CN117452332B - Position determining method and device - Google Patents
Position determining method and device Download PDFInfo
- Publication number
- CN117452332B CN117452332B CN202311797909.XA CN202311797909A CN117452332B CN 117452332 B CN117452332 B CN 117452332B CN 202311797909 A CN202311797909 A CN 202311797909A CN 117452332 B CN117452332 B CN 117452332B
- Authority
- CN
- China
- Prior art keywords
- target
- information
- displacement
- determining
- receiver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000006073 displacement reaction Methods 0.000 claims abstract description 154
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000010187 selection method Methods 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000012216 screening Methods 0.000 claims description 13
- 230000002776 aggregation Effects 0.000 claims description 12
- 238000004220 aggregation Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000011426 transformation method Methods 0.000 claims description 4
- 239000000470 constituent Substances 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 12
- 230000009466 transformation Effects 0.000 description 11
- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000001186 cumulative effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 108010001267 Protein Subunits Proteins 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000021615 conjugation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/10—Systems for determining distance or velocity not using reflection or reradiation using radio waves using Doppler effect
-
- 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
Abstract
The invention provides a position determining method and a device, wherein the method comprises the following steps: at the t moment, carrying out conversion processing on the channel state information of each receiver to obtain frequency offset information, and generating a target frequency offset function by combining the carrier frequency of the transmitter and the displacement parameters of the object; solving two target frequency offset functions to obtain a displacement set; determining target displacement information comprising target speed information and an initial movement direction from a displacement set based on a preset selection method; determining offset weights of different frequency offset identifications according to the included angles between the target speed information and each receiver, wherein the included angles are determined according to the positions of the transmitters and the receivers and the target displacement information; and adjusting the initial movement direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers to obtain a target movement direction, wherein the position information of the object at the t moment comprises target speed information and the target movement direction. A position determining device is also provided based on the method.
Description
Technical Field
The present invention relates to the field of signal processing, and in particular, to a method and apparatus for determining a position.
Background
Non-contact indoor tracking is an important component of a wide range of real-world applications, including intruder location tracking, elderly/patient monitoring, activity recognition, and the like. In a contactless indoor tracking technology based on WiFi devices, frequency offset information (Doppler Frequency Shift, DFS) extracted from fine-grained channel state information (Channel State Information, CSI) is widely used for estimation of target motion speed. However, the CSI obtained from each antenna of the WiFi device has a random phase offset, which has a serious effect on the estimation of the DFS. In the conventional method, the CSI data of two antennas can be used for conjugate multiplication or division to eliminate the random phase offset, which requires that the WiFi device has at least two antennas working in the same frequency band, but in reality, wiFi chips of many IoT devices have only one antenna, in this case, the multi-antenna position tracking method cannot be applied to a single-antenna device, and the accuracy of the position determined by the conventional single-antenna position tracking method is poor.
Disclosure of Invention
In view of this, the embodiment of the invention provides a position determining method and a device.
An aspect of an embodiment of the present invention provides a position determining method, including:
according to the embodiment of the invention, at the t moment, the channel state information of each receiver is subjected to transformation processing to obtain the frequency offset information corresponding to each receiver, wherein t is more than or equal to 0; generating a target frequency offset function for each receiver according to the frequency offset information, the carrier frequency of the transmitter and the displacement parameter of the object, wherein the receiver comprises an available receiving antenna; solving each two target frequency offset functions to obtain a displacement set of the object; determining target displacement information from a displacement set based on a preset selection method, wherein the target displacement information comprises target speed information and an initial movement direction; determining offset weights corresponding to different frequency offset identifications according to an included angle between the target speed information and each receiver, wherein the included angle is determined according to the position of the transmitter, the position of the receiver and the target displacement information; and adjusting the initial movement direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers to obtain a target movement direction, wherein the position information of the object at the t moment comprises target speed information and the target movement direction.
According to an embodiment of the present invention, the transforming process is performed on the magnitude of the channel state information of each receiver to obtain frequency offset information corresponding to each receiver, including: and processing the amplitude of the channel state information by using a continuous wavelet transformation method aiming at each piece of channel state information to obtain frequency offset information.
According to an embodiment of the present invention, the target frequency offset function is as shown in formula (1):
（1）
wherein,representing the relation between the object displacement generated from the channel state information of the ith receiver and the frequency offset information, f representing the carrier frequency of the transmitter,/v>Indicating the magnitude of the object movement velocity in the displacement parameter of the object,/->Indicating the direction of movement of the object in the displacement parameter of the object,/->,/>Respectively representing the departure angle of the signal transmitted by the transmitter from the transmitter and the arrival angle of the signal at the ith receiver, c representing the speed of light.
According to an embodiment of the present invention, determining target displacement information from a displacement set based on a preset selection method includes: clustering the displacement set by using a preset clustering method to obtain K initial clusters, wherein K is determined according to the quantity of displacement information in the displacement set; processing the plurality of initial clusters by using a preset screening method to obtain target clusters; and determining target displacement information from the plurality of displacement information in the target cluster based on a preset selection method.
According to an embodiment of the present invention, a plurality of initial clusters are processed by a preset screening method to obtain a target cluster, including: for each initial cluster, determining the initial cluster as an intermediate cluster in the case that the number of displacement information in the initial cluster satisfies a first number condition; calculating the aggregation degree of each intermediate cluster; and determining the intermediate cluster with the largest aggregation degree as a target cluster.
According to an embodiment of the present invention, determining target displacement information from a plurality of displacement information in a target cluster based on a preset selection method includes: determining a cluster center according to a plurality of displacement information in the target cluster; calculating a clustering distance between each piece of displacement information and a clustering center; and determining displacement information corresponding to the minimum value of the clustering distance as target displacement information.
According to an embodiment of the present invention, determining offset weights corresponding to different frequency offset identifications according to an included angle between target speed information and each receiver includes: generating a frequency offset identification corresponding to each receiver according to covariance between channel state information of the plurality of receivers; generating an included angle corresponding to each receiver according to the initial motion direction, the position of the transmitter and the position of the receiver; under the condition that the included angle is larger than or equal to a preset included angle threshold value, determining the offset weight of the frequency offset mark corresponding to the receiver as a first weight; and under the condition that the included angle is smaller than a preset included angle threshold value, determining the offset weight of the frequency offset identifier corresponding to the receiver as a second weight, wherein the first weight is larger than the second weight.
According to an embodiment of the present invention, an initial motion direction is adjusted by using a plurality of offset weights and a plurality of frequency offset identifiers to obtain a target motion direction, including: for each receiver, determining a theoretical offset identifier between the target speed information and the receiver according to the target speed information, the carrier frequency of the transmitter, the departure angle of a signal transmitted by the transmitter from the transmitter and the arrival angle of the signal at the receiver; generating weighted speed information according to the plurality of theoretical offset identifications, the plurality of frequency offset identifications and the plurality of offset weights; under the condition that the weighted speed information is larger than or equal to a preset value, determining the initial movement direction as a target movement direction; and generating a target movement direction according to the initial movement direction and the preset angle under the condition that the weighted speed information is smaller than the preset value.
According to an embodiment of the invention, the angleAs shown in formula (2), the offset weight +.>As shown in formula (3), the theoretical offset mark +.>As shown in formula (4), the speed information is weighted +.>As shown in formula (5), the target movement direction +.>As shown in formula (6):
（2）
wherein,,/>
（3）
（4）
（5）
（6）
wherein,representing transmitter->Is the position of (2)，/>Representing the position of the ith receiver in N, dot being a dot product function, norm being a vector norm function; / >For the first weight, ++>For the second weight, ++>The included angle threshold value is preset; />For the initial direction of movement, +.>、/>、/>Are respectively formed by a plurality of offset weights +.>Multiple frequency offset identities->Multiple theoretical offset markers->Constituent multidimensional vector,/->Is a preset value->Is a preset angle.
Another aspect of an embodiment of the present invention provides a position determining apparatus, including: the transformation module is used for carrying out transformation processing on the channel state information of each receiver at the t moment to obtain frequency offset information corresponding to each receiver; a generating module, configured to generate, for each receiver, a target frequency offset function according to the frequency offset information, the carrier frequency of the transmitter, and the displacement parameter of the object, where the receiver includes an available receiving antenna; the solving module is used for solving each two target frequency offset functions to obtain a displacement set of the object; the first determining module is used for determining target displacement information from the displacement set based on a preset selecting method, wherein the target displacement information comprises target speed information and an initial movement direction; the second determining module is used for determining offset weights corresponding to different frequency offset identifications according to the included angle between the target speed information and each receiver, wherein the included angle is determined according to the position of the transmitter, the position of the receiver and the target displacement information; and the adjusting module is used for adjusting the initial moving direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers to obtain a target moving direction, wherein the position information of the object at the t moment comprises target speed information and the target moving direction.
According to the embodiment of the invention, a target frequency offset function is generated through frequency offset information, carrier frequency of a transmitter and displacement parameters of an object; solving each two target frequency offset functions to obtain a displacement set of the object; determining target displacement information from the displacement set based on a preset selection method; determining offset weights corresponding to different frequency offset identifications according to the included angle between the target speed information and each receiver; and adjusting the initial motion direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers. Therefore, the method at least partially overcomes the defect that the random phase offset can only be eliminated by utilizing the conjugate multiplication or the division of the CSI data of two antennas in the prior art, realizes the completion of the non-contact target position tracking by using the CSI data of one antenna, reduces the influence of the CSI random phase offset acquired from a plurality of antennas of a transmitter on DFS, and realizes the high-precision position tracking by utilizing the transmitter of a single antenna.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 shows a flow chart of a method of location determination according to an embodiment of the invention;
FIG. 2 shows a graph of CSI amplitude over time according to an embodiment of the present invention;
FIG. 3 shows a distribution diagram of displacement information in a displacement collection according to an embodiment of the present invention;
FIG. 4 shows a flow diagram of a method of location determination according to an embodiment of the invention;
FIG. 5 shows a graph of comparison results of a position determination method according to an embodiment of the present invention;
FIG. 6 illustrates a schematic diagram of primary target trajectory tracking in an open environment in accordance with an embodiment of the present invention;
FIG. 7 illustrates a schematic diagram of a primary target trajectory tracking in a corridor environment, in accordance with an embodiment of the present invention;
FIG. 8 illustrates a schematic diagram of one target trajectory tracking in a meeting room environment, in accordance with an embodiment of the present invention;
FIG. 9 shows a graph of cumulative error distribution for angle estimation in velocity estimation according to an embodiment of the present invention;
FIG. 10 shows a graph of cumulative error distribution for velocity magnitude estimation in velocity estimation according to an embodiment of the present invention;
FIG. 11 shows a graph of cumulative error distribution for position estimation in a velocity estimation according to an embodiment of the present invention;
fig. 12 shows a block diagram of a position determining apparatus according to an embodiment of the invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
The CSI obtained from each antenna of the WiFi device has a random phase offset, which has a serious impact on the estimation of the DFS. In the conventional method, the CSI data of two antennas can be multiplied or divided by each other in a conjugation manner to eliminate the random phase offset, which requires that the WiFi device has at least two antennas operating in the same frequency band, but in reality, wiFi chips of many IoT devices have only one antenna. In IoT scenarios, how to achieve high-precision position tracking with a single-antenna WiFi device is an important research topic of the present application.
In view of this, an embodiment of the present invention provides a method and an apparatus for determining a location, including: at the t moment, carrying out conversion processing on the channel state information of each receiver to obtain frequency offset information corresponding to each receiver; generating a target frequency offset function for each receiver according to the frequency offset information, the carrier frequency of the transmitter and the displacement parameter of the object, wherein the receiver comprises an available receiving antenna; solving each two target frequency offset functions to obtain a displacement set of the object; determining target displacement information from a displacement set based on a preset selection method, wherein the target displacement information comprises target speed information and an initial movement direction; determining offset weights corresponding to different frequency offset identifications according to an included angle between the target speed information and each receiver, wherein the included angle is determined according to the position of the transmitter, the position of the receiver and the target displacement information; and adjusting the initial movement direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers to obtain a target movement direction, wherein the position information of the object at the t moment comprises target speed information and the target movement direction.
Fig. 1 shows a flow chart of a method of position determination according to an embodiment of the invention.
According to an embodiment of the present invention, as shown in fig. 1, a position determining method includes operations S110 to S160.
In operation S110, at time t, channel state information (Channel State Information, CSI) of each receiver is transformed to obtain frequency offset information (Doppler Frequency Shift, DFS), that is, doppler frequency offset information, corresponding to each receiver.
According to an embodiment of the present invention, a Receiver (denoted as Receiver) The electromagnetic signal is received by an antenna,the number of the deployed receivers is 3 or more, and those skilled in the art can select the receivers according to actual needs.
In operation S120, a target frequency offset function is generated for each of the receivers according to the frequency offset information, the carrier frequency of the transmitter, and the displacement parameter of the object, wherein the receiver includes an available receiving antenna.
According to an embodiment of the present invention, a Transmitter (TX) is a device that transmits a signal at a certain frequency, and performs modulation of a high frequency carrier by a useful low frequency signal, and the receiver may be a single antenna receiver or a multi-antenna receiver, but only one antenna of the multi-antenna receiver is available.
In operation S130, each two target frequency offset functions are solved to obtain a displacement set of the object.
In operation S140, target displacement information is determined from the displacement set based on a preset selection method, wherein the target displacement information includes target velocity information and an initial movement direction.
In operation S150, offset weights corresponding to different frequency offset identifications are determined according to an included angle between the target speed information and each receiver, wherein the included angle is determined according to the position of the transmitter, the position of the receiver, and the target displacement information.
In operation S160, the initial motion direction is adjusted by using the plurality of offset weights and the plurality of frequency offset identifiers to obtain a target motion direction, wherein the position information of the object at the t-th moment includes the target speed information and the target motion direction.
According to the embodiment of the invention, a person moves indoors at the time t, wherein a deployment transmitter and a plurality of receivers are arranged indoors, the transmitter and the receivers have WiFi communication functions, the receivers acquire channel state information, frequency offset information is obtained through conversion, and a target frequency offset function is generated according to the frequency offset information, carrier frequency of the transmitter and displacement parameters of an object; solving a target frequency offset function to obtain a displacement set of the person, and determining target displacement information, namely target speed information (the speed of the person at the moment t) and an initial movement direction; in order to determine the moving direction, an included angle is determined through the position of the transmitter, the position of the receiver and the target displacement information of the person, the included angle and the target speed information determine weight, the initial moving direction is adjusted to obtain the target moving direction (the moving direction of the person at the moment t), and finally the position information of the person at the moment t is obtained.
According to the embodiment of the invention, a target frequency offset function is generated through frequency offset information, carrier frequency of a transmitter and displacement parameters of an object; solving each two target frequency offset functions to obtain a displacement set of the object; determining target displacement information from the displacement set based on a preset selection method; determining offset weights corresponding to different frequency offset identifications according to the included angle between the target speed information and each receiver; and adjusting the initial motion direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers. Therefore, the method at least partially overcomes the defect that the random phase offset can only be eliminated by utilizing the conjugate multiplication or the division of the CSI data of two antennas in the prior art, realizes the completion of the contactless target position tracking by using the CSI data of one antenna, reduces the influence of the CSI random phase offset acquired from a plurality of antennas of the WiFi equipment on the DFS, and realizes the high-precision position tracking by utilizing the WiFi equipment with a single antenna.
Fig. 2 shows a graph of CSI amplitude over time according to an embodiment of the invention.
According to an embodiment of the present invention, a transform process is performed on channel state information of each receiver to obtain frequency offset information corresponding to each receiver, including: and processing the amplitude of the channel state information by using a continuous wavelet transformation method aiming at each piece of channel state information to obtain frequency offset information.
According to an embodiment of the invention, channel state information for each receiver is obtained, CSI amplitude is calculated, and frequency of CSI amplitude over a short period of time is calculated using a continuous wavelet transform (Continuous Wavelet Transform, CWT).
According to an embodiment of the invention, as shown in fig. 3, the CSI amplitude waveform resembles the sum of a cosine value and a constant offset value. As the dynamic path distance increases, the impact of the dynamic path on CSI amplitude decreases.
According to an embodiment of the present invention, the target frequency offset function is as shown in formula (1):
（1）
wherein,representing the relation between the object displacement generated from the channel state information of the ith receiver and the frequency offset information, f representing the carrier frequency of the transmitter,/v>Indicating the magnitude of the object movement velocity in the displacement parameter of the object,/->Indicating the direction of movement of the object in the displacement parameter of the object,/->,/>Respectively representing the departure angle of the signal transmitted by the transmitter from the transmitter and the arrival angle of the signal at the ith receiver, c representing the speed of light.
Taking N receivers as an example, according to an embodiment of the present invention, the following set of equations may be established:
┋
wherein the method comprises the steps ofRepresenting the angle of arrival of the signal transmitted by the transmitter after reflection at the target to the ith receiver. Combining the equations in pairs and solving all possible solutions to build a set of displacements L is the number of displacement information in the displacement set S.
Fig. 3 shows a distribution diagram of displacement information in a displacement collection according to an embodiment of the present invention.
According to an embodiment of the present invention, determining target displacement information from a displacement set based on a preset selection method includes: clustering the displacement set by using a preset clustering method to obtain K initial clusters, wherein K is determined according to the quantity of displacement information in the displacement set; processing the plurality of initial clusters by using a preset screening method to obtain target clusters; and determining target displacement information from the plurality of displacement information in the target cluster based on a preset selection method.
According to an embodiment of the present invention, as shown in fig. 3, the displacement set S is divided into K initial clusters using a K-means algorithm,and record the number of displacement information in each initial cluster as +.>. The invention does not limit the selection of the algorithm, and the person skilled in the art can select the algorithm according to the actual situation.
According to an embodiment of the present invention, a plurality of initial clusters are processed by a preset screening method to obtain a target cluster, including: for each initial cluster, determining the initial cluster as an intermediate cluster in the case that the number of displacement information in the initial cluster satisfies a first number condition; calculating the aggregation degree of each intermediate cluster; and determining the intermediate cluster with the largest aggregation degree as a target cluster.
According to an embodiment of the present invention, the amount of displacement information is satisfied at all timesThe initial clusters of (2) are determined as intermediate clusters, and the degree of aggregation of the intermediate clusters is measured by the following formula (2):
（2）
where M is the total number of shift information in the intermediate clusters,representing the i-th displacement information point, +.>Representing a cluster containing the M displacement information, < >>Representing the cluster center point of the intermediate cluster. Smaller values indicate higher concentrations and vice versa. The cluster with the highest aggregation degree is selected as a target cluster from the intermediate clusters.
According to an embodiment of the present invention, determining target displacement information from a plurality of displacement information in a target cluster based on a preset selection method includes: determining a cluster center according to a plurality of displacement information in the target cluster; calculating a clustering distance between each piece of displacement information and a clustering center; and determining displacement information corresponding to the minimum value of the clustering distance as target displacement information.
According to the embodiment of the invention, the displacement information closest to the center of the cluster in the target cluster is taken as target displacement information and is marked as:wherein->Representing target speed information, ++>Indicating the initial direction of movement.
According to an embodiment of the present invention, determining offset weights corresponding to different frequency offset identifications according to an included angle between target speed information and each receiver includes: generating a frequency offset identification corresponding to each receiver according to covariance between channel state information of the plurality of receivers; generating an included angle corresponding to each receiver according to the initial motion direction, the position of the transmitter and the position of the receiver; under the condition that the included angle is larger than or equal to a preset included angle threshold value, determining the offset weight of the frequency offset mark corresponding to the receiver as a first weight; and under the condition that the included angle is smaller than a preset included angle threshold value, determining the offset weight of the frequency offset identifier corresponding to the receiver as a second weight, wherein the first weight is larger than the second weight.
According to an embodiment of the present invention, the frequency offset identification is obtained by calculating the time delay relation of the subcarriers of the covariance of CSI of different subcarriers, and is recorded as:。
according to an embodiment of the present invention, an initial motion direction is adjusted by using a plurality of offset weights and a plurality of frequency offset identifiers to obtain a target motion direction, including: for each receiver, determining a theoretical offset identifier between the target speed information and the receiver according to the target speed information, the carrier frequency of the transmitter, the departure angle of a signal transmitted by the transmitter from the transmitter and the arrival angle of the signal at the receiver; generating weighted speed information according to the plurality of theoretical offset identifications, the plurality of frequency offset identifications and the plurality of offset weights; under the condition that the weighted speed information is larger than or equal to a preset value, determining the initial movement direction as a target movement direction; and generating a target movement direction according to the initial movement direction and the preset angle under the condition that the weighted speed information is smaller than the preset value.
According to an embodiment of the invention, the angleAs shown in formula (3), the offset weight +.>As shown in formula (4), the theoretical offset mark +.>As shown in formula (5), the speed information is weighted +. >As shown in formula (6), the target movement direction +.>As shown in formula (7):
（3）
wherein,，/>
（4）
（5）
（6）
（7）
wherein,representing transmitter->Is the position of (2)，/>Representing the position of the ith receiver in N, dot being a dot product function, norm being a vector norm function; />For the first weight, ++>For the second weight, ++>The included angle threshold value is preset; />For the initial direction of movement, +.>、/>、/>Are respectively formed by a plurality of offset weights +.>Multiple frequency offset identities->Multiple theoretical offset markers->Constituent multidimensional vector,/->Is a preset value->Is a preset angle.
Fig. 4 shows a flow diagram of a method of position determination according to an embodiment of the invention.
According to the embodiment of the invention, as shown in fig. 4, original CSI data is acquired through each receiver, CSI amplitude is calculated according to the CSI data, and a DFS value is obtained by using continuous wavelet transform; combining the obtained DFS value with the carrier frequency of the transmitter and the displacement parameter of the object to generate a target frequency offset function, establishing an equation set to solve the function pairwise, and establishing a displacement set; extracting displacement information by using a K-means algorithm; obtaining frequency offset identification through time delay analysis of different subcarriers; and determining weights according to the displacement information and the frequency offset identifiers, generating weighted speed information according to the theoretical offset identifiers, the frequency offset identifiers and the offset weights, and distinguishing the directions by using the weighted speed information.
Fig. 5 shows a comparison result graph of a position determining method according to an embodiment of the present invention.
According to the embodiment of the invention, as shown in fig. 5, the comparison result of the real speed and the estimated speed obtained through the flow of fig. 4, wherein the estimated speed is obtained through the method of the invention, the contrast coincidence rate is higher, and the error is relatively smaller, so that the accuracy of the invention can be verified.
In order to further explain the position determining method provided by the embodiment of the present invention, the position determining method provided by the embodiment of the present invention is described in detail below with reference to the embodiment.
According to the embodiment of the invention, the center frequency of the signal is set to be 5.31GHz, the bandwidth is 40MHz, and the receiving end only uses the second antenna of the three antennas to receive the signal. As shown in fig. 6 to 8, the triangular points represent the positions of the transmitters, the circular points represent the positions of the receivers, the solid lines represent the estimated trajectories and the dotted lines represent the actual trajectories, wherein the estimated trajectories are obtained by the method of the present invention. Wherein, fig. 6 is a schematic diagram in an open environment, fig. 7 is a schematic diagram in a corridor environment, fig. 8 is a schematic diagram in a conference room environment, and as shown in the drawing, the real track and the estimated track are in high coincidence with each other; the tracking performance is evaluated by the error of the real speed direction and the error of the estimated speed direction, the error distance of the real position and the estimated position in the two-dimensional positioning space, and the error is displayed in the form of accumulated error distribution, wherein the estimated speed is obtained by the method of the invention, and as shown in fig. 9 to 11, the median error is generally selected, and the error is relatively smaller, so that the invention has good performance in both the speed-size estimation, the speed-direction estimation and the target position tracking, and has certain accuracy, and the excellent performance of the invention can be proved.
Fig. 12 shows a block diagram of a position determining apparatus according to an embodiment of the invention.
As shown, the position determining apparatus 1200 includes: the transformation module 1210, the generation module 1220, the solution module 1230, the first determination module 1240, the second determination module 1250, and the adjustment module 1260.
According to an embodiment of the present invention, the transformation module 1210 is configured to perform transformation processing on the channel state information of each receiver at the t-th time, so as to obtain frequency offset information corresponding to each receiver, where t is greater than or equal to 0.
According to an embodiment of the present invention, the generating module 1220 is configured to generate, for each receiver, a target frequency offset function according to the frequency offset information, the carrier frequency of the transmitter, and the displacement parameter of the object, where the receiver includes an available receiving antenna.
According to an embodiment of the present invention, the solving module 1230 is configured to solve each two target frequency offset functions to obtain a displacement set of the object.
According to an embodiment of the present invention, the first determining module 1240 is configured to determine target displacement information from the displacement set based on a preset selection method, where the target displacement information includes target speed information and an initial movement direction.
According to an embodiment of the present invention, the second determining module 1250 is configured to determine the offset weights corresponding to different frequency offset identifiers according to the included angle between the target speed information and each receiver, wherein the included angle is determined according to the position of the transmitter, the position of the receiver, and the target displacement information.
According to an embodiment of the present invention, the adjustment module 1260 is configured to adjust the initial moving direction by using the plurality of offset weights and the plurality of frequency offset identifiers to obtain the target moving direction, where the position information of the object at the t-th moment includes the target speed information and the target moving direction.
According to the embodiment of the invention, a target frequency offset function is generated through frequency offset information, carrier frequency of a transmitter and displacement parameters of an object; solving each two target frequency offset functions to obtain a displacement set of the object; determining target displacement information from the displacement set based on a preset selection method; determining offset weights corresponding to different frequency offset identifications according to the included angle between the target speed information and each receiver; and adjusting the initial motion direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers. Therefore, the method at least partially overcomes the defect that the random phase offset can only be eliminated by utilizing the conjugate multiplication or the division of the CSI data of two antennas in the prior art, realizes the completion of the contactless target position tracking by using the CSI data of one antenna, reduces the influence of the CSI random phase offset acquired from a plurality of antennas of the WiFi equipment on the DFS, and realizes the high-precision position tracking by utilizing the WiFi equipment with a single antenna.
According to an embodiment of the present invention, the transformation module 1210 includes: and a conversion unit.
The transformation unit is used for processing the amplitude of the channel state information by using a continuous wavelet transformation method for each channel state information to obtain frequency offset information.
According to an embodiment of the present invention, the first determining module 1240 includes: the device comprises a clustering unit, a screening unit and a first determining unit.
The clustering unit is used for carrying out clustering processing on the displacement set by using a preset clustering method to obtain K initial clusters, wherein K is determined according to the quantity of displacement information in the displacement set.
The screening unit is used for processing the plurality of initial clusters by using a preset screening method to obtain target clusters.
The first determining unit determines target displacement information from a plurality of displacement information in the target cluster based on a preset selection method.
According to an embodiment of the present invention, a screening unit includes: the first determining subunit, the first calculating subunit and the second determining subunit.
The first determining subunit is configured to determine, for each initial cluster, the initial cluster as an intermediate cluster in a case where the number of shift information in the initial cluster satisfies a first number condition.
The first calculation subunit is configured to calculate a degree of aggregation for each intermediate cluster.
The second determining subunit is configured to determine an intermediate cluster with a largest aggregation level as a target cluster.
According to an embodiment of the invention, determining the first unit comprises: a third determination subunit, a second calculation subunit, and a fourth determination subunit.
The third determining subunit is configured to determine a cluster center according to the plurality of displacement information in the target cluster.
The second calculation subunit is configured to calculate a cluster distance between each of the displacement information and the cluster center.
And the fourth determining subunit is used for determining displacement information corresponding to the minimum value of the clustering distance as target displacement information.
According to an embodiment of the present invention, the second determining module 1250 includes: the device comprises a first generating unit, a second determining unit and a third determining unit.
The first generation unit is configured to generate a frequency offset identification corresponding to each receiver according to covariance between channel state information of a plurality of receivers.
The second generating unit is used for generating an included angle corresponding to the receiver according to the initial motion direction, the position of the transmitter and the position of the receiver.
The second determining unit is configured to determine, when the included angle is greater than or equal to a preset included angle threshold, an offset weight of a frequency offset identifier corresponding to the receiver as a first weight.
And the third determining unit is used for determining that the offset weight of the frequency offset identifier corresponding to the receiver is a second weight under the condition that the included angle is smaller than a preset included angle threshold value, wherein the first weight is larger than the second weight.
According to an embodiment of the present invention, the adjustment module 1260 includes: a fourth determining unit, a third generating unit, a fifth determining unit and a fourth generating unit.
The fourth determining unit is used for determining a theoretical offset identifier between the target speed information and the receiver according to the target speed information, the carrier frequency of the transmitter, the departure angle of the signal transmitted by the transmitter from the transmitter and the arrival angle of the signal reaching the receiver for each receiver.
The third generation unit is used for generating weighted speed information according to the theoretical offset identifications, the frequency offset identifications and the offset weights.
The fifth determining unit is configured to determine the initial movement direction as the target movement direction when the weighted speed information is equal to or greater than a preset value.
The fourth generation unit is used for generating a target movement direction according to the initial movement direction and the preset angle under the condition that the weighted speed information is smaller than the preset value.
Any number of the modules, units, sub-units, or at least some of the functionality of any number of the modules, units, sub-units, or sub-units according to embodiments of the invention may be implemented in one module. Any one or more of the modules, units, sub-units according to embodiments of the present invention may be implemented as split into multiple modules. Any one or more of the modules, units, sub-units according to embodiments of the invention may be implemented at least in part as hardware circuitry, such as a field programmable gate array (Field Programmable Gate Array, FPGA), a programmable logic array (Programmable Logic Arrays, PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or in hardware or firmware in any other reasonable manner of integrating or packaging circuitry, or in any one of or a suitable combination of three of software, hardware, and firmware. Alternatively, one or more of the modules, units, sub-units according to embodiments of the invention may be at least partly implemented as computer program modules which, when run, may perform the corresponding functions.
For example, any of the transformation module 1210, the generation module 1220, the solution module 1230, the first determination module 1240, the second determination module 1250, and the adjustment module 1260 may be combined in one module/unit/sub-unit or any of them may be split into multiple modules/units/sub-units. Alternatively, at least some of the functionality of one or more of these modules/units/sub-units may be combined with at least some of the functionality of other modules/units/sub-units and implemented in one module/unit/sub-unit. At least one of the transformation module 1210, the generation module 1220, the solution module 1230, the first determination module 1240, the second determination module 1250, and the adjustment module 1260 may be implemented at least in part as hardware circuitry, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or as hardware or firmware in any other reasonable manner of integrating or packaging the circuitry, or as any one of or a suitable combination of three of software, hardware, and firmware, according to embodiments of the invention. Alternatively, at least one of the transformation module 1210, the generation module 1220, the solution module 1230, the first determination module 1240, the second determination module 1250, and the adjustment module 1260 may be at least partially implemented as computer program modules, which, when executed, may perform the corresponding functions.
It should be noted that, in the embodiment of the present invention, the position determining device portion corresponds to the position determining method portion in the embodiment of the present invention, and the description of the position determining device portion refers to the position determining method portion specifically, and will not be described herein.
The embodiments of the present invention are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.
Claims (7)
1. A method of location determination, comprising:
at the t moment, carrying out conversion processing on the channel state information of each receiver to obtain frequency offset information corresponding to each receiver, wherein t is more than or equal to 0;
generating a target frequency offset function according to the frequency offset information, the carrier frequency of the transmitter and the displacement parameter of the object for each receiver, wherein the receiver comprises an available receiving antenna;
Solving each two target frequency offset functions to obtain a displacement set of the object;
determining target displacement information from the displacement set based on a preset selection method, wherein the target displacement information comprises target speed information and an initial movement direction;
determining offset weights corresponding to different frequency offset identifications according to an included angle between the target speed information and each receiver, wherein the included angle is determined according to the position of the transmitter, the position of the receiver and the target displacement information;
adjusting the initial motion direction by utilizing a plurality of offset weights and a plurality of frequency offset identifiers to obtain a target motion direction, wherein the position information of the object at the t-th moment comprises the target speed information and the target motion direction;
the method for determining the target displacement information from the displacement set based on a preset selection method comprises the following steps:
clustering the displacement set by using a preset clustering method to obtain K initial clusters, wherein K is determined according to the quantity of displacement information in the displacement set, and K is more than or equal to 0;
processing a plurality of initial clusters by using a preset screening method to obtain target clusters;
Determining target displacement information from a plurality of displacement information in the target cluster based on a preset selection method;
the method for processing the initial clusters by using a preset screening method to obtain target clusters comprises the following steps:
for each of the initial clusters, determining the initial cluster as an intermediate cluster in the case that the number of displacement information in the initial cluster satisfies a first number condition;
calculating the aggregation degree of each intermediate cluster;
determining an intermediate cluster with the largest aggregation degree as the target cluster;
the method for determining the target displacement information from a plurality of displacement information in the target cluster based on a preset selection method comprises the following steps:
determining a cluster center according to a plurality of displacement information in the target cluster;
calculating a clustering distance between each piece of displacement information and the clustering center;
and determining displacement information corresponding to the minimum value of the clustering distance as the target displacement information.
2. The method of claim 1, wherein transforming the channel state information of each receiver to obtain frequency offset information corresponding to each receiver comprises:
and processing the amplitude of the channel state information by using a continuous wavelet transformation method aiming at each piece of channel state information to obtain the frequency offset information.
3. The method of claim 1, wherein the target frequency offset function is as shown in equation (1):
（1）
wherein,representing the relation between the object displacement generated from the channel state information of the ith receiver and the frequency offset information, f representing the carrier frequency of the transmitter,/v>Indicating the magnitude of the object movement velocity in the displacement parameter of the object,/->Indicating the direction of movement of the object in the displacement parameter of the object,/->,/>Respectively representing the departure angle of the signal transmitted by the transmitter from the transmitter and the arrival angle of the signal at the ith receiver, c representing the speed of light.
4. The method of claim 1, wherein determining offset weights corresponding to different frequency offset identities based on an angle between the target speed information and each of the receivers comprises:
generating a frequency offset identification corresponding to each of the receivers according to covariance among channel state information of a plurality of the receivers;
generating an included angle corresponding to each receiver according to the initial motion direction, the position of the transmitter and the position of the receiver;
determining the offset weight of the frequency offset identifier corresponding to the receiver as a first weight under the condition that the included angle is larger than or equal to a preset included angle threshold value;
And under the condition that the included angle is smaller than the preset included angle threshold value, determining the offset weight of the frequency offset identifier corresponding to the receiver as a second weight, wherein the first weight is larger than the second weight.
5. The method of claim 1, wherein adjusting the initial direction of motion to obtain a target direction of motion using a plurality of the offset weights and a plurality of the frequency offset identifications comprises:
determining a theoretical offset identifier between the target speed information and the receivers according to the target speed information, the carrier frequency of the transmitter, the departure angle of a signal transmitted by the transmitter from the transmitter and the arrival angle of the signal reaching the receivers for each receiver;
generating weighted speed information according to the theoretical offset identifications, the frequency offset identifications and the offset weights;
determining the initial movement direction as the target movement direction under the condition that the weighted speed information is larger than or equal to a preset value;
and generating the target movement direction according to the initial movement direction and a preset angle under the condition that the weighted speed information is smaller than the preset value.
6. The method of claim 5, wherein the included angleAs shown in equation (2), the weight is shiftedAs shown in formula (3), the theoretical offset mark +.>As shown in formula (4), the speed information is weighted +.>As shown in formula (5), the target movement direction +.>As shown in formula (6):
（2）
wherein,，/>，
（3）
（4）
（5）
（6）
wherein,representing transmitter->Is the position of (2)，/>Representing the position of the ith receiver in N, dot being a dot product function, norm being a vector norm function; />For the first weight, ++>For the second weight, ++>The included angle threshold value is preset; />For the initial direction of movement, +.>、/>、/>Are respectively formed by a plurality of offset weights +.>Multiple frequency offset identities->Multiple theoretical offset markers->Constituent multidimensional vector,/->Is a preset value->For a preset angle->Representing the relation between the object displacement generated from the channel state information of the ith receiver and the frequency offset information, f representing the carrier frequency of the transmitter,/v>Indicating the magnitude of the object movement velocity in the displacement parameter of the object,/->Indicating the direction of movement of the object in the displacement parameter of the object,/->,/>Respectively representing the departure angle of the signal transmitted by the transmitter from the transmitter and the arrival angle of the signal at the ith receiver, c representing the speed of light.
7. A position determining apparatus, comprising:
the conversion module is used for carrying out conversion processing on the channel state information of each receiver at the t moment to obtain frequency offset information corresponding to each receiver, wherein t is more than or equal to 0;
a generating module, configured to generate, for each receiver, a target frequency offset function according to the frequency offset information, a carrier frequency of a transmitter, and a displacement parameter of an object, where the receiver includes an available receiving antenna;
the solving module is used for solving each two target frequency offset functions to obtain a displacement set of the object;
the first determining module is used for determining target displacement information from the displacement set based on a preset selecting method, wherein the target displacement information comprises target speed information and an initial movement direction;
a second determining module, configured to determine an offset weight corresponding to different frequency offset identifiers according to an included angle between the target speed information and each receiver, where the included angle is determined according to a position of the transmitter, a position of the receiver, and the target displacement information; and
The adjusting module is used for adjusting the initial moving direction by utilizing the plurality of offset weights and the plurality of frequency offset identifiers to obtain a target moving direction, wherein the position information of the object at the t-th moment comprises the target speed information and the target moving direction;
wherein the first determining module comprises:
the clustering unit is used for carrying out clustering processing on the displacement set by using a preset clustering method to obtain K initial clusters, wherein K is determined according to the quantity of displacement information in the displacement set;
the screening unit is used for processing the plurality of initial clusters by using a preset screening method to obtain target clusters;
the first determining unit is used for determining target displacement information from a plurality of pieces of displacement information in the target cluster based on a preset selection method;
wherein the screening unit comprises:
a first determining subunit configured to determine, for each initial cluster, the initial cluster as an intermediate cluster in a case where the number of displacement information in the initial cluster satisfies a first number condition;
a first calculation subunit for calculating a degree of aggregation of each intermediate cluster;
a second determining subunit configured to determine an intermediate cluster having a largest aggregation level as a target cluster;
Wherein the first determining unit includes:
a third determining subunit, configured to determine a cluster center according to the plurality of displacement information in the target cluster;
a second calculation subunit for calculating a cluster distance between each of the displacement information and the cluster center;
and the fourth determining subunit is used for determining the displacement information corresponding to the minimum value of the clustering distance as target displacement information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311797909.XA CN117452332B (en) | 2023-12-26 | 2023-12-26 | Position determining method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311797909.XA CN117452332B (en) | 2023-12-26 | 2023-12-26 | Position determining method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117452332A CN117452332A (en) | 2024-01-26 |
| CN117452332B true CN117452332B (en) | 2024-03-12 |
Family
ID=89595209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311797909.XA Active CN117452332B (en) | 2023-12-26 | 2023-12-26 | Position determining method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117452332B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107484124A (en) * | 2017-07-25 | 2017-12-15 | 深圳大学 | A kind of virtual reality tracking and system based on CSI |
| WO2018160141A1 (en) * | 2017-03-03 | 2018-09-07 | Nanyang Technological University | Apparatus and method for localisation and/or tracking |
| CN110809240A (en) * | 2019-11-05 | 2020-02-18 | 重庆邮电大学 | Indoor target passive tracking method based on WiFi multi-dimensional parameter characteristics |
| CN112881976A (en) * | 2021-01-06 | 2021-06-01 | 普联国际有限公司 | Single antenna positioning method, device, equipment and storage medium based on CSI |
| CN115932718A (en) * | 2022-11-15 | 2023-04-07 | 清华大学 | LoRa signal based positioning tracking method and device, electronic equipment and storage medium |
| CN116106888A (en) * | 2021-11-10 | 2023-05-12 | 北京大学 | Contactless moving object speed measuring method, system, device and storage medium |
| WO2023116196A1 (en) * | 2021-12-24 | 2023-06-29 | 南京邮电大学 | Aoa and tof joint estimation method and apparatus for indoor positioning, and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11340345B2 (en) * | 2015-07-17 | 2022-05-24 | Origin Wireless, Inc. | Method, apparatus, and system for wireless object tracking |
-
2023
- 2023-12-26 CN CN202311797909.XA patent/CN117452332B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018160141A1 (en) * | 2017-03-03 | 2018-09-07 | Nanyang Technological University | Apparatus and method for localisation and/or tracking |
| CN107484124A (en) * | 2017-07-25 | 2017-12-15 | 深圳大学 | A kind of virtual reality tracking and system based on CSI |
| CN110809240A (en) * | 2019-11-05 | 2020-02-18 | 重庆邮电大学 | Indoor target passive tracking method based on WiFi multi-dimensional parameter characteristics |
| CN112881976A (en) * | 2021-01-06 | 2021-06-01 | 普联国际有限公司 | Single antenna positioning method, device, equipment and storage medium based on CSI |
| CN116106888A (en) * | 2021-11-10 | 2023-05-12 | 北京大学 | Contactless moving object speed measuring method, system, device and storage medium |
| WO2023116196A1 (en) * | 2021-12-24 | 2023-06-29 | 南京邮电大学 | Aoa and tof joint estimation method and apparatus for indoor positioning, and storage medium |
| CN115932718A (en) * | 2022-11-15 | 2023-04-07 | 清华大学 | LoRa signal based positioning tracking method and device, electronic equipment and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| Elderly persons’perception and acceptance of using wire less sensor networks to assist healthcare;R. Steele, A. Lo, C. Secombe, et al.;International journal of medical informatics;20091231;第78卷(第12期);788-801 * |
| 利用信道状态信息的室内定位方法;刘逸博;修春娣;朱云龙;;计算机工程与应用;20161231(第22期);238-341 * |
| 基于WiFi的室内人员非接触式感知方法研究;杨旭;中国博士学位论文全文数据库-信息科技辑;20220215(第2期);I136-91 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117452332A (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Liu et al. | Survey on CSI-based indoor positioning systems and recent advances | |
| CN106353744B (en) | Multi-parameter combined estimation method based on bistatic FDA-MIMO radars | |
| Liu et al. | RSS distribution-based passive localization and its application in sensor networks | |
| JP6406601B2 (en) | Radar apparatus and object detection method | |
| US11467248B2 (en) | Position estimation device and communication device | |
| CN104076349B (en) | A kind of passive type Moving objects location method based on Doppler frequency shift | |
| CN106909779B (en) | MIMO radar Cramér-Rao lower bound calculation method based on distributed treatment | |
| CN110687531B (en) | Method for improving self-tracking dynamic target real-time performance of digital multi-beam phased array antenna | |
| CN105929378A (en) | Direct tracking method based on external radiation source joint time delay and Doppler frequency | |
| CN106154222A (en) | A kind of method of the direction of travel utilizing radio-frequency signal detection people | |
| Li et al. | Integrated human activity sensing and communications | |
| WO2017219603A1 (en) | Method for identifying a wireless signal reflected by moving object | |
| CN109379707B (en) | Indoor target activity area identification method and system based on wireless signals | |
| CN108828568A (en) | A kind of direct localization method and system of single moving observer | |
| US11711669B2 (en) | Neural network localization system and method | |
| CN109934031A (en) | The method and system of differentiation LOS/NLOS based on RFID system | |
| CN110888108B (en) | Positioning method based on RFID and phase calibration | |
| Chen et al. | CSI-based probabilistic indoor position determination: An entropy solution | |
| WO2014131894A2 (en) | System and method for tracking a range of a moving object | |
| CN117452332B (en) | Position determining method and device | |
| CN105589063B (en) | Impulse radio 60GHz distance-finding methods based on the degree of bias | |
| Khan et al. | Standing on the shoulders of giants: Ai-driven calibration of localisation technologies | |
| Ma et al. | Fine-grained RFID localization via ultra-wideband emulation | |
| TWI772208B (en) | Method for counting number of people based on mmwave radar | |
| US7965237B2 (en) | Mobile system and method for position estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |