the output image resolution being higher than the sensor resolution
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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  • General Physics & Mathematics (AREA)
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  • Mobile Radio Communication Systems (AREA)

Abstract

The application provides an indoor positioning method, related equipment and a computer readable storage medium, which are used for improving the positioning accuracy of terminal equipment on the basis of increasing the quantity of channel characteristic information. The method comprises the following steps: when the first spatial position of the terminal device is determined to be known, updating a channel feature library based on the acquired first channel feature information; training based on the updated channel feature library, and increasing the quantity of channel feature information included in the updated channel feature library; acquiring first channel characteristic compensation information corresponding to the channel characteristic library with the increased channel characteristic information quantity based on the channel characteristic library with the increased channel characteristic information quantity; and positioning the terminal equipment by the positioning server or the terminal equipment based on the channel characteristic library and the first channel characteristic compensation information after the quantity of the channel characteristic information is increased.

Description

Indoor positioning method, related equipment and computer-readable storage medium
Technical Field
The present application relates to the field of wireless communication technologies, and in particular, to an indoor positioning method, a related device, and a computer-readable storage medium.
Background
Positioning technology based on wireless communication can be used for positioning indoors or outdoors, so that users can conveniently navigate, find people or find objects and the like. For indoor positioning, since satellite signals are weak and cannot penetrate buildings when reaching the ground, positioning cannot be performed in an indoor environment by using a Global Positioning System (GPS), and positioning is generally performed by using a wireless communication method, for example, positioning is performed by using a bluetooth beacon, wireless fidelity (Wi-Fi) or a macro base station-based positioning technology.
A typical method based on the Wi-Fi positioning technology is to use a positioning technology based on Received Signal Strength Indicator (RSSI) to achieve positioning. The RSSI-based positioning technique is implemented based on an energy attenuation model of electromagnetic waves propagating in free space. The received strength of the signal attenuates with the increase of the propagation distance, the distance between the receiving side and the transmitting side can be estimated according to the received strength of the signal received by the receiving side and a wireless signal fading model, and the position of the receiving side or the transmitting side can be calculated according to a plurality of estimated distance values.
However, the RSSI data is easily affected by environmental interference factors (e.g. human body occlusion, people stream influence or movement of a moving object) and time fluctuation, so that the accurate position of the terminal device cannot be determined according to the received signal strength, and a large error occurs in the positioning result.
At present, the acquired RSSI data, namely the channel characteristic information, can be enhanced to obtain more dense channel characteristic information at the same channel characteristic information acquisition cost, so that a better positioning accuracy target can be obtained. For example, in the off-line stage, the positioning server stores the channel feature information acquired by the terminal device or other off-line acquisition devices to obtain an off-line channel feature library. Then, the positioning server trains based on the channel characteristic information acquired offline, and an offline enhanced channel characteristic library of more channel characteristic information than the channel characteristic information acquired in the offline stage is obtained. Then, at the present stage, the terminal device is located by the location server or the terminal device based on the offline enhanced channel feature library.
However, in the current positioning method based on the increase of the amount of the channel characteristic information, the result of the increase of the amount of the channel characteristic information is directly adopted to perform the matching of the channel characteristic information, and the channel characteristic information error brought in the process of the increase of the amount of the channel characteristic information is ignored, so that the improvement of the positioning accuracy is limited.
Disclosure of Invention
The embodiment of the application provides an indoor positioning method, related equipment and a computer readable storage medium, which are used for improving the positioning accuracy of terminal equipment on the basis of increasing the quantity of channel characteristic information.
In a first aspect, the present application provides a wireless positioning method, including: the method comprises the steps that a plurality of pieces of first channel characteristic information of a plurality of access devices based on a first space position of a terminal device are obtained, the access devices correspond to the first channel characteristic information one by one, and any one piece of first channel characteristic information in the first channel characteristic information comprises Received Signal Strength Indication (RSSI) data of the access device corresponding to any one piece of first channel characteristic information at the first space position; further, when it is determined that the first spatial location is known, updating a channel feature library based on the plurality of first channel feature information, where the channel feature library before updating includes a plurality of second channel feature information, and any one of the plurality of second channel feature information includes RSSI data of an access device corresponding to the any one of the plurality of second channel feature information at any one of a plurality of reference points RP; further, training is carried out based on the updated channel characteristic library, and the quantity of the channel characteristic information included in the updated channel characteristic library is increased; further, based on the channel feature library with the increased number of the channel feature information, acquiring first channel feature compensation information corresponding to the channel feature library with the increased number of the channel feature information; further, the terminal device is located based on the channel feature library with the increased channel feature information quantity and the first channel feature compensation information, or the channel feature library with the increased channel feature information quantity and the first channel feature compensation information are sent to the terminal device, and the terminal device is located based on the channel feature library with the increased channel feature information quantity and the first channel feature compensation information.
By adopting the design, when the first spatial position of the terminal equipment is unknown, the positioning server can update the channel characteristic library and increase the quantity of the channel characteristic information included in the updated channel characteristic library, so that the aim of reducing the quantity of a plurality of first channel characteristic information under the condition that the finally obtained channel characteristic quantity is not changed can be fulfilled, and the RSSI data acquisition cost can be reduced. Furthermore, the terminal device is positioned based on the channel feature library and the first channel feature compensation information after the number of the channel feature information is increased, so that errors of a plurality of first channel feature information can be reduced, the accuracy of the first position information of the terminal device obtained through calculation can be improved, the accuracy of positioning the terminal device can be improved, and the user experience is facilitated to be improved.
In one possible design, the location server may store second channel characteristic compensation information corresponding to the channel characteristic library before the update; the method may further comprise: and when the first spatial position is determined to be unknown, positioning the terminal equipment based on the channel feature library before updating and the second channel feature compensation information, or sending the channel feature library before updating and the second channel feature compensation information to the terminal equipment, and positioning the terminal equipment by the terminal equipment based on the channel feature library before updating and the second channel feature compensation information.
By adopting the design, when the first spatial position of the terminal equipment is unknown, the terminal equipment is positioned based on the channel feature library before updating and the second channel feature compensation information corresponding to the channel feature library before updating, so that errors existing in a plurality of second channel feature information can be reduced, the accuracy of the first position information of the terminal equipment obtained by calculation can be improved, the accuracy of positioning the terminal equipment can be improved, and the user experience is facilitated to be improved.
In one possible design, the plurality of first channel characteristics information may be sent by the plurality of access devices, the any first channel characteristics information may further include a multi-antenna beam pattern of the access device corresponding to the any first channel characteristics information, the plurality of first channel characteristics information may be obtained by the plurality of access devices detecting the wireless positioning detection waveform transmitted by the terminal device, and the multi-antenna beam pattern may be a multi-antenna beam pattern of the access device when detecting the any first channel characteristics information; alternatively, the plurality of first channel characteristic information may be sent by the terminal device, and the plurality of first channel characteristic information may be obtained by the terminal device listening to a wireless signal sent by each of the plurality of access devices.
By adopting the design, in the process of obtaining the plurality of first channel characteristic information, because the difference of the multi-antenna beam patterns of the access equipment is considered, the situation that the positioning accuracy is reduced due to the error of the acquired RSSI data caused by the change of the multi-antenna beam patterns can be avoided, and further, the positioning accuracy can be improved.
In a possible design, training is performed based on an updated channel feature library, and increasing the number of channel feature information included in the updated channel feature library may specifically include: converting the plurality of first channel characteristic information into a low-resolution channel characteristic image, and converting the plurality of second channel characteristic information into a first high-resolution channel characteristic image; amplifying the low-resolution channel characteristic image based on a preset multiple to obtain a second high-resolution channel characteristic image corresponding to the low-resolution channel characteristic image; training a preset super-resolution network model based on the first high-resolution channel characteristic image to obtain a trained super-resolution network model; performing super-resolution recovery processing on the second high-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of third channel characteristic information; assigning corresponding spatial positions to other channel characteristic information except the first channel characteristic information in the third channel characteristic information; the plurality of first channel characteristic information and the other channel characteristic information after the space position is given constitute the channel characteristic library after the number of the channel characteristic information is increased.
By adopting the design, the plurality of first channel characteristic information are converted into the low-resolution channel characteristic images, the low-resolution channel characteristic images are amplified to obtain the second high-resolution channel characteristic images, the super-resolution network model obtained after the training is carried out on the basis of the plurality of second channel characteristic information converted into the first high-resolution characteristic information images is used for carrying out super-resolution recovery processing on the second high-resolution channel characteristic images, more channel characteristic information can be obtained, the purpose of reducing the number of reference points under the condition that the finally obtained channel characteristic number is not changed can be achieved, and the RSSI data acquisition cost can be reduced.
In a possible design, based on the channel feature library with the increased number of channel feature information, obtaining first channel feature compensation information corresponding to the channel feature library with the increased number of channel feature information may specifically include: testing the trained super-resolution network model by adopting test data to obtain a test error; performing super-resolution recovery processing on the low-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of fourth channel characteristic information; and acquiring the first channel characteristic compensation information based on the plurality of fourth channel characteristic information and the test error.
By adopting the design, the super-resolution recovery operation is carried out on the low-resolution channel characteristic images corresponding to the plurality of first channel characteristic information based on the trained super-resolution network model, the plurality of fourth channel characteristic information is obtained, the first channel characteristic compensation information can be obtained through the difference between the plurality of fourth channel characteristic information and the plurality of first channel characteristic information, the difference of the channel characteristic information brought in the process of obtaining the first channel characteristic library can be conveniently considered, and further, the positioning precision of the terminal equipment can be improved.
In one possible design, when the first channel characteristic information is obtained for the first time, the test data may be the second channel characteristic information; alternatively, when the plurality of first channel characteristic information is acquired for the second time or after the second time, the test data may be the first location information.
By adopting the above design, the trained super-resolution model is tested by adopting the plurality of second channel characteristic information under the condition that the plurality of first channel characteristic information are obtained for the first time, or the trained super-resolution model is tested by adopting the first position information under the condition that the plurality of first channel characteristic information are obtained for the second time, so that the test error can be conveniently obtained and updated, and further, the first channel characteristic compensation information corresponding to the first channel characteristic library can be conveniently obtained and updated.
In one possible design, the method may further include: sending a first positioning result obtained by positioning the terminal equipment to the terminal equipment, wherein the first positioning result comprises first position information of the terminal equipment obtained by calculation; receiving first feedback information sent by the terminal equipment, wherein the first feedback information is used for indicating whether the first positioning result meets a preset positioning requirement or not; or receiving second feedback information sent by the terminal device, where the second feedback information is used to indicate whether a second positioning result of the terminal device meets the preset positioning requirement, and the second feedback information carries the first position information, where the first position information is obtained by calculation of the terminal device.
By adopting the design, whether the user is satisfied with the positioning result at present can be conveniently determined, and further, the positioning server can execute corresponding operation according to the feedback opinions of the user, so that the positioning requirement of the user can be met, and the user experience can be favorably improved.
In one possible design, the method may further include: when the first positioning result is determined to not meet the preset positioning requirement based on the first feedback information or the second positioning result is determined to not meet the preset positioning requirement based on the second feedback information, combining the first position information and the plurality of first channel characteristic information to obtain combined information; replacing the plurality of first channel characteristic information with the combined information, returning to execute updating a channel characteristic library based on the plurality of first channel characteristic information when the first spatial position is determined to be known, or executing positioning on the terminal equipment based on the channel characteristic library and the second channel characteristic compensation information when the first spatial position is determined to be unknown, or sending the channel characteristic library and the second channel characteristic compensation information to the terminal equipment until the first positioning result or the second positioning result meets the preset positioning requirement.
By adopting the design, the positioning server can execute the positioning process of the terminal equipment again when determining that the first positioning result does not meet the preset positioning requirement, so that the first positioning result meeting the preset positioning requirement can be obtained, and meanwhile, the error of the stored channel feature library can be reduced.
In one possible design, the method may further include: and receiving first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information from the terminal equipment.
By adopting the design, the positioning server can send the corresponding channel characteristic library and the channel characteristic compensation information corresponding to the channel characteristic library to the terminal equipment when the terminal equipment needs the channel characteristic library and the channel characteristic compensation information. For example, when the first spatial position is known, the positioning server may send the channel feature library and the first channel feature compensation information, which are obtained by increasing the number of the channel feature information, to the terminal device, or, when the first spatial position is unknown, may send the channel feature library and the second channel feature compensation information, which are obtained before updating, to the terminal device.
In a possible design, updating the channel characteristic library based on the plurality of first channel characteristic information may specifically include: updating the channel feature library in a sliding time window based on the first channel feature information, wherein the sliding time window comprises a plurality of time periods which are sequenced according to time sequence.
By adopting the design, the channel characteristic library is updated in the sliding time window based on the first channel characteristic information, so that the influence of environmental change on the errors of the first channel characteristic information (RSSI data) can be reduced, and the positioning accuracy can be further improved.
In a second aspect, the present application further provides a wireless positioning method, including: acquiring a channel characteristic library and channel characteristic compensation information sent by a positioning server; performing channel characteristic compensation on the channel characteristic library based on the channel characteristic compensation information; positioning calculation is carried out on the terminal equipment based on a channel feature library after channel feature compensation, and first position information of the terminal equipment is obtained; or receiving a first positioning result sent by the positioning server, where the first positioning result includes the first location information, and the first location information is calculated by the positioning server.
By adopting the design, the terminal device performs channel characteristic compensation based on the channel characteristic library and the channel characteristic compensation information from the positioning server to obtain the channel characteristic library after channel characteristic compensation, and can be used for reducing errors of a plurality of first channel characteristic information. Furthermore, when the terminal device performs positioning calculation on the terminal device based on the channel feature library after channel feature compensation, the accuracy of the calculated first position information of the terminal device can be improved, the accuracy of positioning the terminal device can be improved, and user experience is facilitated to be improved. The terminal equipment can also be positioned through the positioning server, so that the processing power consumption of the terminal equipment can be reduced.
In a possible design, performing positioning calculation on a terminal device based on a channel feature library after channel feature compensation to obtain first location information of the terminal device may specifically include: acquiring a plurality of first channel characteristic information of a plurality of access devices based on a first space position of the terminal device, wherein the plurality of access devices are in one-to-one correspondence with the plurality of first channel characteristic information, and any one of the plurality of first channel characteristic information comprises RSSI data of the access device at the first space position corresponding to the any one of the first channel characteristic information and a first multi-antenna beam pattern of the RSSI data; selecting channel characteristic information of the multi-antenna beam pattern with the similarity with the first multi-antenna beam pattern larger than a preset value from the channel characteristic library after channel characteristic compensation; and based on the channel characteristic information and the plurality of first channel characteristic information, performing positioning calculation on the terminal equipment to obtain the first position information.
With the above design, when the terminal device is located, the difference of the multi-antenna beam patterns corresponding to the channel characteristic information may be considered, so that the channel characteristic information of the multi-antenna beam pattern having a similarity of a first multi-beam antenna pattern corresponding to any one of the plurality of first channel characteristic information greater than a preset value may be selected, the channel characteristic information corresponding to the multi-antenna beam pattern having a larger difference from the first multi-antenna beam pattern may be ignored, and further, the accuracy of the calculated first location information of the terminal device may be improved, and the accuracy of locating the terminal device may be improved.
In one possible design, the plurality of first channel characteristics information may be transmitted by the plurality of access devices, the plurality of first channel characteristics information may be obtained by the plurality of access devices listening to the wireless positioning sounding waveform transmitted by the terminal device, and the first multi-antenna beam pattern may be a multi-antenna beam pattern of the access device when listening to any one of the first channel characteristics information; alternatively, the plurality of first channel characteristic information may be obtained for the terminal device listening to a wireless signal transmitted by each of the plurality of access devices.
By adopting the design, in the process of obtaining the plurality of first channel characteristic information, because the difference of the multi-antenna beam patterns of the access equipment is considered, the situation that the positioning accuracy is reduced due to the error of the acquired RSSI data caused by the change of the multi-antenna beam patterns can be avoided, and further, the positioning accuracy can be improved.
In one possible design, the method may further include: sending first feedback information to the positioning server, wherein the first feedback information is used for indicating whether a first positioning result of the terminal equipment meets a preset positioning requirement or not; or sending second feedback information to the positioning server, where the second feedback information is used to indicate whether a second positioning result obtained by performing positioning calculation on the terminal device meets the preset positioning requirement, and the second feedback information carries the first position information.
By adopting the design, whether the user is satisfied with the positioning result at present can be conveniently determined, and further, the positioning server can execute corresponding operation according to the feedback opinions of the user, so that the positioning requirement of the user can be met, and the user experience can be favorably improved.
In one possible design, the method may further include: and sending first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information to the positioning server.
By adopting the design, the terminal equipment can request the positioning server to send the corresponding channel characteristic library and the channel characteristic compensation information when the channel characteristic library and the channel characteristic compensation information corresponding to the channel characteristic library are needed, and further, the terminal equipment can be conveniently positioned based on the channel characteristic library and the channel characteristic compensation information from the positioning server, and the positioning precision of the terminal equipment can be improved.
In one possible design, the method may further include: acquiring a current wireless signal list, wherein the wireless signal list can be one of a Wi-Fi signal list, a Bluetooth signal list, a UWB signal list and a LoRa signal list; acquiring a required Service Set Identifier (SSID) based on the wireless signal list; and periodically acquiring RSSI data of a plurality of RPs according to a preset time length on the basis of the SSID, and sending the acquired RSSI data to the positioning server.
By adopting the design, the terminal equipment can periodically acquire the RSSI data of each access equipment at each reference point based on the needed service set identifier SSID, and can conveniently acquire and distinguish the RSSI data of each access equipment at each reference point for multiple times. Furthermore, the positioning server can update the channel characteristic library in a sliding time window based on the received RSSI data from the terminal equipment, so that the influence of environment change on a plurality of first channel characteristic information (RSSI data) errors can be reduced, and the positioning accuracy can be improved.
In a third aspect, the present application further provides a positioning server, including:
a transceiver module, configured to acquire multiple pieces of first channel characteristic information of multiple access devices based on a first spatial location of a terminal device, where the multiple access devices are in one-to-one correspondence with the multiple pieces of first channel characteristic information, and any one of the multiple pieces of first channel characteristic information includes Received Signal Strength Indication (RSSI) data of an access device at the first spatial location corresponding to any one piece of first channel characteristic information;
a processing module, configured to update a channel feature library based on the plurality of first channel feature information when it is determined that the first spatial location is known, where the channel feature library before update includes a plurality of second channel feature information, and any one of the plurality of second channel feature information includes RSSI data of an access device, corresponding to the any one of the plurality of second channel feature information, at any one of a plurality of reference points RP among the plurality of access devices; training based on the updated channel feature library, and increasing the quantity of channel feature information included in the updated channel feature library; acquiring first channel characteristic compensation information corresponding to the channel characteristic library with the increased channel characteristic information quantity based on the channel characteristic library with the increased channel characteristic information quantity; positioning the terminal equipment based on the channel feature library with the increased channel feature information quantity and the first channel feature compensation information;
the transceiver module is further configured to send the channel feature library with the increased number of channel feature information and the first channel feature compensation information to the terminal device, and the terminal device locates the terminal device based on the channel feature library with the increased number of channel feature information and the first channel feature compensation information.
In one possible design, the positioning server stores second channel characteristic compensation information corresponding to the channel characteristic library before updating; the processing module may be further operable to: when the first spatial position is determined to be unknown, positioning the terminal equipment based on the channel feature library before updating and the second channel feature compensation information;
the transceiver module may be further configured to: and sending the channel feature library before updating and the second channel feature compensation information to the terminal equipment, and positioning the terminal equipment by the terminal equipment based on the channel feature library before updating and the second channel feature compensation information.
In a possible design, the multiple first channel characteristic information may be sent by the multiple access devices, the any first channel characteristic information may further include a multiple-antenna beam pattern of an access device corresponding to the any first channel characteristic information, the multiple first channel characteristic information may be obtained by the multiple access devices listening to the wireless positioning sounding waveform transmitted by the terminal device, and the multiple-antenna beam pattern may be a multiple-antenna beam pattern of the access device when listening to the any first channel characteristic information; alternatively, the plurality of first channel characteristic information may be sent by the terminal device, and the plurality of first channel characteristic information may be obtained by the terminal device listening to a wireless signal sent by each of the plurality of access devices.
In a possible design, when the processing module is configured to perform training based on an updated channel feature library and increase the number of channel feature information included in the updated channel feature library, the processing module may specifically be configured to: converting a plurality of first channel characteristic information into a low-resolution channel characteristic image, and converting a plurality of second channel characteristic information into a first high-resolution channel characteristic image; amplifying the low-resolution channel characteristic image based on a preset multiple to obtain a second high-resolution channel characteristic image corresponding to the low-resolution channel characteristic image; training a preset super-resolution network model based on the first high-resolution channel characteristic image to obtain a trained super-resolution network model; performing super-resolution recovery processing on the second high-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of third channel characteristic information; assigning corresponding spatial positions to other channel characteristic information except the first channel characteristic information in the third channel characteristic information; the channel characteristic library with the increased number of the channel characteristic information is formed by the plurality of first channel characteristic information and other channel characteristic information after the space position is given.
In a possible design, when the processing module is configured to obtain, based on the channel feature library with the increased number of channel feature information, first channel feature compensation information corresponding to the channel feature library with the increased number of channel feature information, the processing module may be specifically configured to: testing the trained super-resolution network model by adopting test data to obtain a test error; performing super-resolution recovery processing on the low-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of fourth channel characteristic information; and acquiring the first channel characteristic compensation information based on the plurality of fourth channel characteristic information and the test error.
In one possible design, when the first channel characteristic information is obtained for the first time, the test data may be the second channel characteristic information; alternatively, when the plurality of first channel characteristic information is acquired for the second time or after the second time, the test data may be the first location information.
In one possible design, the transceiver module may be further configured to: sending a first positioning result obtained by positioning the terminal device to the terminal device, where the first positioning result may include, but is not limited to, first location information of the terminal device obtained through calculation; receiving first feedback information sent by the terminal device, where the first feedback information may be used to indicate whether the first positioning result meets a preset positioning requirement; or receiving second feedback information sent by the terminal device, where the second feedback information may be used to indicate whether a second positioning result of the terminal device meets the preset positioning requirement, the second feedback information may carry the first position information, and the first position information may be calculated for the terminal device.
In one possible design, the processing module may be further configured to: when the first positioning result is determined to not meet the preset positioning requirement based on the first feedback information or the second positioning result is determined to not meet the preset positioning requirement based on the second feedback information, combining the first position information and the plurality of first channel characteristic information to obtain combined information; replacing the plurality of first channel characteristic information with the combined information, returning to execute updating a channel characteristic library based on the plurality of first channel characteristic information when the first spatial position is determined to be known, or executing positioning on the terminal equipment based on the channel characteristic library and the second channel characteristic compensation information when the first spatial position is determined to be unknown, or sending the channel characteristic library and the second channel characteristic compensation information to the terminal equipment until the first positioning result or the second positioning result meets the preset positioning requirement.
In one possible design, the transceiver module may be further configured to: and receiving first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information from the terminal equipment.
In one possible design, the processing module, when configured to update the channel feature library based on the plurality of first channel feature information, may be specifically configured to: updating the channel feature library in a sliding time window based on the plurality of first channel feature information, wherein the sliding time window comprises a plurality of time periods which are ordered according to chronological order.
In a fourth aspect, the present application further provides a terminal device, including:
the receiving and sending module is used for acquiring a channel characteristic library and channel characteristic compensation information sent by the positioning server;
the processing module is used for carrying out channel characteristic compensation on the channel characteristic library based on the channel characteristic compensation information; positioning calculation is carried out on the terminal equipment based on a channel feature library after channel feature compensation, and first position information of the terminal equipment is obtained;
the transceiver module is further configured to receive a first positioning result sent by the positioning server, where the first positioning result includes the first location information, and the first location information is calculated by the positioning server.
In a possible design, when the processing module is configured to perform positioning calculation on the terminal device based on the channel feature library after channel feature compensation to obtain the first location information of the terminal device, the processing module may be specifically configured to: acquiring a plurality of first channel characteristic information of a plurality of access devices based on a first space position of the terminal device, wherein the plurality of access devices are in one-to-one correspondence with the plurality of first channel characteristic information, and any one of the plurality of first channel characteristic information comprises RSSI data of the access device at the first space position corresponding to the any one of the first channel characteristic information and a first multi-antenna beam pattern of the RSSI data; selecting channel characteristic information of the multi-antenna beam pattern with the similarity with the first multi-antenna beam pattern larger than a preset value from the channel characteristic library after channel characteristic compensation; and based on the channel characteristic information and the plurality of first channel characteristic information, performing positioning calculation on the terminal equipment to obtain the first position information.
In one possible design, the plurality of first channel characteristics information may be transmitted by the plurality of access devices, the plurality of first channel characteristics information may be obtained by the plurality of access devices listening to the wireless positioning sounding waveform transmitted by the terminal device, and the first multi-antenna beam pattern may be a multi-antenna beam pattern of the access device when listening to any one of the first channel characteristics information; alternatively, the plurality of first channel characteristic information may be obtained by the terminal device listening to a wireless signal transmitted by each of the plurality of access devices.
In one possible design, the transceiver module may be further configured to: sending first feedback information to the positioning server, wherein the first feedback information is used for indicating whether a first positioning result of the terminal equipment meets a preset positioning requirement or not; or sending second feedback information to the positioning server, where the second feedback information is used to indicate whether a second positioning result obtained by performing positioning calculation on the terminal device meets the preset positioning requirement, and the second feedback information carries the first position information.
In one possible design, the transceiver module may be further configured to: and sending first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information to the positioning server.
In one possible design, the transceiver module may be further configured to: acquiring a current wireless signal list, wherein the wireless signal list is one of a Wi-Fi signal list, a Bluetooth signal list, a UWB signal list and a LoRa signal list; acquiring a required Service Set Identifier (SSID) based on the wireless signal list; and periodically acquiring RSSI data of a plurality of RPs according to a preset time length on the basis of the SSID, and sending the acquired RSSI data to the positioning server.
In a fifth aspect, the present application further provides a positioning server, where the positioning server has a function of implementing the method in the first aspect or any one of the possible designs of the first aspect, and the function may be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, such as a transceiver module and a processing module.
In one possible design, the positioning server may also be a chip or an integrated circuit.
In one possible design, the positioning server may include a memory and a processor, the memory being used for storing a program executed by the processor, and when the program is executed by the processor, the positioning server may perform the method as described in the first aspect or any one of the possible designs of the first aspect.
In a sixth aspect, the present application further provides a positioning server, including: one or more processors and one or more memories; the one or more memories store one or more computer programs; the one or more computer programs stored by the one or more memories, when executed by the one or more processors, cause the positioning server to perform the method of the first aspect or any one of the possible designs of the first aspect.
In a seventh aspect, the present application further provides a computer-readable storage medium, which stores computer-readable instructions, and when the computer-readable instructions are read and executed by a computer, the computer-readable instructions cause the method according to the first aspect or any one of the possible designs according to the first aspect to be performed.
In an eighth aspect, the present application further provides a computer program product having computer readable instructions stored thereon, which when invoked, cause the first aspect or any one of the possible design methods of the first aspect to be performed.
In a ninth aspect, the present application further provides a chip, which can be coupled to a memory in a positioning server, and is configured to call a computer program stored in the memory and execute the method of the first aspect and any one of the possible designs thereof.
Advantageous effects in the fifth to ninth aspects and possible designs thereof described above may be made with reference to the description of the advantageous effects of the method described in the first aspect and any one of the possible designs thereof described above.
In a tenth aspect, the present application further provides a terminal device, where the terminal device has a function of implementing the method in any one of the above second aspect and possible designs of the second aspect, and the function may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, such as a transceiver module and a processing module.
In one possible design, the terminal device may also be a chip or an integrated circuit.
In one possible design, the terminal device may include a memory and a processor, the memory being used to store a program executed by the processor, and when the program is executed by the processor, the terminal device may perform the method of the second aspect or any one of the possible designs of the second aspect.
In an eleventh aspect, the present application further provides a terminal device, including: one or more processors and one or more memories; the one or more memories store one or more computer programs; the one or more computer programs stored by the one or more memories, when executed by the one or more processors, cause the terminal device to perform the second aspect described above or any one of the possible designs of the second aspect described above.
In a twelfth aspect, the present application further provides a computer-readable storage medium, which stores computer-readable instructions, and when the computer-readable instructions are read and executed by a computer, the computer-readable storage medium causes the second aspect or any one of the possible design methods of the second aspect to be executed.
In a thirteenth aspect, the present application further provides a computer program product storing computer readable instructions which, when invoked, cause the second aspect or any one of the possible devised methods of the second aspect to be performed.
In a fourteenth aspect, the present application further provides a chip, which can be coupled to a memory in a terminal device, and is configured to call a computer program stored in the memory and execute the method of the second aspect and any one of the possible designs thereof.
Advantageous effects in the tenth to fourteenth aspects and possible designs thereof described above may be referred to the above description of advantageous effects of the method described in the second aspect and any one of the possible designs thereof.
In a fifteenth aspect, the present application further provides a wireless communication system including a positioning server and a terminal device. The positioning server is configured to perform the steps performed by the positioning server in the first aspect or in the scheme provided in the embodiment of the present application; the terminal device is configured to execute the steps executed by the terminal device in the second aspect or the scheme provided in the embodiment of the present application.
In a possible design, the wireless communication system may further include other devices, such as an access device, interacting with the positioning server or the terminal device in the solution provided in this embodiment, which is not specifically limited in this embodiment of the present application.
Drawings
Fig. 1 is a schematic architecture diagram of a communication system according to an embodiment of the present application;
fig. 2 is a schematic architecture diagram of a communication system according to an embodiment of the present application;
fig. 3 is a schematic architecture diagram of a communication system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a distribution of reference points provided by an embodiment of the present application;
fig. 5 is a flowchart illustrating a wireless positioning method according to an embodiment of the present application;
fig. 6 is a schematic diagram of an interaction process between a terminal device and a location server according to an embodiment of the present application;
fig. 7 is a schematic diagram of a process of acquiring RSSI data by a terminal device according to an embodiment of the present application;
fig. 8 is a process of a location server obtaining data added with channel feature information included in an updated channel feature library according to an embodiment of the present application;
fig. 9 is a process of a positioning server converting a plurality of first channel characteristic information into a low-resolution channel characteristic image according to an embodiment of the present application;
fig. 10 is a schematic diagram of a process of positioning a terminal by a positioning server in an online positioning manner according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a positioning server according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a positioning server according to an embodiment of the present application;
fig. 13 is a schematic structural diagram of a terminal device according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of a positioning server according to an embodiment of the present application;
fig. 15 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Please refer to fig. 1, which is a schematic diagram of a communication system according to an embodiment of the present disclosure. Wherein the communication system may comprise a terminal device 110, an access device 120, 123 and a location server 130.
The communication system shown in fig. 1 is described by taking only one terminal device as an example, but the embodiment of the present application is not limited thereto, for example, the communication system may further include more terminal devices; similarly, the communication system may also include more access devices and positioning servers, and may also include other devices, which are not limited in this embodiment of the present application.
Terminal equipment 110 may include equipment providing voice and/or data connectivity to a user, and may include, for example, handheld devices having wireless connectivity capabilities, or processing devices connected to wireless modems. The terminal device 110 may be a User Equipment (UE), a wireless terminal device, a mobile terminal device, a subscriber unit (subscriber unit), a subscriber station (subscriber station), a mobile station (mobile station), a Mobile Station (MS), a mobile phone (mobile phone), a tablet computer (pad), a computer with wireless transceiving function, a Virtual Reality (VR) terminal, an Augmented Reality (AR) terminal, a wireless terminal in industrial control (industrial control), a wireless terminal in unmanned driving (self driving), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation security (transportation security), a wireless terminal in city (smart city), a wireless terminal in smart terminal, a wireless terminal in home (smart) and the like. For example, it may be a mobile phone (or "cellular" phone), a computer with mobile terminal equipment, a portable, pocket, hand-held, computer-included or vehicle-mounted mobile device, or the like. Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, Session Initiation Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), and the like. Terminal device 110 may also include constrained devices, such as devices that consume less power, or devices that have limited storage capabilities, or devices that have limited computing capabilities, etc. Including, for example, bar codes, Radio Frequency Identification (RFID), sensors, GPS, laser scanners, and other information sensing devices. The terminal device 110 may also be a communication chip having a communication module. Terminal device 110 may also be a wearable device (also may be called an intelligent wearable device), and is a generic term for applying wearable technology to intelligently design daily wearing and develop wearable devices, such as smart glasses, smart bracelets, smart gloves, smart helmets, smart watches, smart apparel, and smart shoes.
The access device 120 and 123 may include, but are not limited to: next generation base station (gndeb, gNB), evolved node B (eNB), Radio Network Controller (RNC), Node B (NB), Base Station Controller (BSC), Base Transceiver Station (BTS), home base station (e.g., home evolved node B or home node B, HNB), Base Band Unit (BBU), transmission point (TRP), Transmission Point (TP), mobile switching center), and the like in 5G. Any of the access devices 120 and 123 may be configured to interconvert received air frames and Internet Protocol (IP) packets as a router between the terminal device and the rest of the access network, which may include an IP network, as shown in fig. 1. Any access device in the access device 120-123 may further coordinate attribute management of the air interface, for example, any access device in the access device 120-123 may include a Long Term Evolution (LTE) system or an evolved base station (NodeB or eNB or e-NodeB, evolved Node B) in an LTE system (LTE-Advanced, LTE-a), or may also include a next generation Node B (gNB) in a 5G NR system, or may also include a Centralized Unit (CU) and a Distributed Unit (DU) in a cloud access network (cloud radio access network, cloudlan) system, and the like. Any one of the access devices 120 and 123 may also be an Access Point (AP), for example, a wireless AP, or a switch, a special wireless test instrument with a radio frequency antenna (for example, a handheld field intensity meter), and the like.
The positioning server 130 refers to a device or a network element that can process the obtained multiple channel feature information to obtain a channel feature library with increased channel feature number and channel feature compensation information corresponding to the channel feature library. For example, the mobile communication device may be a computer device, a server (server), a cloud service platform, an evolved serving mobile location center (E-SMLC), a Service Location Protocol (SLP) network element or a Local Management Function (LMF) network element, and the like, and the computer device may include, for example, a desktop computer, a tablet computer, a vehicle-mounted computer, and the like.
The embodiment of the application is applicable to a low-frequency scene (sub 6G) and is also applicable to a high-frequency scene (above 6G). The embodiment of the present application may be applicable to a 4G communication system, such as a Long Term Evolution (LTE) system, an LTE Frequency Division Duplex (FDD) system, and an LTE Time Division Duplex (TDD), may also be applicable to a Universal Mobile Telecommunications System (UMTS), a Worldwide Interoperability for Microwave Access (WiMAX) communication system, may also be applicable to a fifth generation (5G) system, such as a New Radio (NR) communication system, and may also be applicable to various future communication systems.
Based on the system architecture shown in fig. 1, in an embodiment, the positioning server 130 may obtain a corresponding channel feature library and channel feature compensation information corresponding to the channel feature library based on a plurality of first channel feature information. The first channel characteristic information is the channel characteristic information of the access device 120-123 based on the first spatial position of the terminal device 110, and the first channel characteristic information is from the terminal device 110 or from the access device 120-123. In this embodiment of the present application, if the positioning calculation object is the positioning server 130, the positioning server 130 may position the terminal device 110 based on the channel feature library and the channel feature compensation information; alternatively, if the positioning calculation object is the terminal device 110, the positioning server 130 may send the channel feature library and the channel feature compensation information to the terminal device 110, and the terminal device 110 positions the terminal device 110 based on the channel feature library and the channel feature compensation information.
For example, taking the example that the communication system shown in fig. 1 is applied to the communication system shown in fig. 2, the positioning server 130 may obtain a corresponding channel feature library through algorithm processing and a neural network based on a plurality of first channel feature information, and may store the corresponding channel feature library in the channel feature database. The channel feature data can be used for channel feature libraries corresponding to different scenes, such as shopping mall scenes, stadium scenes and the like. The positioning server 130 may also locate any of the terminal devices 110-M through algorithmic processing and a neural network based on a corresponding channel feature library and channel feature compensation information. Any access device in the access devices 120-N may collect or transmit RSSI data via the physical layer and the rf antenna, and any terminal device in the terminal device 110-M may collect or transmit RSSI data via the physical layer and the rf antenna and receive the channel feature library and the channel feature compensation information sent by the positioning server 130. The configuration of the multi-antenna beam pattern of any one of the access devices 120-N may be performed by a physical layer, and a specific transceiving function may be performed by a radio frequency antenna. The Media Access Control (MAC) and higher layers of any of the terminal devices 110-M may be used to locate the terminal device based on the corresponding channel feature library and channel feature compensation information from the location server.
Referring to fig. 1-2, taking terminal device 110 as an example, terminal device 110 may be located indoors or outdoors. When a user has a positioning requirement for the terminal device 110, for example, the user needs to use a map navigation function or a location information sharing function provided by the terminal device 110, or the user loses the terminal device 110 and needs to search for the terminal device 110, or needs to provide location information by the terminal device 110 (for example, when a certain application is logged in, the application needs the terminal device 110 to provide the location information), a positioning process of the terminal device 110 may be triggered. It is understood that the positioning procedure may be triggered by the terminal device 110, or by other devices (e.g., a device requesting to position the terminal device 110). Then, the terminal device 110 may be located by the location calculation object based on the corresponding channel feature library and the channel feature compensation information corresponding to the channel feature library. Compared with the method for positioning the terminal device 110 directly based on the offline enhanced channel feature library, the method can take the influence of errors brought in the process of increasing the quantity of the channel feature information on the positioning accuracy into consideration, so that the positioning accuracy can be further improved.
For example, if the location calculation object is the terminal device 110, as shown in fig. 3, the interaction process between the terminal device 110 and the location server may include:
terminal device 110 may obtain the plurality of first channel characteristic information through a data acquisition module, which may include a radio frequency antenna and a physical layer, as shown in fig. 2. The terminal device 110 may send the obtained plurality of first channel characteristic information to the location server 130 through the data collection module.
The positioning server 130 may increase the number of the channel characteristic information based on the plurality of first channel characteristic information through the channel characteristic information processing module, and obtain the first channel characteristic compensation information corresponding to the channel characteristic library after the number of the channel characteristic information is increased. As shown in connection with fig. 2, the channel characteristic information processing module may include an algorithm processor and a neural network. The positioning server 130 may transmit the corresponding channel characteristic library and channel characteristic compensation information, for example, the channel characteristic library and the first channel characteristic information after increasing the amount of the channel characteristic information, to the terminal device 110.
The terminal device 110 may perform channel characteristic compensation based on the channel characteristic library and the channel characteristic compensation information received from the positioning server through the positioning module, and perform position estimation on the terminal device 110, thereby completing the positioning of the terminal device 110.
Various technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Before various technical solutions provided in the embodiments of the present application are introduced, some terms in the present application are first explained to facilitate understanding by those skilled in the art.
(1) This application is trueThe first spatial position according to the embodiment is known, and it can be understood that the coordinates of the first spatial position are determined by other means such as GPS, manual measurement, or camera optical positioning, and the distance deviation between the coordinates of a Reference Point (RP) closest to the first spatial position is within a certain preset accuracy range. For example, the coordinates (x, y) of the reference point are (1, 2), and the coordinates (x) of the first spatial position are1，y1) Is (0.5, 2), x and x1With a deviation of the distance between 0.5, y and y1The distance deviation therebetween is 0. If the predetermined accuracy range is 0 to 0.6, it can be indicated that the first spatial position is known since 0.5, 0 is within the predetermined accuracy range. Accordingly, the first spatial position is unknown, which may be understood as determining the coordinates of the first spatial position by other means, that the deviation of the distance from the coordinates of a certain reference point is outside a certain preset accuracy range, or that the coordinates of the first spatial position cannot be determined by other means.
(2) The reference point in (1) above may be a coordinate point obtained by dividing in advance in a grid form, and its coordinate is known, and it is understood that the positioning server, the terminal device, and the access device can know the coordinate of the reference point. For example, referring to fig. 4, taking a horizontal two-dimensional ground as an example, 1 reference point (x, y) is set for each preset distance of the length x and each preset distance of the width y. For example, if the coordinate of a certain reference point is (1, 1) and the preset distance is 0.1 meter, the coordinates of the reference points adjacent to the reference point are (0.9 ), (0.9, 1), (0.9, 1.1), (1, 0.9) (1, 1.1), (1.1, 0.9), (1.1, 1, 1.1), respectively. Taking a three-dimensional space as an example, 1 coordinate point is set for the length x every preset distance, the width y every preset distance, and the height z every preset distance, and the setting mode can be similar to the setting mode of the horizontal two-dimensional ground, and is not described herein again. The preset distance may be set according to the positioning accuracy. For example, if the positioning accuracy requirement is higher, it indicates that the value of the preset distance is smaller, for example, the preset distance is set to 0.1 meter; or if the positioning accuracy requirement is not high, the value can be 0.5 meter, 1.0 meter and the like.
(3) The channel characteristic information related to the embodiment of the present application may also be referred to as Received Signal Strength Indication (RSSI) fingerprint information, which is unique and may be understood as different channel characteristic information corresponding to each access device.
(4) The terms "system" and "network" in the embodiments of the present application may be used interchangeably. The term "at least one" in the embodiments of the present application means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, such as "one or more", unless the context clearly indicates otherwise. And, unless stated to the contrary, the embodiments of the present application refer to the ordinal numbers "first" to "fourth", etc., for distinguishing a plurality of objects, and do not limit the sequence, timing, priority, or importance of the plurality of objects. For example, the first to fourth channel characteristic information are only for distinguishing different channel characteristic information, and do not indicate the difference in priority, importance, or the like of the several channel characteristic information.
(5) Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The wireless positioning method provided by the embodiment of the present application will be specifically described below with reference to fig. 1 to 10.
Please refer to fig. 5, which is a flowchart illustrating a wireless positioning method according to an embodiment of the present disclosure. The terminal device in the method flow may be the terminal device in fig. 1, fig. 2, or fig. 3, the multiple access devices may be the access devices in fig. 1, fig. 2, or fig. 3, the location server may be the location server in fig. 1, fig. 2, or fig. 3, and the terminal device may be the terminal device in fig. 1, fig. 2, or fig. 3. It is understood that the functions of the terminal device may also be implemented by a chip applied to the terminal device, or by other means to support the terminal device; the functions of the access device may also be implemented by a chip applied to the access device, or by other means to support the access device, and the functions of the positioning server may also be implemented by a chip applied to the positioning server, or by other means to support the positioning server. The method comprises the following steps:
s101, a positioning server acquires a plurality of first channel characteristic information of a plurality of access devices based on a first space position of a terminal device.
The plurality of access devices are in one-to-one correspondence with the plurality of first channel characteristic information, and any one of the plurality of first channel characteristic information may include RSSI data of the access device at the first spatial position corresponding to any one of the first channel characteristic information.
In some embodiments, the source from which the positioning server obtains the plurality of first channel characteristics information may be various. Such as:
the source 1, the plurality of first channel characteristic information is sent by a plurality of access devices. The positioning server obtains a plurality of first channel characteristic information from a plurality of access devices.
In source 1, a terminal device may transmit a wireless location sounding waveform when it is desired to locate the terminal device. When the plurality of access devices respectively listen to the wireless positioning detection waveform, the corresponding first channel characteristic information can be obtained. For example, as shown in fig. 4, taking the access device 120 as an example, when the access device 120 listens to a wireless positioning probe waveform transmitted by a terminal device, RSSI data collected at each reference point and RSSI data collected at a first spatial location may be obtained, and a plurality of first channel characteristic information corresponding to the access device 120 is obtained based on the RSSI data collected at each reference point and the RSSI data collected at the first spatial location.
In a specific implementation process, the first channel characteristic information corresponding to any access device of the multiple access devices may further include a multi-antenna beam pattern (beam pattern) of the any access device. Specifically, the multi-antenna beam pattern of any access device may be a multi-antenna beam pattern of the any access device when the any access device listens to the first channel characteristic information corresponding to the any access device. The access device has different multi-antenna beam patterns, which have different effects on the measurement of RSSI data. By considering the multi-antenna beam pattern when the access device listens to the channel characteristic information, the phenomenon that the positioning accuracy is reduced due to errors of the acquired RSSI data caused by the change of the multi-antenna beam pattern of the access device can be avoided. The multiple antenna beam patterns of the access device are different, which can be understood as that the access device has different amplification effects on wireless signals in different directions.
In the process that any one of the plurality of access devices obtains the first channel characteristic information corresponding to the access device, the access device may collect the RSSI data collected at each reference point and the RSSI data collected at the first spatial position to obtain the RSSI collected data corresponding to the access device. The access device may know the multi-antenna beam pattern of itself when listening for channel characteristic information. The RSSI summary data and the multiple antenna beam pattern may be sent by any access device to a location server, which may be used to distinguish the RSSI data obtained by each access device.
In source 1, the terminal device may automatically transmit a wireless location sounding waveform, for example, a wireless location sounding waveform that is automatically continuous or periodically transmitted for a preset duration (e.g., 5 minutes). Alternatively, the terminal device transmits a wireless location sounding waveform upon receiving an instruction (e.g., an indicator) sent by the location server to instruct the terminal device to transmit the wireless location sounding waveform.
And the source 2 is used for sending a plurality of first channel characteristic information to the terminal equipment. The positioning server acquires a plurality of first channel characteristic information from the terminal equipment.
In source 2, as shown in fig. 6, the interaction process between the terminal device and the location server includes the following steps S201:
s201, the terminal device sends the obtained first channel characteristic information to a positioning server. Accordingly, the positioning server receives a plurality of first channel characteristic information from the terminal device.
In step S201, a plurality of access devices may transmit a wireless signal, for example, the wireless signal may be transmitted in a broadcast manner, such as periodically broadcasting the wireless signal for a preset time (e.g., 2 minutes), or continuously broadcasting the wireless signal. Alternatively, the wireless signal may be one of a Wi-Fi signal, a bluetooth signal, an Ultra Wide Band (UWB) signal, a long range (LoRa) signal, and the like. The terminal device may obtain first channel characteristic information corresponding to each of the plurality of access devices when sensing the wireless signals transmitted by the plurality of access devices. For example, continuing to refer to fig. 4, still taking the access device 120 as an example, when the terminal device receives the wireless signal a sent by the access device 120, the terminal device may collect RSSI data of the wireless signal a at each reference point. The terminal device may also receive a multi-antenna beam pattern from access device 120 when the terminal device listens for wireless signals transmitted by access device 120. The terminal device may obtain the first channel characteristic information corresponding to the access device 120 based on the acquired RSSI data of the wireless signal a at each reference point and the multi-antenna beam pattern of the access device 120.
Optionally, any one of the source 1 and the source 2 may be an access deviceMay be denoted as plL, L denotes the number of different multi-antenna beam patterns.
In the embodiment of the application, in the process of obtaining the plurality of first channel characteristic information, the difference of the multi-antenna beam patterns of the access device is considered, so that the situation that the positioning accuracy is reduced due to the fact that the acquired RSSI data has errors caused by the change of the multi-antenna beam patterns can be avoided, and further, the positioning accuracy can be improved.
S102, the positioning server judges whether the first space position is known. Step S103 is performed when the first spatial position is determined to be known, or step S113 or step S117 is performed when the first spatial position is determined to be unknown.
In some embodiments, the method flow shown in fig. 5 may be divided into two phases, an offline phase and an online phase. In the off-line phase, the number of channel feature information included in the channel feature library and the process of obtaining the channel feature compensation information may be added to the positioning server based on the obtained first channel feature information, which may be understood as a process of measuring and obtaining a plurality of known coordinates and channel feature compensation information in advance by the positioning server, as shown in step S103 to step S105 of fig. 5. In this phase, the terminal device does not participate in the process of obtaining the known coordinates, channel characteristic compensation information. The online phase may be a process of positioning the terminal device, and may be understood as a process of positioning the terminal device through the positioning server, as shown in fig. 5 from step S106 to step S109, from step S110 to step S112, from step S113 to step S116, or from step S117 to step S119.
In some embodiments, the location server may determine whether to enter the offline phase or the online phase by determining whether the first spatial location is known. For example, if the first positioning server determines that the deviation between the coordinates of the first spatial location and the coordinates of the nearest reference point is within the allowable positioning accuracy range, it may be determined that the first spatial location is known, which indicates that the obtained first channel feature information is used to update the stored channel feature library and the first channel feature compensation information corresponding to the updated channel feature library, and the positioning server determines to enter the offline stage. In the offline phase, the positioning server may also send first location information of the terminal device to the terminal device so that the user may determine the current location of the terminal device, where the first location information may include, but is not limited to, coordinates of the first spatial location.
Or, if the first positioning server determines that the deviation between the coordinates of the first spatial position and the coordinates of the nearest reference point is outside the allowable positioning accuracy range, or the coordinates of the first spatial position cannot be determined by other means, it may be determined that the first spatial position is unknown, which indicates that the obtained plurality of first channel characteristic information are used for positioning the terminal device, and the positioning server enters an online stage to perform subsequent corresponding steps. Of course, after the positioning process is finished, the first spatial position is changed from unknown to known, and the plurality of first channel feature information and the coordinates of the first spatial position can be correspondingly stored in the channel feature library, so that the channel feature library can be enriched, and the waste of wireless resource information can be avoided.
S103, the positioning server updates the channel characteristic library based on the first channel characteristic information.
The channel characteristic library before updating may include a plurality of second channel characteristic information, and any one of the plurality of second channel characteristic information may include RSSI data of an access device corresponding to any one of the plurality of access devices at any one of the plurality of RPs. The plurality of second channel characteristic information may be understood as channel characteristic information obtained after the last off-line stage update.
In a specific implementation process, the channel feature library may be stored in the positioning server, or may also be stored in any device/chip connected to the positioning server and having a storage function, or may also be stored in the cloud.
In some embodiments, the positioning server may be capable of slipping based on a plurality of first channel characteristic informationAnd updating the channel characteristic library in the inter-window. The sliding time window may include a plurality of time periods ordered in chronological order. For example, the time may be in flow order of time, at time period 1 (e.g., time t)0To time t1Time period in between) first obtain a plurality of first channel characteristic information once, at this moment, the time has not reached time period 2; when the time period reaches 2, the plurality of first channel characteristic information is acquired again until the plurality of first channel characteristic information is acquired within the sliding time window. The multiple pieces of first channel characteristic information acquired at any one time are acquired by the terminal device by again intercepting the wireless channels sent by the multiple access devices, or acquired by again intercepting the wireless positioning detection waveforms sent by the terminal device by the multiple access devices. The positioning server processes the multiple pieces of first channel characteristic information acquired for multiple times to acquire final multiple pieces of first channel characteristic information, and updates the channel characteristic library based on the final multiple pieces of first channel characteristic information. For example, the positioning server averages the first channel characteristic information of the same access device corresponding to the multiple pieces of first channel characteristic information acquired multiple times, and analyzes the average distribution probability to obtain the final multiple pieces of first channel characteristic information.
In the embodiment of the application, the channel feature library is updated in the sliding time window based on the plurality of first channel feature information, so that the influence of environmental changes on the errors of the plurality of first channel feature information (RSSI data) can be reduced, and further, the positioning accuracy can be improved.
And if the plurality of first channel characteristic information come from the terminal equipment, the positioning server updates the channel characteristic library in a sliding time window based on the plurality of first channel characteristic information. With reference to fig. 5 and fig. 6, in the process of implementing step S201, the terminal device may perform a data acquisition process as shown in fig. 7:
s301, the terminal device acquires a current wireless signal list.
The wireless signal list may be one of a Wi-Fi signal list, a bluetooth signal list, a UWB signal list, and an LoRa signal list, which is not limited in this application.
In some embodiments, before the terminal device performs S301, the user may manually input a name of each of the plurality of access devices, a period for acquiring the RSSI data, position coordinates of each reference point, an IP of the positioning server, and a port number of a port in the positioning server for communicating with the terminal device in an application program for acquiring the RSSI data, which is loaded in the terminal device, so that the terminal device subsequently acquires the RSSI data at each reference point through the application program and transmits the acquired RSSI data to the positioning server.
S302, the terminal device obtains a Service Set Identifier (SSID) based on the wireless signal list.
In some embodiments, the wireless signal list may include SSIDs for each of the plurality of access devices.
S303, the terminal equipment periodically acquires RSSI data of a plurality of reference points according to a preset time length based on the SSID, and sends the acquired RSSI data to a positioning server.
In some embodiments, the SSID corresponding to each access device acquired by the terminal device may determine which sub-network in the wireless communication network each access device belongs to, which may facilitate the terminal device to listen to the wireless signal sent by each access device in the sub-network corresponding to each access device.
In some embodiments, before performing step S303, the terminal device may define a timer in advance to periodically collect the RSSI data at each reference point, and may further obtain the current time of the terminal device and the device name of each access device, and the terminal device may set a sliding time window based on the current time and the period of measuring the RSSI data. For example, the terminal device may periodically obtain the RSSI data of each access device at each reference point through the application program for collecting the RSSI data according to a set sliding time window based on the timer and the device name of each access device, so that the RSSI data of each access device at each reference point can be collected and distinguished for multiple times.
In some embodiments, the end device may send the acquired RSSI data to the location server. Optionally, the terminal device sends the obtained RSSI data to the positioning server, where the terminal device may process the RSSI data collected at each reference point and the coordinates of each reference point to obtain a plurality of first channel characteristic information of the plurality of access devices based on the first spatial position of the terminal device, and then sends the obtained RSSI data to the positioning server; or, the terminal device may send the RSSI data collected at each reference point and the coordinates of each reference point to the positioning server, and the positioning server processes the received RSSI data and the coordinates of each reference point to obtain a plurality of pieces of first channel characteristic information.
In a specific implementation process, the terminal device sends the acquired RSSI data to the positioning server, where the terminal device sends the RSSI data acquired multiple times at one reference point in each sliding time window to the positioning server once, and the RSSI data acquired multiple times at different reference points in each time window are understood to be sent to the positioning server respectively.
In a specific implementation process, the positioning server may store the received RSSI data from the terminal device based on the coordinates of each reference point or store the received RSSI data through other devices or a cloud, so as to distinguish the RSSI data collected at each reference point.
In the embodiment of the application, the terminal device can periodically acquire the RSSI data of each access device at each reference point based on the needed service set identifier SSID, and can conveniently acquire and distinguish the RSSI data of each access device at each reference point for multiple times. Furthermore, the positioning server can update the channel characteristic library in a sliding time window based on the received RSSI data from the terminal equipment, so that the influence of environment change on a plurality of first channel characteristic information (RSSI data) errors can be reduced, and the positioning accuracy can be improved.
S104, the positioning server trains based on the updated channel feature library, and the number of channel feature information included in the updated channel feature library is increased.
In some embodiments, the process of the positioning server obtaining data for adding channel characteristic information included in the updated channel characteristic library in step S104 may include the steps shown in fig. 8. As shown in fig. 8, the process may include:
s401, the positioning server converts the first channel characteristic information into a low-resolution channel characteristic image and converts the second channel characteristic information into a first high-resolution channel characteristic image.
Before introducing the process of converting the plurality of first channel characteristic information into the low-resolution channel characteristic image by the positioning server, introducing a plurality of first channel characteristic information representation modes. Taking an indoor scene as an example, if there are n access devices (taking an access point AP as an example) in the indoor scene, taking a horizontal two-dimensional ground coordinate as an example, m reference points are divided according to a preset distance interval, Si＝(xi，yi) Can be expressed as one reference point RP of the m reference pointsiI is more than or equal to 1 and less than or equal to m,
Figure BDA0002808383840000181
can be represented as one AP of n APsjRP within a sliding time windowiThe RSSI value of the signal being collected is determined,
Figure BDA0002808383840000182
expressed as the RSSI value collected at time t, j is more than or equal to 1 and less than or equal to n. Thus, APjThe corresponding first channel characteristic information may be expressed as:
Figure BDA0002808383840000183
then, the plurality of first channel characteristic information may include information of three dimensions of time t, RP, and AP, and may be represented by a three-dimensional matrix of t × m × n, which may be represented as:
Figure BDA0002808383840000184
the process of the positioning server converting the plurality of first channel characteristic information into the low-resolution channel characteristic image is described in detail below.
Fig. 9 is a schematic diagram illustrating a process of converting a plurality of first channel characteristic information into a low-resolution channel characteristic image by a positioning server according to an embodiment of the present application. Wherein the process may comprise the steps of:
s501, the positioning server segments the first channel characteristic information in a time dimension according to a time length k, and obtains an RSSI mean value of each AP at any RP in the multiple RPs in each time period.
For example, the positioning server may segment the plurality of first channel characteristic information according to the time periods included in the time sliding window to obtain RSSI values of the plurality of first channel characteristic information corresponding to T/k time periods, and may number each time period, for example, T' ═ {1, 2. The location server may average the RSSI values for each time period.
And (4) optional. Can use
Figure BDA0002808383840000185
Indicates AP in the t' th time periodjAt RPiThe RSSI mean of (c).
S502, the positioning server maps the RSSI mean value of any RP in each time period into a gray value range according to a first preset formula to obtain a gray value corresponding to the RSSI mean value.
Alternatively, the range of the gradation values may be 0 or more and 255 or less, and may be represented as [0, 255 ]. The first preset formula may be expressed as:
Figure BDA0002808383840000191
wherein the content of the first and second substances,
Figure BDA0002808383840000192
representing APjAt RPiOf
Figure BDA0002808383840000193
The gray value of the corresponding pixel is,
Figure BDA0002808383840000194
respectively indicate AP in the t' th time periodjMaximum and minimum of RSSI mean at all RPs.
S503, the positioning server maps the gray value corresponding to the RSSI mean value at any RP in each time period to the relative position (such as coordinates) of any RP, and the low-resolution channel characteristic image is obtained.
In a specific implementation process, the process of converting the plurality of second channel feature information into the first high-resolution channel feature image by the positioning server is similar to the process shown in fig. 9, and is not repeated here.
S402, the positioning server amplifies the low-resolution channel characteristic image based on a preset multiple to obtain a second high-resolution channel characteristic image corresponding to the low-resolution channel characteristic image.
In a specific implementation process, the positioning server may select a corresponding magnification factor μ to amplify the low-resolution channel feature image, so as to obtain a second high-resolution channel feature image. The specific value of μmay be set according to the actually required amount of channel characteristic information, for example, the value range of μ is 2 to 4.
S403, the positioning server trains a preset super-resolution network model based on the first high-resolution channel characteristic image to obtain the trained super-resolution network model.
In a specific implementation process, the super-resolution network model may be an enhanced deep super-resolution network (edrr) model.
S404, the positioning server carries out super-resolution recovery processing on the second high-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of third channel characteristic information.
For example, the positioning server may map the gray value corresponding to the second high-resolution channel characteristic image back to the RSSI value according to a second preset formula, so as to obtain the RSSI average value corresponding to the t' th time period. The positioning server may merge in a time dimension based on RSSI mean values corresponding to T/k time periods to obtain a plurality of third channel characteristic information, where the plurality of third channel information may include information of three dimensions of time, RP, and AP, and a specific representation manner may refer to a representation manner of the plurality of first channel characteristic information. The positioning server can determine other characteristic information except the first channel characteristic information in the third channel characteristic information based on the first channel characteristic information.
Wherein the second preset formula can be expressed as:
Figure BDA0002808383840000195
wherein the content of the first and second substances,
Figure BDA0002808383840000196
mapping the obtained RSSI mean value corresponding to the t' time period,
Figure BDA0002808383840000197
representing APjAt RPiOf
Figure BDA0002808383840000198
The gray value of the corresponding pixel is,
Figure BDA0002808383840000199
respectively indicate AP in the t' th time periodjMaximum and minimum of RSSI mean at all RPs.
S405, the positioning server assigns a corresponding spatial position to other channel characteristic information except the first channel characteristic information from the third channel characteristic information, wherein the first channel characteristic information and the other channel characteristic information assigned with the spatial position form a channel characteristic library (hereinafter referred to as a first channel characteristic library for simplicity) with an increased number of channel characteristic information.
In a specific implementation process, the positioning server may assign a spatial position to a Virtual Reference Point (VRP) corresponding to the newly generated other channel feature information according to the coordinates of each RP and the partition intervals between the coordinates.
In the embodiment of the application, the plurality of first channel characteristic information are converted into the low-resolution channel characteristic images, the low-resolution channel characteristic images are amplified to obtain the second high-resolution channel characteristic images, the second high-resolution channel characteristic images are subjected to super-resolution recovery processing by the super-resolution network model obtained after the plurality of second channel characteristic information are converted into the first high-resolution characteristic information images for training, more channel characteristic information can be obtained, the purpose of reducing the data volume of the reference point under the condition that the finally obtained channel characteristic number is not changed can be achieved, and therefore the RSSI data acquisition cost can be reduced.
S105, the positioning server obtains first channel characteristic compensation information corresponding to the first channel characteristic library based on the first channel characteristic library.
In some embodiments, after obtaining the first channel feature library, the positioning server may test the trained super-resolution network model based on the test data to obtain a test error. When the first channel characteristic information is obtained by the positioning server for the first time, the test data may be the second channel characteristic information, or when the first channel characteristic information is obtained for the second time or after the second time, the test data may be the first position information that may be fed back by the terminal device.
In the embodiment of the application, under the condition that a plurality of pieces of first channel characteristic information are acquired for the first time, a plurality of pieces of second channel characteristic information are adopted to test the trained super-resolution model, or under the condition that a plurality of pieces of first channel characteristic information are acquired for the second time, the trained super-resolution model is tested by adopting the first position information, so that the test error can be conveniently acquired and updated, and further, the first channel characteristic compensation information corresponding to the first channel characteristic library can be conveniently acquired and updated.
In some embodiments, the positioning server may perform a super-resolution recovery operation on the low-resolution channel feature images corresponding to the plurality of first channel feature information based on the trained super-resolution network model to obtain a plurality of fourth channel feature information, where the plurality of fourth channel feature information are in one-to-one correspondence with the plurality of first channel feature information. The positioning server may obtain first channel characteristic compensation information corresponding to the first channel characteristic library based on the plurality of fourth channel characteristic information. For example, the plurality of first channel characteristic information and the plurality of fourth channel characteristic information may be compared, a difference between the plurality of first channel characteristic information and the plurality of second channel characteristic information may be obtained, and the first channel characteristic compensation information may be obtained based on the difference. The first channel characteristic information may include information of two dimensions of RP and AP corresponding to the first channel characteristic library. Optionally, the first channel compensation information may include, but is not limited to, error data, coordinate data, and compensation parameters.
The specific manner in which the positioning server obtains the plurality of fourth channel characteristic information may be the same as the specific manner in which the positioning server obtains the plurality of third channel characteristic information, and refer to the description of step S44 related to the positioning server obtaining the third channel characteristic information, which is not described herein again.
In the embodiment of the application, the super-resolution recovery operation is performed on the low-resolution channel characteristic images corresponding to the plurality of first channel characteristic information based on the trained super-resolution network model to obtain the plurality of fourth channel characteristic information, and then the first channel characteristic compensation information can be obtained through the difference between the plurality of fourth channel characteristic information and the plurality of first channel characteristic information, so that the difference of the channel characteristic information brought in the process of obtaining the first channel characteristic library can be conveniently considered, and further, the positioning precision of the terminal device can be improved.
Referring to fig. 5, after step S105, in an applicable scenario provided in the embodiment of the present application, if the positioning calculation object is a positioning server, the positioning server may perform the following steps:
s106, the positioning server positions the terminal device based on the first channel characteristic library and the first channel characteristic compensation information.
In some embodiments, if the positioning server receives a request for requesting positioning of a terminal device sent by the terminal device or other devices, the positioning server may perform channel characteristic compensation based on the first channel characteristic library and the first channel characteristic compensation information to obtain a channel characteristic library (hereinafter referred to as a second channel characteristic library for simplicity) after channel characteristic compensation, for example, superimpose error data on the first channel characteristic library according to the compensation parameters to obtain a channel characteristic library after channel characteristic compensation, which may be used to reduce errors existing in a plurality of first channel characteristic information. Furthermore, when the positioning server performs positioning calculation on the terminal device based on the second channel feature library, the accuracy of the calculated first position information of the terminal device can be improved, the accuracy of positioning the terminal device can be improved, and the user experience can be improved. For example, the positioning server may select, from the second channel feature library, channel feature information of a multi-antenna beam pattern whose similarity to the first multi-antenna beam pattern is greater than a preset value, and position the terminal device based on the selected channel feature information and the plurality of first channel feature information. The first multi-antenna beam pattern is a multi-antenna beam pattern of RSSI data of the access device at the first spatial location corresponding to any one of the plurality of first channel characteristic information.
For example, as shown in fig. 10, the process of the positioning server positioning the terminal device may be: after the positioning server obtains the plurality of first channel feature information, it may first determine whether channel feature compensation is needed according to a requirement, and if so, may obtain a corresponding channel feature library and channel feature compensation information from an internal storage module of the positioning server to perform corresponding compensation on the channel feature library, as in step i in fig. 10. If the channel characteristic compensation is not needed, the channel characteristic library can be obtained from the storage module, and the subsequent positioning operation can be carried out. For example, as shown in steps (ii) and (iii) of fig. 10, the channel feature information is processed on line according to a preset positioning algorithm program, for example, a plurality of first channel feature information is converted into a low-resolution channel feature image, and a channel feature library is preprocessed, for example, a plurality of second channel feature information is converted into a first high-resolution channel feature image. Then, as shown in step (iv) of fig. 10, the positioning task calculation is performed, and the positioning result is output.
In the embodiment of the application, the channel characteristic compensation is performed based on the obtained first channel characteristic compensation information, so that the error of the first channel characteristic library can be reduced, and further, the positioning accuracy can be improved.
S107, the positioning server sends a first positioning result obtained by positioning the terminal device to the terminal device, wherein the first positioning result comprises first position information of the terminal device obtained through calculation.
As shown in fig. 5 and 6, in step S206 of fig. 6, the positioning result may be the first positioning result.
In some other embodiments, in step S107, the positioning server may send the first positioning result to other devices requesting to position the terminal device.
S108, the positioning server receives first feedback information from the terminal equipment, and determines whether the first positioning result meets a preset positioning requirement or not based on the first feedback information. And if the first positioning result does not meet the preset positioning requirement, executing S109, otherwise, ending the positioning process.
As shown in fig. 5 and fig. 6, at this time, in step S207 of fig. 6, the feedback information may be the first feedback information.
The first feedback information may be used to indicate whether the first positioning result meets a preset positioning requirement.
In a specific implementation process, the first feedback information may include positioning effect information, and the positioning effect information may include a deviation between the position information where the terminal device is actually located and the first position information. For example, if the deviation is larger and not within the allowable deviation range, it indicates that the first positioning result does not meet the preset positioning requirement, the terminal device needs to be repositioned, S109 is executed, and if the deviation is smaller and within the allowable deviation range, it indicates that the first positioning result meets the preset positioning requirement, and the positioning process is ended. Or, the positioning effect information may include a score value for characterizing the subjective feeling of the user on the positioning result, for example, the score value may be one of 1 to 5, and a larger score value indicates that the subjective feeling of the user on the positioning result is better. When the score value is less than 4 minutes, it indicates that the first positioning result does not meet the preset positioning requirement, the terminal device needs to be repositioned, S109 is executed, and when the score value is greater than or equal to 4 minutes, it indicates that the first positioning result meets the preset positioning requirement, and the positioning process is ended.
S109, the positioning server combines the first location information and the plurality of first channel characteristic information to obtain combined information, replaces the plurality of first channel characteristic information with the combined information, and returns to step S103.
In the embodiment of the present application, by performing step S103 to step S109 in a loop, a first positioning result meeting a preset positioning requirement can be obtained, and meanwhile, an error of a stored channel feature library can be reduced.
Referring to fig. 5, after step S105, in another applicable scenario provided in the embodiment of the present application, if the positioning calculation object is a terminal device, the positioning server may execute the following steps:
s110, the positioning server sends the first channel characteristic library and the first channel characteristic compensation information to the terminal equipment.
In some embodiments, as shown in fig. 5 and fig. 6, in the process of performing step S110 by the positioning server, the interaction process between the positioning server and the terminal device may further include the following steps:
s202, the terminal device sends second request information for requesting channel characteristic compensation information to the positioning server. Correspondingly, the positioning server receives the second request information from the terminal equipment.
In step S202, the second request message may be sent to the location server by the terminal device according to a time period, or sent to the location server when the terminal device triggers the location procedure shown in fig. 5.
S203, the positioning server sends the first channel characteristic compensation information to the terminal equipment. Accordingly, the terminal device obtains the first channel characteristic compensation information from the positioning server.
In step S203, after receiving the second request message, the positioning server may send the first channel characteristic message to the terminal device.
S204, the terminal equipment sends first request information for requesting the channel feature library to the positioning server. Correspondingly, the positioning server receives the first request information from the terminal equipment.
The implementation manner of step S204 is similar to step S202, and reference may be specifically made to the description of step S202, which is not described herein again.
In a specific implementation process, the terminal device may execute step S202 and step S204 at the same time, or may execute step S202 first and then execute step S204, which may be understood that the sending priority corresponding to the second request information is greater than the sending priority corresponding to the first request information, so that the positioning server may preferentially obtain the first channel characteristic information.
S205, the positioning server sends the first channel feature library to the terminal equipment. Accordingly, the terminal device obtains a first channel feature library from the positioning server.
In step S205, after receiving the first request message, the positioning server may send a first channel feature library to the terminal device.
And S111, the terminal equipment performs positioning calculation based on the obtained first channel characteristic library and the first channel characteristic compensation information.
Step S111 is similar to step S106, and is not described herein again.
S112, the positioning server receives second feedback information sent by the terminal device, and determines whether a second positioning result of the terminal device meets a preset positioning requirement based on the second feedback information. And if the second positioning result meets the preset positioning requirement, executing S109, otherwise, receiving the positioning process.
As shown in fig. 5 and fig. 6, at this time, in step S207 of fig. 5, the feedback information may be the second feedback information.
The specific implementation manner of the second feedback information may be similar to the specific implementation manner of the first feedback information, which may specifically refer to the related description about the first positioning information in step S108, and is not described herein again.
In step S112, the second feedback information may also carry first location information, where the first location information is calculated by the terminal device.
It should be noted that, in the above-mentioned step S103 to S105, the first spatial location information of the terminal device is known as an example in the offline stage. In steps S106 to S109, the positioning server obtains the first channel feature library and the first channel feature compensation information based on the plurality of first channel feature information, and then performs the positioning process on the terminal device in the online stage. Step S110 to step S112, a process of positioning the terminal device in an online phase after the terminal device obtains the first channel feature library and the first channel feature compensation information based on the plurality of first channel feature information.
Referring to fig. 5, after step S105, in another applicable scenario provided in the embodiment of the present application, if the positioning calculation object is a positioning server, the positioning server may perform the following steps:
s113, the positioning server positions the terminal equipment based on the channel feature library before updating and the second channel feature compensation information, wherein the channel feature library before updating comprises a plurality of second channel feature information.
S114, the positioning server sends a third positioning result obtained by positioning the terminal device to the terminal device, wherein the third positioning result comprises second position information of the terminal device obtained through calculation.
S115, the positioning server receives third feedback information from the terminal equipment, and determines whether a third positioning result meets a preset positioning requirement or not based on the third feedback information. If the third positioning result meets the preset positioning requirement, S116 is executed, otherwise, the positioning process is ended.
S116, the positioning server combines the second location information and the plurality of second channel characteristic information to obtain combined information, replaces the plurality of second channel characteristic information with the combined information, and returns to step S113.
The implementation manner of steps S113 to S116 is similar to that of steps S106 to S108, and reference may be specifically made to the related description of steps 106 to S108, which is not repeated herein.
In the embodiment of the present application, by performing steps S113 to S116 in a loop, a third positioning result meeting a preset positioning requirement can be obtained, and meanwhile, an error of a stored channel feature library can be reduced.
Referring to fig. 5, after step S105, in another applicable scenario provided in the embodiment of the present application, if the positioning calculation object is a positioning server, the positioning server may perform the following steps:
and S117, the positioning server sends the channel feature library before updating and the second channel feature compensation information to the terminal equipment.
And S118, the terminal equipment performs positioning calculation based on the obtained channel characteristic library before updating and the second channel characteristic compensation information.
S119, the positioning server receives fourth feedback information sent by the terminal device, and determines whether a fourth positioning result of the terminal device meets a preset positioning requirement or not based on the fourth feedback information. If the fourth positioning result meets the preset positioning requirement, S113 is executed, otherwise, the positioning process is ended.
In step S119, the fourth feedback information may also carry second location information, where the second location information is calculated by the terminal device.
The implementation manner of step S117 to step S119 is similar to that of step S110 to step S112, and reference may be specifically made to the related description of step S110 to step S112, which is not described herein again.
In the embodiment of the application, in the process of positioning the terminal, channel characteristic compensation is performed by considering errors existing in the channel characteristic library after the channel characteristic information quantity is increased, and compared with the process of directly positioning the terminal equipment based on the offline enhanced channel characteristic library, the influence of the errors caused in the process of increasing the channel characteristic information quantity on the positioning precision can be avoided, so that the positioning precision can be further improved, and the user experience is facilitated to be improved.
It should be understood that, in the embodiments of the present application, the positioning server or the terminal device may perform some or all of the steps in the embodiments of the present application, and these steps are merely examples, and the embodiments of the present application may also perform other steps or various modifications of the steps. Moreover, the various steps may be performed in a different order presented in the embodiments of the application, and not all of the steps in the embodiments of the application may be performed.
In the embodiments of the present application, unless otherwise specified or conflicting with respect to logic, the terms and/or descriptions in different embodiments have consistency and may be mutually cited, and technical features in different embodiments may be combined to form a new embodiment according to their inherent logic relationship.
It should be understood that the positioning server or the terminal device includes a hardware structure and/or a software module for performing the respective functions in order to implement the above functions. Those of skill in the art will readily appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiment of the present application, the positioning server or the terminal device may be divided into the functional modules according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
In the case of using integrated units (modules), fig. 11 shows a schematic structural diagram of a positioning server provided in an embodiment of the present application. As shown in fig. 11, the positioning server 800 may include: a transceiver module 801 and a processing module 802.
The transceiver module 801 is used to support the positioning server 800 to communicate with other devices (e.g., terminal devices). A processing module 802 for controlling and managing actions of the location server 800, e.g., the processing module 802 is for enabling the location server 800 to perform the processes shown in fig. 5, 8, and 9, and/or other processes for the techniques described herein. Specifically, reference may be made to the following descriptions:
a transceiver module 801, configured to acquire a plurality of first channel characteristic information of a plurality of access devices based on a first spatial location of a terminal device, where the plurality of access devices correspond to the plurality of first channel characteristic information one to one, and any one of the plurality of first channel characteristic information includes RSSI data indicating received signal strength of an access device at the first spatial location corresponding to any one of the first channel characteristic information;
a processing module 802, configured to update a channel feature library based on the plurality of first channel feature information when it is determined that the first spatial location is known, where the channel feature library before update includes a plurality of second channel feature information, and any one of the plurality of second channel feature information includes RSSI data of an access device corresponding to the any one of the plurality of second channel feature information at any one of a plurality of reference points RP; training based on the updated channel feature library, and increasing the quantity of channel feature information included in the updated channel feature library; acquiring first channel characteristic compensation information corresponding to the channel characteristic library with the increased channel characteristic information quantity based on the channel characteristic library with the increased channel characteristic information quantity; positioning the terminal equipment based on the channel feature library with the increased channel feature information quantity and the first channel feature compensation information;
the transceiver module 801 is further configured to send the channel feature library with the increased number of channel feature information and the first channel feature compensation information to the terminal device, and the terminal device locates the terminal device based on the channel feature library with the increased number of channel feature information and the first channel feature compensation information.
In one possible design, the positioning server stores second channel characteristic compensation information corresponding to the channel characteristic library before updating; the processing module 802 may be further configured to: when the first spatial position is determined to be unknown, positioning the terminal equipment based on the channel feature library before updating and the second channel feature compensation information;
the transceiver module 801 may further be configured to: and sending the channel feature library before updating and the second channel feature compensation information to the terminal equipment, and positioning the terminal equipment by the terminal equipment based on the channel feature library before updating and the second channel feature compensation information.
In one possible design, the plurality of first channel characteristics information may be sent by the plurality of access devices, the any first channel characteristics information may further include a multi-antenna beam pattern of the access device corresponding to the any first channel characteristics information, the plurality of first channel characteristics information may be obtained by the plurality of access devices detecting the wireless positioning detection waveform transmitted by the terminal device, and the multi-antenna beam pattern may be a multi-antenna beam pattern of the access device when detecting the any first channel characteristics information; alternatively, the plurality of first channel characteristic information may be sent by the terminal device, and the plurality of first channel characteristic information may be obtained by the terminal device listening to a wireless signal sent by each of the plurality of access devices.
In a possible design, when the processing module 802 is configured to perform training based on an updated channel feature library and increase the number of channel feature information included in the updated channel feature library, the processing module may specifically be configured to: converting a plurality of first channel characteristic information into a low-resolution channel characteristic image, and converting a plurality of second channel characteristic information into a first high-resolution channel characteristic image; amplifying the low-resolution channel characteristic image based on a preset multiple to obtain a second high-resolution channel characteristic image corresponding to the low-resolution channel characteristic image; training a preset super-resolution network model based on the first high-resolution channel characteristic image to obtain a trained super-resolution network model; performing super-resolution recovery processing on the second high-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of third channel characteristic information; assigning corresponding spatial positions to other channel characteristic information except the first channel characteristic information in the third channel characteristic information; the channel characteristic library with the increased number of the channel characteristic information is formed by the plurality of first channel characteristic information and other channel characteristic information after the space position is given.
In a possible design, when the processing module 802 is configured to obtain, based on the channel feature library with the increased number of channel feature information, first channel feature compensation information corresponding to the channel feature library with the increased number of channel feature information, the processing module may specifically be configured to: testing the trained super-resolution network model by adopting test data to obtain a test error; performing super-resolution recovery processing on the low-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of fourth channel characteristic information; and acquiring the first channel characteristic compensation information based on the plurality of fourth channel characteristic information and the test error.
In one possible design, when the first channel characteristic information is obtained for the first time, the test data may be the second channel characteristic information; alternatively, when the plurality of first channel characteristic information is obtained for a second time or after the second time, the test data may be the first location information.
In one possible design, the transceiver module 801 may be further configured to: sending a first positioning result obtained by positioning the terminal device to the terminal device, where the first positioning result may include, but is not limited to, first location information of the terminal device obtained through calculation; receiving first feedback information sent by the terminal device, where the first feedback information may be used to indicate whether the first positioning result meets a preset positioning requirement; or receiving second feedback information sent by the terminal device, where the second feedback information may be used to indicate whether a second positioning result of the terminal device meets the preset positioning requirement, and the second feedback information may carry the first location information, and the first location information may be calculated by the terminal device.
In one possible design, the processing module 802 may be further configured to: when the first positioning result is determined to not meet the preset positioning requirement based on the first feedback information or the second positioning result is determined to not meet the preset positioning requirement based on the second feedback information, combining the first position information and the plurality of first channel characteristic information to obtain combined information; replacing the plurality of first channel characteristic information with the combined information, returning to execute updating a channel characteristic library based on the plurality of first channel characteristic information when the first spatial position is determined to be known, or executing positioning on the terminal equipment based on the channel characteristic library and the second channel characteristic compensation information when the first spatial position is determined to be unknown, or sending the channel characteristic library and the second channel characteristic compensation information to the terminal equipment until the first positioning result or the second positioning result meets the preset positioning requirement.
In one possible design, the transceiver module 801 may be further configured to: and receiving first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information from the terminal equipment.
In one possible design, the processing module 802, when configured to update the channel feature library based on the plurality of first channel feature information, may be specifically configured to: updating the channel feature library in a sliding time window based on the first channel feature information, wherein the sliding time window comprises a plurality of time periods which are sequenced according to time sequence.
It should be understood that the operations and/or functions of the respective modules in the positioning server 800 are respectively for implementing the corresponding flows of the wireless positioning method shown in fig. 5, and are not described herein again for brevity.
In the case of using integrated units (modules), fig. 12 shows a schematic structural diagram of a positioning server provided in an embodiment of the present application. As shown in fig. 12, the positioning server 900 may include: the device comprises a storage module 901, a channel feature image generation module 902, a super-resolution network learning module 903, a channel feature recombination module 904 and a calculation module 905. Wherein the content of the first and second substances,
a storage module 901, configured to store a corresponding channel feature library.
A channel feature image generating module 902, configured to convert the plurality of first channel feature information into a low-resolution channel feature image, and convert the plurality of second channel feature information into a first high-resolution channel feature image.
The super-resolution network learning module 903 trains the super-resolution network model based on the plurality of second channel characteristic information to obtain the trained super-resolution network model.
A channel feature reconstructing module 904, configured to amplify the low-resolution fingerprint image to obtain a second high-resolution channel feature image, perform super-resolution restoration based on the second high-resolution channel feature image according to the trained super-resolution network model, obtain a plurality of third channel feature information, and assign corresponding spatial positions to other channel feature information except the plurality of first channel feature information in the plurality of third channel feature information; and forming a channel characteristic library with the increased number of the channel characteristic information based on the plurality of first channel characteristic information and other channel characteristic information after the space position is given.
The channel feature recombination module 904 may be further configured to perform super-resolution restoration processing on the low-resolution channel feature image based on the trained super-resolution network model to obtain a plurality of fourth channel feature information; and acquiring first channel characteristic compensation information corresponding to the channel characteristic library after the number of the channel characteristic information is increased based on the plurality of fourth channel characteristic information.
The calculating module 905 is configured to perform positioning calculation on the terminal device based on the channel feature library with the increased number of channel feature information and the corresponding first channel feature compensation information, so as to obtain a positioning result of the terminal device.
It should be understood that the operations and/or functions of the respective modules in the positioning server 900 are respectively for implementing the corresponding flow of the wireless positioning method shown in fig. 5, and are not described herein again for brevity.
In the case of using an integrated unit (module), fig. 13 shows a schematic structural diagram of a terminal device provided in an embodiment of the present application. As shown in fig. 13, the terminal device 1000 may include: a transceiver module 1001 and a processing module 1002.
The transceiver module 1001 is configured to support communication between the terminal device 1000 and another device (e.g., a location server). A processing module 1002 for controlling and managing actions of the terminal device 1000, for example, the processing module 1002 is configured to support the terminal device 1000 to execute the processes of step S201, step S202, and the like in fig. 6 and the process shown in fig. 7, and/or other processes for the technology described herein. Specifically, reference may be made to the following descriptions:
a transceiver module 1001, configured to acquire a channel feature library and channel feature compensation information sent by a location server;
a processing module 1002, configured to perform channel feature compensation on the channel feature library based on the channel feature compensation information; positioning calculation is carried out on the terminal equipment based on the channel feature library after channel feature compensation, and first position information of the terminal equipment is obtained;
the transceiver module 1001 is further configured to receive a first positioning result sent by the positioning server, where the first positioning result includes the first location information, and the first location information is calculated by the positioning server.
In a possible design, when the processing module 1002 is configured to perform positioning calculation on a terminal device based on a channel feature library after channel feature compensation to obtain first location information of the terminal device, the processing module may specifically be configured to: acquiring a plurality of first channel characteristic information of a plurality of access devices based on a first space position of the terminal device, wherein the plurality of access devices are in one-to-one correspondence with the plurality of first channel characteristic information, and any one of the plurality of first channel characteristic information comprises RSSI data of the access device at the first space position corresponding to the any one of the first channel characteristic information and a first multi-antenna beam pattern of the RSSI data; selecting channel characteristic information of the multi-antenna beam pattern with the similarity with the first multi-antenna beam pattern larger than a preset value from the channel characteristic library after channel characteristic compensation; and performing positioning calculation on the terminal equipment based on the channel characteristic information and the plurality of first channel characteristic information to obtain the first position information.
In one possible design, the plurality of first channel characteristics information may be transmitted by the plurality of access devices, the plurality of first channel characteristics information may be obtained by the plurality of access devices listening to the wireless positioning sounding waveform transmitted by the terminal device, and the first multi-antenna beam pattern may be a multi-antenna beam pattern of the access device when listening to any one of the first channel characteristics information; alternatively, the plurality of first channel characteristic information may be obtained by the terminal device listening to a wireless signal transmitted by each of the plurality of access devices.
In one possible design, the transceiver module 1001 may further be configured to: sending first feedback information to the positioning server, wherein the first feedback information is used for indicating whether a first positioning result of the terminal equipment meets a preset positioning requirement or not; or sending second feedback information to the positioning server, where the second feedback information is used to indicate whether a second positioning result obtained by performing positioning calculation on the terminal device meets the preset positioning requirement, and the second feedback information carries the first position information.
In one possible design, the transceiver module 1001 may further be configured to: and sending first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information to the positioning server.
In one possible design, the transceiver module 1001 may further be configured to: acquiring a current wireless signal list, wherein the wireless signal list is one of a Wi-Fi signal list, a Bluetooth signal list, a UWB signal list and a LoRa signal list; acquiring a required Service Set Identifier (SSID) based on the wireless signal list; and periodically acquiring RSSI data of a plurality of RPs according to a preset time length based on the SSID, and sending the acquired RSSI data to the positioning server.
It should be understood that, for brevity, the operations and/or functions of the respective modules in the terminal device 1000 are not described in detail herein in order to implement the corresponding flow of the wireless positioning method shown in fig. 5.
In the case of using an integrated unit (module), fig. 14 shows a schematic structural diagram of a positioning server provided in an embodiment of the present application. As shown in fig. 14, the positioning server 1100 may include one or more processors 1101 and one or more memories 1102; the one or more memories 1102 store one or more computer programs, such as for storing one or more computer programs necessary for the location server 1100. The one or more processors 1101 are configured to enable the positioning server 1100 to implement the above-described wireless positioning method, for example, when the one or more computer programs stored by the one or more memories 1102 are executed by the one or more processors 1101, so that the positioning server 1100 may implement any one of the possibilities shown in fig. 5, 8-9, and/or may be configured to implement other embodiments described herein.
In the case of using an integrated unit (module), fig. 15 shows a schematic structural diagram of a terminal device provided in an embodiment of the present application. As shown in fig. 15, terminal apparatus 1200 can include one or more processors 1201 and one or more memories 1202; the one or more memories 1202 store one or more computer programs, for example, for storing one or more computer programs necessary for the terminal apparatus 1200. The one or more processors 1201 are configured to enable the terminal device 1200 to implement the above-described wireless positioning method, for example, when the one or more computer programs stored by the one or more memories 1202 are executed by the one or more processors 1201, so that the terminal device 1200 may implement any of the possibilities shown in fig. 6 or 7, and/or to implement other embodiments described herein.
Based on the same conception as the method embodiment, the embodiment of the application also provides a computer readable storage medium or a nonvolatile storage medium, the computer-readable storage medium or non-volatile storage medium stores computer instructions or a computer program, when the computer instructions or the computer program are run on a computer, causing the computer to perform any one of the possible implementations of the embodiments of the wireless location method described above, or when running on one or more processors, cause a positioning server or terminal device comprising the one or more processors to perform any of the above described embodiments of the wireless positioning method, any of its possible implementations, such as performing any of the steps of the embodiment of the wireless location method shown in fig. 5, and/or performing other processes of the techniques described herein.
Based on the same concept as the above method embodiments, embodiments of the present application further provide a computer program product, which stores computer readable instructions that, when invoked, cause the computer to perform any one of the possible implementations of the embodiments, embodiments of the above wireless positioning method, or cause a positioning server or a terminal device comprising one or more processors to perform any one of the possible implementations of the embodiments, embodiments of the above wireless positioning method, when the computer instructions or the computer program runs on the one or more processors, for example, to perform any step of the embodiment of the wireless positioning method shown in fig. 5, and/or to perform other processes of the techniques described herein.
Based on the same concept as the above method embodiments, embodiments of the present application further provide a chip, which may be coupled with a memory in a positioning server or a terminal device, and is configured to invoke a computer program stored in the memory and execute any one of the possible implementations of the embodiments and embodiments of the above wireless positioning method, for example, execute any step of the embodiment of the wireless positioning method shown in fig. 5, and/or execute other processes of the techniques described herein.
It should be understood that the transceiver module shown in fig. 11 and 13 may be a circuit, a device, an interface, a bus, a software module, a transceiver, or any other device capable of implementing communication.
It should be understood that the processor (such as the processors shown in fig. 14 and fig. 15) in the embodiment of the present application may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above-described embodiment of the wireless positioning method may be implemented by an integrated logic circuit of hardware in a processor or instructions in the form of software. The processor may be a general-purpose Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof; or a combination that performs a computing function, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should be understood that the memories in the embodiments of the present application (such as the memories shown in fig. 14 and 15) may be either volatile memories or nonvolatile memories, or may include both volatile and nonvolatile memories. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM, enhanced SDRAM, SLDRAM, Synchronous Link DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memories of the systems and methods described herein are intended to comprise, without being limited to, these and any other suitable types of memory.
The various illustrative logical units and circuits described in this application may be implemented or operated by general purpose processors, digital signal processors, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in the embodiments herein may be embodied directly in hardware, in a software element executed by a processor, or in a combination of the two. The software cells may be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a network device or a regulation device, such as different components thereof.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer program or instructions may be stored in or transmitted over a computer-readable storage medium. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server that integrates one or more available media. The usable medium may be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; or an optical medium, such as a DVD; it may also be a semiconductor medium, such as a Solid State Disk (SSD).
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, and computer program products according to embodiments. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the embodiments of the present application have been described with reference to specific features, it is apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of the embodiments of the present application. Accordingly, the specification and figures are merely exemplary of embodiments of the application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the embodiments of the application.

Claims (22)

1. A method of wireless location, comprising:
the method comprises the steps that a plurality of pieces of first channel characteristic information of a plurality of access devices based on a first space position of a terminal device are obtained, the access devices correspond to the first channel characteristic information one by one, and any one piece of first channel characteristic information in the first channel characteristic information comprises Received Signal Strength Indication (RSSI) data of the access device corresponding to any one piece of first channel characteristic information at the first space position;
when the first spatial position is determined to be known, updating a channel feature library based on the first channel feature information, wherein the channel feature library before updating comprises a plurality of second channel feature information, and any second channel feature information in the second channel feature information comprises RSSI data of an access device corresponding to the second channel feature information in the access devices at any RP in a plurality of reference points RP;
training based on the updated channel feature library, and increasing the quantity of channel feature information included in the updated channel feature library;
acquiring first channel characteristic compensation information corresponding to the channel characteristic library with the increased channel characteristic information quantity based on the channel characteristic library with the increased channel characteristic information quantity;
and positioning the terminal equipment based on the channel feature library with the increased channel feature information quantity and the first channel feature compensation information, or sending the channel feature library with the increased channel feature information quantity and the first channel feature compensation information to the terminal equipment, and positioning the terminal equipment based on the channel feature library with the increased channel feature information quantity and the first channel feature compensation information by the terminal equipment.
2. The method of claim 1, wherein the positioning server stores second channel characteristic compensation information corresponding to the pre-update channel characteristic library; the method further comprises the following steps:
and when the first spatial position is determined to be unknown, positioning the terminal equipment based on the channel feature library before updating and the second channel feature compensation information, or sending the channel feature library before updating and the second channel feature compensation information to the terminal equipment, and positioning the terminal equipment by the terminal equipment based on the channel feature library before updating and the second channel feature compensation information.
3. The method according to claim 1 or 2, wherein the first channel characteristics information are transmitted by the access devices, the first channel characteristics information further includes a multi-antenna beam pattern of the access device corresponding to the first channel characteristics information, the first channel characteristics information is obtained by the access devices detecting a wireless positioning sounding waveform transmitted by the terminal device, and the multi-antenna beam pattern is obtained by the access devices when the access devices detect the first channel characteristics information; alternatively, the first and second electrodes may be,
the plurality of first channel characteristic information are sent by the terminal device, and the plurality of first channel characteristic information are obtained by the terminal device intercepting wireless signals sent by the plurality of access devices respectively.
4. The method of claim 1 or 2, wherein training based on the updated channel feature library to increase the amount of channel feature information included in the updated channel feature library comprises:
converting a plurality of first channel characteristic information into a low-resolution channel characteristic image, and converting a plurality of second channel characteristic information into a first high-resolution channel characteristic image;
amplifying the low-resolution channel characteristic image based on a preset multiple to obtain a second high-resolution channel characteristic image corresponding to the low-resolution channel characteristic image;
training a preset super-resolution network model based on the first high-resolution channel characteristic image to obtain a trained super-resolution network model;
performing super-resolution recovery processing on the second high-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of third channel characteristic information;
assigning corresponding spatial positions to other channel characteristic information except the first channel characteristic information in the third channel characteristic information; the channel characteristic library with the increased number of the channel characteristic information is formed by the plurality of first channel characteristic information and other channel characteristic information after the space position is given.
5. The method as claimed in claim 4, wherein obtaining the first channel characteristic compensation information corresponding to the channel characteristic library with the increased amount of channel characteristic information based on the channel characteristic library with the increased amount of channel characteristic information comprises:
testing the trained super-resolution network model by adopting test data to obtain a test error;
performing super-resolution recovery processing on the low-resolution channel characteristic image based on the trained super-resolution network model to obtain a plurality of fourth channel characteristic information;
and acquiring the first channel characteristic compensation information based on the plurality of fourth channel characteristic information and the test error.
6. The method of claim 5, wherein the test data is the second channel characteristics when the first channel characteristics are first obtained; alternatively, the first and second electrodes may be,
when the plurality of first channel characteristic information is acquired for the second time or after the second time, the test data is the first position information.
7. The method of claim 1 or 2, wherein the method further comprises:
sending a first positioning result obtained by positioning the terminal equipment to the terminal equipment, wherein the first positioning result comprises first position information of the terminal equipment obtained by calculation; receiving first feedback information sent by the terminal equipment, wherein the first feedback information is used for indicating whether the first positioning result meets a preset positioning requirement or not; alternatively, the first and second electrodes may be,
receiving second feedback information sent by the terminal device, where the second feedback information is used to indicate whether a second positioning result of the terminal device meets the preset positioning requirement, and the second feedback information carries the first position information, where the first position information is obtained by calculation of the terminal device.
8. The method of claim 7, wherein the method further comprises:
when the first positioning result is determined to not meet the preset positioning requirement based on the first feedback information or the second positioning result is determined to not meet the preset positioning requirement based on the second feedback information, combining the first position information and the plurality of first channel characteristic information to obtain combined information;
replacing the plurality of first channel characteristic information with the combined information, returning to execute updating a channel characteristic library based on the plurality of first channel characteristic information when the first spatial position is determined to be known, or executing positioning on the terminal equipment based on the channel characteristic library and the second channel characteristic compensation information when the first spatial position is determined to be unknown, or sending the channel characteristic library and the second channel characteristic compensation information to the terminal equipment until the first positioning result or the second positioning result meets the preset positioning requirement.
9. The method of claim 1 or 2, wherein the method further comprises:
and receiving first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information from the terminal equipment.
10. The method of claim 1 or 2, wherein updating the channel profile library based on the plurality of first channel profile information comprises:
updating the channel feature library in a sliding time window based on the first channel feature information, wherein the sliding time window comprises a plurality of time periods which are sequenced according to time sequence.
11. A method of wireless location, comprising:
acquiring a channel characteristic library and channel characteristic compensation information sent by a positioning server; performing channel characteristic compensation on the channel characteristic library based on the channel characteristic compensation information; positioning calculation is carried out on the terminal equipment based on a channel feature library after channel feature compensation, and first position information of the terminal equipment is obtained; alternatively, the first and second electrodes may be,
and receiving a first positioning result sent by the positioning server, wherein the first positioning result comprises the first position information, and the first position information is calculated by the positioning server.
12. The method of claim 11, wherein performing a positioning calculation for a terminal device based on a channel feature compensated channel feature library to obtain first location information of the terminal device comprises:
acquiring a plurality of first channel characteristic information of a plurality of access devices based on a first space position of the terminal device, wherein the plurality of access devices are in one-to-one correspondence with the plurality of first channel characteristic information, and any one of the plurality of first channel characteristic information comprises RSSI data of the access device at the first space position corresponding to the any one of the first channel characteristic information and a first multi-antenna beam pattern of the RSSI data;
selecting channel characteristic information of the multi-antenna beam pattern with the similarity with the first multi-antenna beam pattern larger than a preset value from the channel characteristic library after channel characteristic compensation;
and based on the channel characteristic information and the plurality of first channel characteristic information, performing positioning calculation on the terminal equipment to obtain the first position information.
13. The method of claim 12, wherein the first channel characteristics information is sent by the access devices, the first channel characteristics information is obtained by the access devices listening to a wireless positioning sounding waveform transmitted by the terminal device, and the first multi-antenna beam pattern is a multi-antenna beam pattern of the access device when listening to any of the first channel characteristics information; alternatively, the first and second electrodes may be,
the first channel characteristic information is obtained by the terminal device listening to the wireless signals sent by the access devices respectively.
14. The method of claim 11 or 12, wherein the method further comprises:
sending first feedback information to the positioning server, wherein the first feedback information is used for indicating whether a first positioning result of the terminal equipment meets a preset positioning requirement or not; alternatively, the first and second electrodes may be,
and sending second feedback information to the positioning server, wherein the second feedback information is used for indicating whether a second positioning result obtained by the terminal equipment through positioning calculation meets the preset positioning requirement or not, and the second feedback information carries the first position information.
15. The method of claim 11 or 12, wherein the method further comprises:
and sending first request information for requesting a channel characteristic library and second request information for requesting channel characteristic compensation information to the positioning server.
16. The method of claim 11 or 12, wherein the method further comprises:
acquiring a current wireless signal list, wherein the wireless signal list is one of a wireless fidelity Wi-Fi signal list, a Bluetooth signal list, an ultra wideband UWB signal list and a long-distance wireless LoRa signal list;
acquiring a required Service Set Identifier (SSID) based on the wireless signal list;
and periodically acquiring RSSI data of a plurality of RPs according to a preset time length on the basis of the SSID, and sending the acquired RSSI data to the positioning server.
17. A positioning server, characterized in that it comprises means for performing the method according to any of claims 1-10.
18. A terminal device, characterized in that it comprises means for carrying out the method according to any one of claims 11-16.
19. A communication device, comprising:
one or more processors;
one or more memories;
wherein the one or more memories store one or more computer programs, the one or more computer programs comprising instructions, which when executed by the one or more processors, cause the communication device to perform the method of any of claims 1-10 or to perform the method of any of claims 11-16.
20. A computer-readable storage medium having computer-readable instructions stored thereon which, when read and executed by a computer, cause performance of the method of any one of claims 1-10, or cause performance of the method of any one of claims 11-16.
21. A computer program product having stored thereon computer readable instructions which, when invoked, cause the method of any of claims 1-10 to be performed, or cause the method of any of claims 11-16 to be performed.
22. A wireless communication system comprising a positioning server according to claim 17 and a terminal device according to claim 18.
CN202011380650.5A 2020-11-30 2020-11-30 Indoor positioning method, related equipment and computer readable storage medium Pending CN114584918A (en)

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