CN115550854A - High-precision positioning method for 5G cluster communication nodes based on mMTC scene - Google Patents
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Abstract
The invention discloses a high-precision positioning method for 5G cluster communication nodes based on an mMTC scene, and relates to the technical field of 5G system wireless positioning. The cluster positioning expands the original positioning aiming at a single terminal into the positioning aiming at a plurality of terminals at the same time, and optimizes the positioning result by utilizing the mutual information between the terminals. On the basis of a traditional single-target positioning algorithm, positioning information among nodes is effectively increased through an mMTC communication mode, and the average positioning accuracy of each communication node in a 5G cluster is improved.
Description
Technical Field
The invention relates to the technical field of wireless positioning of 5G systems, in particular to a high-precision positioning method for 5G cluster communication nodes based on an mMTC scene.
Background
In 4G mobile communication and earlier times, common indoor wireless positioning technologies are mostly based on information such as the received signal strength, the signal Arrival Time, the signal Arrival angle, etc. of a single terminal, and then combine some traditional positioning methods such as a triangular centroid positioning method, a positioning method based on TOA (Time of Arrival), a positioning method based on TDOA (Time Difference of Arrival), a positioning method based on DOA (Direction of Arrival), a fingerprint positioning method, etc. to estimate and position the terminal position of a terminal to be measured, and these methods can be divided into indoor positioning based on parameter measurement and indoor positioning based on fingerprint matching. For an indoor positioning method based on parameter measurement, signals received by a terminal under a complex scene generally pass through a complex propagation path, and measurement information carried in the received signals has a certain difference from real information, so that the positioning accuracy of the positioning method directly depending on parameter measurement has a larger space; although the indoor positioning algorithm based on fingerprint matching does not directly depend on the accuracy degree of information carried by the received signal, the fingerprint algorithm needs to train the model by using the offline database corresponding to different scenes, and a large amount of offline sample data needs to be prepared to ensure the positioning accuracy when the model is trained, so that the fingerprint positioning algorithm is high in application cost and difficult to popularize.
Therefore, those skilled in the art are dedicated to develop a 5G cluster communication node high-precision positioning method based on an mtc scenario. On the basis of a traditional single-target positioning algorithm, positioning information among nodes is effectively increased through an mMTC communication mode, and the average positioning accuracy of each communication node in a 5G cluster is improved.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to improve the positioning accuracy in 5G trunking communication.
In order to achieve the above object, the present invention provides a high-precision positioning method for 5G cluster communication nodes based on an mtc scenario, which includes the following steps:
step 4, based on a simultaneous equation set, taking the position of each 5G cluster communication node as an unknown parameter to be solved, converting the problem of solving the unknown parameter into an optimization problem, wherein the objective function of the optimization problem is the sum of polynomials obtained after all terms in the equation set are moved to the left side of an equation;
and 5, solving the optimization problem, wherein the solution of the finally obtained optimization problem is the positioning result of the 5G cluster communication nodes based on the mMTC scene.
Further, the position information of the 5G base station in the step 1 is known, and the ranging information from the 5G base station to the 5G cluster communication node can be acquired at the communication node in the cluster.
Further, the position information of the step 1, the 5G base station is known, and at the communication node in the cluster, the signal fading size and the signal fading empirical formula between the 5G base station and the 5G cluster communication node can be obtained.
Further, in step 2, the ranging information between each 5G cluster communication node and all other nodes in the group is obtained or measured through the mtc scenario of the 5G system.
Further, in step 2, the signal fading size and the signal fading empirical formula between each 5G cluster communication node and all other nodes in the cluster are obtained or measured through the mtc scenario of the 5G system.
Further, step 3, described by the equations in the first set of data equations: the sum of the squares of the difference values of the x-axis coordinates of the 5G cluster communication node to be positioned and the 5G base station plus the sum of the squares of the difference values of the y-axis coordinates is equal to the square of the ranging result of the 5G cluster communication node to be positioned and the 5G base station.
Further, in step 3, the equations in the second set of data equations describe: the sum of the squares of the differences of the x-axis coordinates of the 5G cluster communication nodes to be positioned and other nodes to be positioned plus the sum of the squares of the differences of the y-axis coordinates is equal to the square of the ranging result between the two 5G cluster communication nodes to be positioned.
Further, in the step 4, the two equation sets are connected, and the terms on the right side of the equation in the two equation sets are both moved to the left side of the equation, so that the equation set is changed into a polynomial equation set with the right side of the equation being all 0; and adding the terms on the left side of all equation equations, and constructing a new polynomial to be used as a specific objective function of the optimization problem.
Further, in the step 5, the optimization problem can be converted into a standard optimization problem under an unconstrained condition, and optimization solution is performed.
Further, in the step 5, when the optimization objective function reaches the minimum value, the obtained optimization solution is the high-precision positioning result of the 5G cluster communication nodes based on the mtc scenario.
In a preferred embodiment of the present invention, for meeting the requirement of high-precision positioning of cluster Communication nodes or terminals in a 5G system, the present invention provides a high-precision positioning method for cluster Communication nodes or terminals in a 5G system based on mtc (Massive Machine Type Communication) scenario. The cluster positioning expands the original positioning aiming at a single terminal into the positioning aiming at a plurality of terminals at the same time, and the core is to optimize the positioning result by utilizing the mutual information between the terminals. In the three application scenes of 5G, mMTC scene is highly matched with the cluster positioning model provided by the invention, so that the invention provides a high-precision positioning method of 5G cluster communication nodes based on the mMTC scene, and the problem of high-precision positioning of cluster communication nodes or terminals under 5G is solved.
The invention mainly aims to improve the positioning accuracy of all communication nodes (or terminals) in a 5G cluster by combining mutual ranging information of the communication nodes (or terminals) in the cluster based on 5G wireless base station signals.
Three application scenarios of the 5G communication system have important influence on the field of wireless positioning. And one of the 5G large application scenarios, namely the mMTC scenario, is just in good fit with the group positioning model provided by the invention, when other intelligent electronic devices are filled around the node (or terminal) to be positioned, the surrounding electronic devices can be easily utilized to assist the node (or terminal) to be positioned to complete group positioning, so that the aim of high-precision positioning of the 5G cluster communication node is fulfilled.
In the concrete implementation process of this patent, there are the following main points:
first, in a positioning scenario, the position of the 5G base station is known information, and can be generally obtained through base station position information issued by a 5G mobile communication operator. The nodes (or terminals) to be positioned may be different types or different types of 5G terminals or 5G electronic products, such as 5G mobile phone terminals, 5G tablet devices, 5G smart appliances, 5G mobile terminals, 5G robots, etc., which may exist in a concentrated area in a large amount and have certain mutual information therebetween, and the location information of the nodes (or terminals) is the positioning result to be solved.
Secondly, the ranging result between the "5G base station and the node (or the terminal)" can be calculated by using RSSI information received by the node (or the terminal) from surrounding 5G base stations and 5G base station transmission power, and combining with a wireless signal space propagation loss model of the wireless signal of the 5G network in the scene. And the ranging result between the nodes (or terminals) and the nodes (or terminals) can be calculated by each node (or terminal) by using the mtc mode to transmit a corresponding radio frequency signal outwards, and receiving and measuring corresponding RSSI information at a receiving node (or terminal) while combining a wireless signal space propagation loss model under the scene.
Thirdly, when a mathematical model of the optimization problem is established, two sets of distance measurement equations can be obtained by relying on the two sets of distance measurement results obtained by measurement and combining a formula for calculating the distance between two points on a plane and a geometric relation between position coordinates of the two points. In both sets of ranging equations, all terms are shifted to the left of the equation, making all terms to the right of the equation a constant 0 result. In the two sets of equations, the x-y coordinates of all nodes (or terminals) to be positioned become unknown variables to be solved, and the two sets of measured distance measurement results become known variables in the equations. In the case that the above equation set and unknown variables are determined, an optimization method can be used to solve the above equations to obtain an optimization result under a specific optimization criterion and a positioning result of each node (or terminal).
Compared with the prior art, the invention has the following obvious substantive characteristics and obvious advantages:
the invention fully utilizes the unique advantages that each node (or terminal) in the 5G cluster communication can carry out point-to-point communication and mutual signal transmission by using an mMTC mode, and takes the ranging information between the nodes (or terminals) as the beneficial auxiliary information for high-precision positioning of the 5G cluster communication nodes, thereby helping to realize effective high-precision positioning of all nodes (or terminals) in the cluster. Compared with the traditional positioning method, the method has the advantages that the constraint condition of positioning optimization is added, so that the positioning accuracy of each node (or terminal) in the 5G cluster communication is improved integrally.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a schematic diagram of a 5G cluster communication node high-precision positioning scenario model based on an mtc scenario according to a preferred embodiment of the present invention;
fig. 2 is a graph showing a comparison of positioning error performance for different numbers of nodes (or terminals) in accordance with a preferred embodiment of the present invention.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, elements that are structurally identical are represented by like reference numerals, and elements that are structurally or functionally similar in each instance are represented by like reference numerals. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
The invention relates to the technical field of wireless positioning of 5G systems, in particular to a high-precision positioning method for 5G cluster communication nodes in an mMTC scene.
The invention mainly comprises the following steps:
1) In a certain area to be positioned, a plurality of 5G cluster communication nodes or terminals to be positioned are distributed, and the area is completely covered by a plurality of 5G base station signals. At each communication node (or terminal), the ranging information between the node (or terminal) and each 5G base station can be measured and used as the first group of input data for high-precision positioning of the 5G cluster communication nodes.
2) Under the mMTC scene of the 5G system, each node (or terminal) in the 5G cluster communication can obtain or measure the mutual ranging information of the node (or terminal) and all other nodes (or terminals) in the group through the mMTC scene, and the mutual ranging information is used as a second group of input data for high-precision positioning of the 5G cluster communication node.
3) Establishing a distance measurement equation set from the position of each communication node (or terminal) to the position of each 5G base station by using the first group of data based on the two groups of ranging information, wherein the position of each communication node (or terminal) is used as an unknown parameter to be solved in the equation set; establishing a distance measurement equation set from the position of each communication node (or terminal) to the positions of all other nodes (or terminals) in the group by using the second set of data, and taking the position of each communication node (or terminal) as an unknown parameter to be solved in the equation set; and the two sets of equations are combined to estimate the position of each communication node (or terminal) in the group.
4) Based on the established simultaneous equation set, the position of each communication node (or terminal) is used as an unknown parameter to be solved, and the problem of solving the unknown parameter is converted into an optimization problem, wherein the objective function of the optimization problem is the sum of all polynomials obtained after all terms in the equation set are moved to the left side of the equation.
5) And solving the established optimization problem, wherein the solution of the finally obtained optimization problem is the positioning result of each node (or terminal) of the 5G cluster communication based on the mMTC scene.
In step 1), the position information of each 5G base station is known. Meanwhile, at each communication node (or terminal) in the cluster, the signal fading size or ranging information between each 5G base station and the node (or terminal) can be obtained. If the obtained information of the signal fading size between the 5G base station and the node (or the terminal) is obtained, the empirical formula of the signal fading in the scene needs to be known in advance so as to be used for estimating the ranging result between the 5G base station and the node (or the terminal).
In step 2), it can be ensured that the signal fading size or the ranging information between each node (or terminal) and all other nodes (or terminals) in the group is obtained or measured through the mtc scenario of the 5G system. If the obtained information is the signal fading size between each node (or terminal) and all other nodes (or terminals) in the group, the empirical formula of the signal fading in the scene needs to be known in advance so as to be used for estimating the ranging result between each node (or terminal) and all other nodes (or terminals) in the group.
In step 3), two distance measurement equation sets may be respectively established for the two distance measurement results obtained in step 1) and step 2), where the equation in the first equation set describes: the sum of the squares of the differences of the x-axis coordinates of the node to be positioned and the 5G base station plus the sum of the squares of the differences of the y-axis coordinates is equal to the square of the distance measurement result of the node to be positioned and the 5G base station; described by the equations in the second system of equations: the sum of the squares of the x-axis coordinate difference of a certain node to be positioned and other nodes to be positioned plus the sum of the squares of the y-axis coordinate difference is equal to the square of the ranging result between the two nodes to be positioned.
In step 4), the two equation sets obtained in step 3) may be combined, and meanwhile, the terms on the right side of the equations in the two equation sets are all moved to the left side of the equations, so that the equations become a polynomial equation set with the right side of all 0. Then, the terms on the left side of all equation equations are added to construct a new polynomial which can be used as a specific objective function of the optimization problem of the subsequent requirement solution.
In step 5), the polynomial established in step 4) is used as a specific objective function of the optimization problem to be solved, so that an optimization problem can be established, and the optimization problem can be converted into a standard optimization problem under an unconstrained condition and optimized and solved. When the optimization objective function reaches the minimum value, the obtained optimization solution is the high-precision positioning result of the 5G cluster communication nodes (or terminals) based on the mMTC scene.
The specific embodiment of the invention is as follows:
1) As shown in fig. 1, assuming that the size of the scene area is 60 meters by 50 meters (length by width), the position coordinates of 6 identified 5G base stations around the scene are (a) 1 ,b 1 )＝(30,70)、(a 2 ,b 2 )＝(70,70)、(a 3 ,b 3 )＝(80,50)、(a 4 ,b 4 )＝(70,30)、(a 5 ,b 5 )＝(30,30)、(a 6 ,b 6 ) = (20,50), unit is meter. Assuming that all nodes (or terminals) are concentrated in one indoor room (rectangular area in fig. 1), the room size is 20 meters by 15 meters. Three nodes (or terminals) to be positioned are randomly placed in a room, and the corresponding position coordinates are (x) respectively 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) They form a group of 5G cluster communication nodes to be positioned.
2) The distance d from the ith 5G base station to the jth node (or terminal) is obtained through measurement ij (i =1,2, \8230;, 6 j =1,2, 3) in meters; or get the firstSignal fading value PL from i 5G base stations to j node (or terminal) ij (i =1,2, \ 8230;, 6 j =1,2, 3), in decibels (dB), can pass the empirical formula for signal fading in this scenario
Determining the corresponding distance d ij (i =1,2, \8230;, 6 j =1,2, 3), PL in the above formula 1 (d 1 ) Is the signal fading value, d, of a certain reference point position in the scene 1 Is the actual distance, alpha, of the reference point position from the corresponding 5G base station 1 Is the path fading factor for the scene,
is an additive gaussian random variable with a mean value of 0.
3) And establishing a first set of ranging equations by using the distance result obtained by the measurement, namely:
4) Obtaining the distance D from the jth 5G node (or terminal) to the kth node (or terminal) through mMTC measurement jk (j =1,2,3; or obtaining the signal fading value PL from the jth 5G base station to the kth node (or terminal) jk (j =1,2,3
Determining the corresponding distance D jk (j =1,2,3 2 (d 2 ) Is the signal fading value between the positions of some two reference nodes (or terminals) in the scene, d 2 For the actual distance between the two reference node (or terminal) positions, α 2 For the sceneThe path fading factor of (a) is,
is an additive gaussian random variable with a mean value of 0.
5) And establishing a second set of ranging equations by using the distance result obtained by the measurement, namely:
6) Combining the two equation sets of the formula (1) and the formula (2), shifting all non-zero variables in each equation to the left of the equation, and obtaining the following simultaneous equation sets after arrangement:
in the above equation set, the position coordinates (x) of the 5G cluster communication nodes (or terminals) 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) The positioning result is the positioning result to be solved.
7) Based on the above equation (3), an optimization objective function is established as follows:
8) For the optimization objective function established in the formula (4), in general, when the number of base stations and the number of nodes (or terminals) to be positioned are large, a common optimization method, such as a newton method, a gauss-newton method, or the like, may be used to perform solution, so as to obtain a final positioning result of each node of the 5G trunking communication. In the present embodiment, newton method and gauss-newton method are respectively adopted to solve the above problem.
In the present embodiment, fig. 2 shows a comparison graph of positioning error performance for different numbers of nodes (or terminals). The case where the number of nodes (or terminals) in the figure is equal to 1 also corresponds to an extreme case, namely, in fact, the 5G nodes (or terminals) do not form a group structure, and only a single 5G node (or terminal) is provided, which also coincides with the conventional positioning manner. It can be seen from the results in the figure that as the number of nodes (or terminals) increases, the overall average positioning error (or prediction error) of all nodes (or terminals) in the cluster shows a monotonous decreasing trend. Particularly, when the number of the nodes (or terminals) is 1, the average positioning errors of the Newton method and the Gaussian Newton method are about 21 meters and 12 meters respectively; and when the number of nodes (or terminals) is 6, the average positioning errors of newton's method and gauss-newton's method are reduced to about 8.1 meters and 8.4 meters, respectively. The above results fully indicate that, in the problem of high-precision positioning of the 5G cluster communication nodes, introduction of mutual ranging information between nodes (or terminals) based on an mtc scenario provides a very important benefit for improving the overall average positioning precision of the 5G cluster communication nodes (or terminals).
The invention is mainly characterized in that the 5G cluster communication node high-precision positioning method based on the mMTC scene is adopted, and the implementation means of the method and the diversity of the cluster, the scene and the 5G node (or the terminal) are realized.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concept. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A5G cluster communication node high-precision positioning method based on an mMTC scene is characterized by comprising the following steps:
step 1, ranging information between a 5G cluster communication node to be positioned and a 5G base station is used as a first group of data of high-precision positioning of the 5G cluster communication node;
step 2, under the mMTC scene of the 5G system, the 5G cluster communication node acquires mutual ranging information with other communication nodes in the group through the mMTC scene to serve as a second group of data for high-precision positioning of the 5G cluster communication node;
step 3, establishing a distance measurement equation set from the 5G cluster communication nodes to the 5G base station by using the first group of data, and taking the positions of the 5G cluster communication nodes in the equation set as unknown parameters to be solved; establishing a distance measurement equation set from the 5G cluster communication node to other node positions in the cluster by using the second group of data, and taking the position of each 5G cluster communication node in the equation set as an unknown parameter to be solved; the two groups of equations are simultaneous;
step 4, relying on a simultaneous equation set, taking the position of each 5G cluster communication node as an unknown parameter to be solved, converting the solving problem of the unknown parameter into an optimization problem, wherein the objective function of the optimization problem is the sum of polynomials obtained after all terms in the equation set are moved to the left side of an equation;
and 5, solving the optimization problem, wherein the solution of the finally obtained optimization problem is the positioning result of the 5G cluster communication nodes based on the mMTC scene.
2. The method for positioning 5G cluster communication nodes with high precision based on mMTC scene in claim 1, wherein the position information of the 5G base station is known, and ranging information from the 5G base station to the 5G cluster communication nodes can be obtained at the communication nodes in the cluster.
3. The method for positioning 5G cluster communication nodes with high precision based on mMTC scene as recited in claim 1, wherein the position information of the step 1,5G base station is known, and at the communication nodes in the cluster, the signal fading size and the signal fading empirical formula between the 5G base station and the 5G cluster communication nodes can be obtained.
4. The method for positioning 5G cluster communication nodes with high precision based on mMTC scene in claim 1, wherein in the step 2, the ranging information between each 5G cluster communication node and all other nodes in the group is obtained or measured through mMTC scene of a 5G system.
5. The method for positioning 5G cluster communication nodes at high precision based on mtc scenario according to claim 1, wherein in step 2, the signal fading magnitude and signal fading empirical formula between each 5G cluster communication node and all other nodes in the group are obtained or measured through mtc scenario of 5G system.
6. The method for high-precision positioning of 5G cluster communication nodes based on mMTC scene in claim 1, wherein the step 3 is described by the equations in the first set of data equations: the sum of the squares of the differences of the 5G cluster communication nodes to be positioned and the 5G base station in the x-axis coordinate is equal to the square of the ranging result of the 5G cluster communication nodes to be positioned and the 5G base station in the y-axis coordinate.
7. The mMTC scenario-based 5G cluster communication node high precision positioning method of claim 1, wherein in the step 3, the equations in the second set of data equations describe: the sum of squares of the differences of the x-axis coordinates of the 5G cluster communication nodes to be positioned and other nodes to be positioned plus the sum of squares of the differences of the y-axis coordinates is equal to the square of the ranging result between the two 5G cluster communication nodes to be positioned.
8. The method for positioning a 5G cluster communication node with high precision based on a mMTC scene in claim 1, wherein in the step 4, two equation sets are combined, and the terms on the right side of the equations in the two equation sets are moved to the left side of the equations, so that the equations become polynomial equation sets with the right side of all 0; the terms on the left side of all equation equations are added to construct a new polynomial as a specific objective function of the optimization problem.
9. The method for positioning the 5G cluster communication node with high precision based on the mMTC scene in claim 1, wherein in the step 5, the optimization problem can be converted into a standard optimization problem under an unconstrained condition, and an optimization solution is performed.
10. The method for high-precision positioning of 5G cluster communication nodes based on mMTC scene as claimed in claim 1, wherein in step 5, when the optimization objective function reaches the minimum value, the obtained optimization solution is the high-precision positioning result of 5G cluster communication nodes based on mMTC scene.
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