WO2013185541A1

WO2013185541A1 - Method and device for target positioning

Info

Publication number: WO2013185541A1
Application number: PCT/CN2013/076466
Authority: WO
Inventors: 王悦
Original assignee: 华为技术有限公司
Priority date: 2012-06-15
Filing date: 2013-05-30
Publication date: 2013-12-19
Also published as: CN103513226B; CN103513226A

Abstract

Disclosed are a method and device for target positioning. The method comprises: determining a detection node for the first time positioning; determining the first time positioning location of the target according to the positioning data measured by the detection node for the fist time positioning; determining the detection node for the k-th time positioning according to the (k-1)-th time positioning location of the target, where k is a positive integer and greater than or equal to 2; determining the k-th time positioning location of the target according to the positioning data measured by the detection node for the k-th time positioning; determining the final location of the target according to the k-th time positioning location of the target. The method and device for target positioning of the embodiments of the present invention are capable of reducing the influence on positioning effect while the detection node is far from the target location, thereby utilizing positioning resources effectively to improve the accuracy of target positioning.

Description

The present invention claims the priority of a Chinese patent application filed on June 15, 2012 by the Chinese Patent Office, Application No. 201210199339.X, entitled "Method and Apparatus for Positioning Targets", the entire contents of which is incorporated herein by reference. This is incorporated herein by reference. Technical field

The present invention relates to the field of positioning technology and, more particularly, to a method and apparatus for locating a target. Background technique

The wireless positioning technology (hereinafter referred to as positioning technology;) is to measure certain parameters of the received radio waves, and determine the position of the measured object according to the processing of the parameter measurement data, including the received signal strength. (RSS, Received Signal Strength), Time of Arrival (TOA), Angle Of Arrival, etc. RSS-based positioning is to locate the target by measuring the power of the received signal and a known channel fading model; TOA-based positioning is to locate the target by measuring the time that the received signal arrives at the detection node from the transmission; AOA-based positioning The target is located by measuring the angle of incidence of the received signal relative to a certain direction. The positioning technology can be divided into a self-positioning system and a network-based positioning system according to the number of detection nodes participating in the positioning system and the positioning system structure. The self-positioning system is characterized in that the detecting node determines the geometric positional relationship between the transmitting node and the transmitter according to the received characteristic information of the transmitted signal at the known position transmitter, and thereby calculates its own position. Position to complete self-positioning. The network-based positioning system is characterized in that a plurality of detecting nodes simultaneously detect signals radiated by the measured object, and transmit characteristic information related to the position of the measured object carried in each received signal to an information fusion center, and the information fusion center Calculate the position of the measured object to complete the joint positioning of multiple detection nodes. Usually in practical applications, there is more than one target to be located in the observation area. When multiple targets are to be located at the same time, it constitutes a more complex multi-target positioning problem.

In a multi-targeting application, the entire observation area can be viewed as a grid. The task to be solved by the multi-target positioning system is how to accurately locate all the target positions by measuring the data. An ideal solution to solve the above tasks is to deploy detection nodes at all coordinate points in the grid to obtain RSS at all positions in the grid, so that the distribution of power (energy) in the entire grid is obtained. To accurately locate multiple targets within the grid. However, this ideal solution will cause great overhead in the positioning system, such as energy consumption (the total energy consumption of the system increases due to the participation of a large number of nodes), and communication overhead (due to the increase of nodes, the node to the fusion center) The total amount of data sent increases, which increases the communication overhead in the system, and the computational overhead (the computational complexity of the positioning system used to estimate the target location increases due to the increase in the total measured data volume) and the like.

In recent years, the Compressive Sensing (CS) technology, which has recently appeared in the field of signal processing, can realize the positioning of multiple targets in the observation area with fewer detection nodes. In the traditional signal processing theory, according to the Shannon sampling theorem: the sampling rate of the signal should be at least equal to 2 times the signal bandwidth to recover the original signal without distortion, and the minimum sampling rate is called Nyquist sampling. rate. However, with today's demand for data and the rapid growth of the amount of data to be processed, the signal bandwidth of the bearer data will become wider and wider, resulting in higher and higher Nyquist sampling rates, while the modulus of existing hardware devices The conversion and signal processing capabilities are not yet able to meet the rapid growth in demand for broadband signals. Moreover, from another perspective, even if the level of hardware implementation is improved in the future, massive data collection is not essential. Taking the existing image processing as an example, in order to reduce the storage and transmission overhead, the data obtained after sampling is usually compressed, and the important information in the image is represented by few bits (only important data is retained and the remaining non-critical data is discarded). ), reconstructing the original image by decoding processing at the receiving end. This method of high-speed sampling and then compression and discarding causes a great waste of sampling resources. In order to combine sampling and compression simultaneously, that is, to directly collect data at a sampling rate lower than Nyquist, the industry has proposed CS technology, which provides a new set of efficient signal processing theories and methods. The proposed CS technique is based on the premise of signal sparsity, that is, a signal can correspond to a sparse coefficient vector on a set of orthogonal basis of a transform space, and there are only a few non-zero elements in the coefficient vector. At the encoding end of CS, the signal is linearly projected by a low-speed (less than Nyquist sampling rate) sampling matrix. The data obtained after low-speed sampling is a dimensionally reduced sampling output vector (the vector dimension is smaller than the original signal vector dimension); At the decoding end of CS, the premise of the sparseness of the signal makes this underdetermined problem (the number of unknowns is greater than the number of equations) can be solved by the method of sudden optimization, that is, reconstruction of the original signal. Due to the efficient information processing method of CS technology, the information acquisition overhead can be significantly reduced. At present, it has attracted extensive attention from academia and industry, and has broad application prospects in practical systems, such as: image processing, target location, channel estimation, wireless Sensor Networks (WSN, Wireless Sensor Networks), Cognitive Radio (CR, Cognitive Radio), etc. Applying CS technology to multi-target positioning applications, using the spatial sparsity of the target vector, it is possible to use more detection nodes to Targets for multi-targeting.

In the prior art, the multi-target positioning system randomly selects a certain number of detection nodes in the grid at one time, and the detection nodes collect the RSS measurement data at the respective locations and send the measurement data to the fusion center (FC, Fusion). Center ), and the signal reconstruction by FC to locate multiple targets. However, a certain number of detection nodes are randomly extracted from the grid at one time, and the influence of the relative distance between the selected detection node and the target on the positioning effect is not considered, because the RSS attenuation at the detection node far from the target position is More serious, so it is not conducive to the system to target positioning. Summary of the invention

Embodiments of the present invention provide a method and apparatus for positioning a target, which can reduce the influence of the detection node being far away from the target position on the positioning effect.

In one aspect, an embodiment of the present invention provides a method for locating a target, the method comprising: determining a detection node of a first location; determining a first location of the target according to the positioning data measured by the detection node of the first positioning According to the k-1th positioning position of the target, the detection node of the kth positioning is determined, k is a positive integer and k is greater than or equal to 2; the first time of the target is determined according to the positioning data measured by the detection node of the kth positioning Positioning position; Determine the final position of the target based on the target's first positioning position.

On the other hand, an embodiment of the present invention provides a device for locating a target, the device comprising: a first determining module, configured to determine a detecting node of the first positioning; and a first processing module, configured to determine according to the first determining module The first positioning detection node measures the positioning data to determine the first positioning position of the target; the second determining module is configured to determine the detection node of the second positioning according to the second positioning position of the target, which is a positive integer and greater than Or a second processing module, configured to determine, according to the positioning data measured by the detecting node of the second positioning determined by the second determining module, the % k times positioning position of the target; the third processing module, configured to use the second processing module Determine the kth positioning position of the target and determine the final position of the target.

Based on the foregoing technical solution, the method and apparatus for locating an object according to an embodiment of the present invention determines a target node to be positioned at a later time according to a previous positioning position of the target, thereby achieving target positioning, and reducing a distance of the detecting node from the target position. The impact of the positioning effect, so that the positioning resources can be effectively utilized to improve the accuracy of the target positioning. DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments of the present invention will be briefly described. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a schematic flow chart of a method of locating a target according to an embodiment of the present invention.

2A and 2B are schematic flowcharts of a method of determining a detection node of a kth position according to an embodiment of the present invention.

3A and 3B are schematic diagrams of two multi-target positioning scenarios in accordance with an embodiment of the present invention. 4 is a schematic block diagram of an apparatus for locating a target in accordance with an embodiment of the present invention.

5A and 5B are schematic block diagrams of a second determining module in accordance with an embodiment of the present invention. detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without making creative labor are within the scope of the present invention.

FIG. 1 shows a schematic flow diagram of a method 100 of locating a target in accordance with an embodiment of the present invention. As shown in FIG. 1, the method 100 includes:

S110, determining a detection node of the first positioning;

S120: Determine, according to the positioning data measured by the detecting node of the first positioning, the first positioning position of the target;

S130. Determine, according to the k-th positioning position of the target, the detection node of the second positioning, where k is a positive integer and k is greater than or equal to 2;

S140: Determine, according to the positioning data measured by the detection node of the second positioning, the second positioning position of the target;

S150, determining the final position of the target according to the target positioning position.

In the embodiment of the present invention, the device for locating the target first determines the detection node of the first location in the positioning system, and determines the first positioning position of the target according to the positioning data measured by the detection node of the first positioning; The target performs the second or more positioning, and according to the previous positioning position of the target, the detection node of the next positioning is determined, and then the measurement node of the subsequent positioning is determined. Bit data, which determines the next position of the target and determines the final position of the target.

Therefore, in the method for locating an object according to the embodiment of the present invention, the detection node of the next positioning is determined according to the previous positioning position of the target, thereby realizing the target positioning, and the influence of the detection node being far away from the target position on the positioning effect can be achieved. Therefore, the positioning resources can be effectively utilized to improve the accuracy of target positioning.

It should be understood that the technical solution of the embodiment of the present invention can be used not only for a single target positioning system but also for a multi-target positioning system, that is, in the embodiment of the present invention, the target can be either a single target or a multi-target.

In the embodiment of the present invention, the method 100 is performed by a device for locating a target, and the device for locating the target may be a positioning system or a fusion center in the positioning system, but the embodiment of the present invention is not limited thereto. For convenience of description, the following embodiments will be described by taking a fusion center as an example.

In S110, the detection node of the first positioning is determined.

In the embodiment of the present invention, optionally, the fusion center may determine the number according to a random selection manner.

The detection node of the first positioning; the detection node of the first positioning may also be determined according to a predetermined manner, for example, determining the detection node of the first positioning based on the prior information of the target position, or some of the positioning systems The detection node is fixed as the detection node of the first positioning. The embodiment of the present invention does not limit the manner of determining the detection node of the first positioning.

In S120, the first positioning position of the target is determined according to the positioning data measured by the detecting node of the first positioning.

Specifically, after the fusion center determines the detection node of the first location, the detection nodes of the first location measure the positioning data at the respective locations. Optionally, the positioning data may be the RSS, or other measurement data that can be used for the target positioning, which is not limited by the embodiment of the present invention. Then, the detection node of the first positioning transmits the measured positioning data to the fusion center. Fusion Center Determines the first positioning position of the target based on the positioning data measured by the detection node of the first positioning. Optionally, the fusion center performs a decorrelation operation on the positioning data measured by the detecting node of the first positioning, and then performs signal reconstruction to determine the first positioning position of the target.

In S130, the detection node of the second positioning is determined according to the klth positioning position of the target. In the embodiment of the present invention, after the first positioning, the target may be subjected to the second or more positioning. At the time of the first positioning, the detection node of the second positioning is determined according to the first positioning position of the target. That is to say, starting from the second positioning, each positioning determines the detection node of the positioning according to the previous positioning position of the target. As shown in FIG. 2A, optionally, S130 includes: 5131. Determine, according to the k1th positioning position of the target, the newly detected detecting node of the second positioning, where the distance between the newly added detecting node and the klth positioning position of the target is within a predetermined range;

5132. Determine the newly detected detection node as the detection node of the second location.

Or, as shown in FIG. 2B, optionally, S130 includes:

S131. Determine, according to the k-th positioning position of the target, the newly detected detecting node of the second positioning, where the distance between the newly added detecting node and the k-th positioning position of the target is within a predetermined range;

5133. Determine at least one of the detection nodes of the k-1th positioning detection node and the newly added detection node as the detection node of the second positioning.

In the embodiment of the present invention, the fusion center determines a newly added detection node for the next positioning according to the previous positioning position of the target, and then at least one detection node of the newly added detection node or the previously positioned detection node. And the newly added detection node is determined as the detection node of the next positioning.

In S131, the fusion center determines the newly detected detection node for the second location according to the k-1th positioning position of the target, and the distance between the newly added detection node and the k-th positioning position of the target is within a predetermined range. Specifically, the fusion center determines a detection node whose distance between the target position and the second positioning position is within a predetermined range, and detects the previously unselected detection nodes among the detection nodes as the newly added detection nodes. In other words, the newly added node should be near the previous location of the target. For example, in the detection node in the circular area with the predetermined distance as the center centered on the previous positioning position of the target, the previously unselected detection node is selected as the newly added detection node.

Optionally, in S132, the newly added detection node is determined as the detection node of the second positioning, and is used for the second positioning.

Optionally, in S133, at least one of the detection nodes of the k-1th positioning detection node and the newly added detection node are determined as the detection node of the second positioning for the second positioning. Alternatively, S133 includes:

The detection node of the k-1th positioning and the newly added detection node are determined as the detection node of the second positioning.

That is to say, the next positioning uses the new detection node and all the previously selected detection nodes. In the embodiment of the present invention, since the newly added detection node is located near the previous positioning position of the target, the subsequent positioning by using the newly added detection node can reduce the influence of the detection node being far away from the target position on the positioning effect, thereby improving The accuracy of targeting.

In S140, determining the target according to the positioning data measured by the detection node of the second positioning Positioning position for the first time.

Specifically, after the detection center of the first location is determined by the fusion center, the newly added detection nodes are positioned to measure the positioning data at the respective locations. Then, the newly added detection node sends the measured positioning data to the fusion center. Optionally, if the detection node that is located for the first time includes the previously selected detection node, since the positioning data measured by the previously selected detection node has been sent to the fusion center, no repeated measurement or transmission is required. The fusion center determines the target position of the target based on the positioning data measured by the detection node of the second positioning. For example, the fusion center determines the target location of the target based on the location data measured by the new detection node and all previously selected detection nodes. Optionally, the fusion center performs a de-correlation operation on the positioning data measured by the detection node of the second positioning, and then performs signal reconstruction to determine the second positioning position of the target.

In S150, the final position of the target is determined according to the target position of the target.

In the embodiment of the present invention, optionally, S150 includes:

Determine the target's first positioning position as the final position of the target.

For example, in the case of two positionings (ie, 2), the second positioning position of the target is determined as the final position of the target; in the case of multiple positioning, the last positioning position of the target is determined as the final position of the target.

In the embodiment of the present invention, optionally, S150 includes:

If the k-th positioning position of the target does not exceed the error threshold by the k-th positioning position of the target, the target positioning position is determined as the final position of the target;

If the target's first positioning position differs from the target's first positioning position by more than the error threshold, the final position of the target is determined according to the target k+1th positioning position.

In order to improve the accuracy of the target location, embodiments of the present invention position the target two or more times. Optionally, each time the positioning is completed, the positioning position can be compared with the previous positioning position. If the positioning positions are the same or similar twice (that is, the difference between the two positioning positions does not exceed the error threshold), The positioning position is determined as the final position of the target; if the difference between the two positioning positions exceeds the error threshold, the next positioning is continued, and the same steps are repeated before.

In this way, the method for locating an object in the embodiment of the present invention determines the target node of the next positioning according to the previous positioning position of the target by performing two or more positioning on the target, thereby achieving target positioning and reducing the detecting node. The influence of the remote location on the positioning effect, so that the positioning resources can be effectively utilized to improve the accuracy of the target positioning.

It should be understood that the size of the serial numbers of the above processes does not imply in various embodiments of the present invention. The order of execution, the order of execution of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation of the embodiments of the present invention.

The method of locating the object of the embodiment of the present invention will be described in more detail below with reference to specific examples. It is to be understood that the examples are only intended to assist those skilled in the art to understand some of the possible embodiments of the invention, and are not to be construed as limiting the scope of the invention.

3A is a schematic diagram of a multi-target positioning scene on a two-dimensional plane. It should be understood that the technical solution of the embodiment of the present invention is applicable not only to the two-dimensional plane but also to the three-dimensional space, which is not limited by the embodiment of the present invention. As shown in Fig. 3A, in the observation area (a "x« grid", there are / targets to be positioned, the positions of which correspond to the coordinate points in the grid, respectively) V e [l, 2, ..., /], as shown by the five-pointed star in Figure 3A. In order to locate the target, the network-based multi-target positioning system includes J detection nodes. Similarly, the positions of the J detection nodes correspond to coordinate points in the grid. 0, 3) V e[l, 2 , ..., /], as shown by the dot in Figure 3A. Alternatively, considering the influence of the fading of the wireless channel, the signal radiated by the first target, after reaching the first detecting node via the wireless fading channel, may be represented by the following equation (1):

Wherein, the radiation power of the target to be located is an environmental factor, which is a path loss factor, and d _ld is the distance d _l =^(x _l -x _j ) ² + (y _l - of the first target reaching the jth detection node y _j ) ² , d. Is the reference distance, α is the fast fading factor and is the shadow fading factor. The embodiment of the invention achieves accurate positioning of all/target locations by measuring the positioning data RSS(d _j ).

It should be understood that the positioning data may also be other measurement data that can be used for target positioning, which is not limited by the embodiment of the present invention.

All "x« coordinate points in the entire grid are sequentially arranged and constitute a Nxl target position vector 其中 (where N = « ² ). Since / target only appears in / of all N coordinate points, that is, the number of targets to be located is much smaller than the length of the vector ( /<<N ), there are only one non-zero elements in the target vector. The remaining N-/element values are zero, so the target position vector can be said to be sparse. In this way, CS technology can be applied for multi-target positioning.

Utilizing the spatial sparsity of the Nxl-dimensional target vector ,, the CS technique can be applied to multi-target positioning applications, and multi-target positioning can be performed on the targets in the N-point grid with fewer J detection nodes ( / </ «N). In a CS-based multi-target localization scenario, the sparse representation matrix Ψ is an NxN matrix whose element values can be represented by equation (1), ie, the radiant signal is mapped from the grid location. e[l,N] is the wireless channel fading experienced at the grid position e[l,N], therefore, optionally, the received signal vector of the multi-target at each point in the grid can be expressed as an equation (2) ):

8 = ΨΘ (2) where s is the received signal vector at each point in the Nxl-dimensional grid, Ψ is the sparse representation matrix, characterizing the wireless fading channel propagation model, and Θ corresponds to the position vector of multiple targets in the grid. Using CS technology, based on the sparsity of the received signal s in the grid space, the RSS measurement data is collected only on the detection nodes in the N-point grid, for example, by the following equation (3):

x = s = ΦΨΘ ( 3 ) where Φ is the sampling matrix of /xN, the sampling matrix is composed of only one element per row with a value of 1 and the other elements are 0, and the position of the element with a value of 1 in the first row Corresponding to the position of the first detection node in the grid, that is, the first detection node in the positioning system collects the RSS measurement data at the location where it is located and sends the RSS measurement data to the FC, which is also called the detection node in the positioning application. Spatial position matrix. The RSS measurement data sent by all the detection nodes at the FC constitutes the measurement data vector X of the /xl dimension, that is, the first element value in X corresponds to the RSS measurement data at the first detection node. In CS technology, it is required that the sparse representation matrix is not related to the sampling matrix, but in the multi-target positioning scenario, Ψ (the spatial propagation matrix of the wireless fading channel) and Φ (the spatial position matrix of the detection node) are all in the spatial domain, so It is also necessary to perform decorrelation processing on the measurement data vector X, for example, which can be expressed as the following equation (4):

y = Tx (4) where T is the /X / decorrelation matrix, Τ = 0Γί ((ΦΨ) ^Τ ) ^Τ (ΦΨ) where wi(-) is the orthogonalization operation, (.f is the transpose operation, (· is a pseudo-inverse operation. Finally, at the FC of the positioning system, multi-target positioning is achieved by signal reconstruction with 1 norm minimization under CS constraints, for example, represented by the following equation (5):

Θ = are min ||θ|| ,

Θ ^{11 1,1} (5)

S t., y = ΤΦΨΘ.

As shown in FIG. 3A, one embodiment of the present invention determines the position of a multi-target by two positionings. FC first randomly selects one detection node from the N-dimensional (N = 31 ² = 961) grid as the detection node of the first positioning. The coordinates of these detection nodes in the observation area (grid) are (Xj, _yj). ν/· ε[1,2,..., ] ₀ In Fig. 3Β, / _{1 =} 18, the hollow dot in the figure indicates the position of these first positioning detection nodes.

There are / targets in the observation area, but the location is unknown in advance, it is a multi-target positioning system. The estimated unknown amount, represented by Θ. In Figure 3B, / = 3, the actual position of the target is marked by the large five-pointed star in the figure.

The detection nodes randomly selected by the FC respectively measure the RSS at their respective locations, and then the detection nodes send the RSS at the measured location to the FC, and the FC obtains the measurement data χ _Λ =Φ _Λ ΨΘ.

FC measurements χ _Λ the received Lambda detectors node performs decorrelation, and then reconstructed _{signal, Θ = argmin | e | l} , S t, y 7l = Τ / Φ / ΨΘ, according to § _Λ and pre. Set the threshold/1 to perform the target positioning {(·3⁄4, _3⁄4) Ι Λ ≥ }, and obtain the first positioning position of the target. The first positioning position of the target in Fig. 3Β is shown by the diamond.

In the circular area (e.g., radius r = 5 in FIG circular rings of lattice points 3Β shown) positioned at the 1st position of the center of the target, an additional selection / detection _two new nodes, i.e. the detection node of these additional The selection satisfies ^ ^ , ^^, where d _j = ― xj ) ² + { - _yj ) ² , r is the preset radius, and these new detection nodes are shown by the solid dots in Figure 3B.

/ ₂ new detection nodes send the RSS at the measurement location to the FC, and the FC obtains the measurement data = Φ ₂ ΨΘ.

The FC performs a decorrelation operation on the RSS measurement data [x^ x ^T j ₂ ] ^T of all /^Λ + Λ) detection nodes received before and after, and then performs signal reconstruction, argminlleli, S t., y = ΤΦΨΘ , where = [0^ φ^] ^Γ , finally according to § and preset threshold / 1 into t second positioning {03⁄4, ) 1 ≥ }, the target's second positioning position as the final position of the target, complete multi-target positioning. In Figure 3B, the final position of the obtained target is shown as a small five-pointed star.

Optionally, the target may be positioned multiple times, the last positioning position is used as the final position of the target, or the final position of the target is determined by comparing the two previous positioning positions to improve the accuracy of the target positioning.

Therefore, in the method for locating an object according to the embodiment of the present invention, the detection node of the next positioning is determined according to the previous positioning position of the target, thereby achieving the target positioning, and the influence of the detection node being far away from the target position on the positioning effect can be reduced. Thereby, the positioning resources can be effectively utilized to improve the accuracy of the target positioning.

The method of locating an object according to an embodiment of the present invention is described in detail above with reference to Figs. 1 to 3B. Hereinafter, an apparatus for locating a target according to an embodiment of the present invention will be described with reference to Figs. 4 to 5B.

FIG. 4 shows a schematic block diagram of an apparatus 400 for locating a target in accordance with an embodiment of the present invention. Such as As shown in FIG. 4, the apparatus 400 includes:

a first determining module 410, configured to determine a detection node of the first positioning;

The first processing module 420 is configured to determine, according to the positioning data measured by the detecting node of the first positioning determined by the first determining module 410, the first positioning position of the target;

a second determining module 430, configured to determine, according to the k-th positioning position of the target, the detecting node of the kth positioning, which is a positive integer and greater than or equal to 2;

The second processing module 440 is configured to determine, according to the positioning data measured by the detection node of the kth positioning determined by the second determining module 430, the second positioning position of the target;

The third processing module 450 is configured to determine a final position of the target according to the kth positioning position of the target determined by the second processing module 440.

The device for locating a target according to the embodiment of the present invention determines the target node for the next positioning according to the previous positioning position of the target, thereby realizing the target positioning, thereby reducing the influence of the detecting node being far away from the target position on the positioning effect, thereby enabling Effectively use location resources to improve the accuracy of targeting.

In the embodiment of the present invention, the first determining module 410 is specifically configured to determine the detecting node of the first positioning according to a randomly selected or predetermined manner.

In the embodiment of the present invention, the first processing module 420 is specifically configured to perform a decorrelation operation on the positioning data measured by the detecting node of the first positioning, and then perform signal reconstruction to determine the first positioning of the target. position.

In the embodiment of the present invention, as shown in FIG. 5A and FIG. 5B, optionally, the second determining module 430 includes:

The first determining unit 431 is configured to determine, according to the second positioning position of the target, the newly added detecting node that is located in the second time, and the distance between the newly added detecting node and the k-1th positioning position of the target is within a predetermined range;

a second determining unit 432, configured to determine the newly detected detecting node as a detecting node for the first positioning; or

The third determining unit 433 is configured to determine at least one of the detecting nodes of the k-1th positioning and the newly added detecting node as the detecting node for the second positioning.

Optionally, the third determining unit 433 includes:

The determining subunit is configured to determine the detected node that is located at the second time and the newly detected detecting node as the detecting node for the first positioning. The device for locating the target in the embodiment of the present invention can reduce the influence of the detection node being far away from the target position on the positioning effect by using the newly added detection node for subsequent positioning, thereby improving the accuracy of the target positioning.

In the embodiment of the present invention, the second processing module 440 is specifically configured to perform a decorrelation operation on the positioning data measured by the detection node of the kth positioning, and then perform signal reconstruction to determine the first positioning position of the target. .

In the embodiment of the present invention, the third processing module 450 is specifically configured to: if the kth positioning position of the target does not exceed the error threshold by the k-1th positioning position of the target, The secondary positioning position is determined as the final position of the target, and if the target positioning position differs from the target k1th positioning position by more than the error threshold, the final position of the target is determined according to the target positioning position.

In the embodiment of the present invention, the third processing module 450 is specifically configured to determine the second positioning position of the target as the final position of the target.

The apparatus 400 for locating a target according to an embodiment of the present invention may correspond to an execution body of a method of locating a target in an embodiment of the present invention, and the above-described and other operations and/or functions of respective modules in the apparatus 400 are respectively implemented in order to implement FIG. 1 to FIG. The corresponding process of each method in 3B is not described here.

The device for locating a target according to the embodiment of the present invention determines the target node of the next positioning according to the previous positioning position of the target by performing two or more positioning on the target, thereby achieving target positioning, and reducing the distance of the detecting node from the target position. The effect of the remote location on the positioning effect can effectively utilize the positioning resources to improve the accuracy of the target positioning.

It should be understood that in the embodiment of the present invention, the term "and/or" is merely an association describing the associated object, indicating that there may be three relationships. For example, A and / or B can mean: There are three cases of A, B and A and B alone. In addition, the character "/" in this article generally indicates that the contextual object is an "or" relationship.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of both, in order to clearly illustrate hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. Professionals can use different methods to implement the described functions for each specific application, but this implementation should not be considered super The scope of the invention is intended.

A person skilled in the art can clearly understand that, for the convenience and the cleaning of the description, the specific working processes of the system, the device and the unit described above can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.

The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like, which can store program codes. .

The above is only the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any equivalent person can be easily conceived within the technical scope of the present invention. Modifications or substitutions, these modifications or substitutions should be covered by the scope of protection of the present invention within. Therefore, the scope of the invention should be determined by the scope of the claims.

Claims

Rights request

1. A method of locating a target, which is characterized by including:

Determine the detection node for the first positioning;

Determine the first positioning position of the target according to the positioning data measured by the detection node of the first positioning;

According to the first positioning position of the target, determine the detection node for the first positioning, k is a positive integer and is greater than or equal to 2;

Determine the k-th positioning position of the target according to the positioning data measured by the detection node of the positioning;

According to the first positioning position of the target, the final position of the target is determined.

2. The method according to claim 1, characterized in that: determining the final position of the target according to the k-th positioning position of the target includes:

If the difference between the target's k-th positioning position and the k-lth positioning position of the target does not exceed the error threshold, then the target's second positioning position is determined as the final position of the target; if the target's If the difference between the k-1th positioning position and the k-1th positioning position of the target exceeds the error threshold, the final position of the target is determined based on the k+1th positioning position of the target.

3. The method according to claim 1, characterized in that: determining the final position of the target according to the k-th positioning position of the target includes:

The first positioning position of the target is determined as the final position of the target.

4. The method according to any one of claims 1 to 3, characterized in that, determining the detection node for the k-1th positioning according to the k-1th positioning position of the target includes:

According to the k-1th positioning position of the target, determine a new detection node for the positioning, and the distance between the new detection node and the target's positioning position is within a predetermined range;

Determine the newly added detection node as the detection node positioned for the first time; or

At least one detection node among the detection nodes positioned for the k-ith time and the new detection node are determined as the detection nodes positioned for the k-ith time.

5. The method according to claim 4, characterized in that: determining at least one detection node among the detection nodes located for the first time and the newly-added detection node as the detection node located for the third time , include:

Determine the k-1th positioning detection node and the newly added detection node as the kth Secondly positioned detection node.

6. The method according to any one of claims 1 to 3, characterized in that, based on the positioning data measured by the detection node of the first or second positioning, the first or second positioning of the target is determined. The second positioning position includes:

By performing a decorrelation operation on the positioning data measured by the detection node for the first or second positioning, and then performing signal reconstruction, the first or second positioning position of the target is determined.

7. The method according to any one of claims 1 to 3, characterized in that the detection node for determining the first positioning includes:

The detection node for the first positioning is determined in a randomly selected or predetermined manner.

8. A device for locating a target, characterized by including:

The first determination module is used to determine the detection node for the first positioning;

The first processing module is configured to determine the first positioning position of the target based on the positioning data measured by the detection node of the first positioning determined by the first determination module;

The second determination module is used to determine the detection node of the first positioning according to the first positioning position of the target, which is a positive integer and greater than or equal to 2;

The second processing module is configured to determine the first positioning position of the target based on the positioning data measured by the detection node of the first positioning determined by the second determination module;

The third processing module is configured to determine the final position of the target based on the second positioning position of the target determined by the second processing module.

9. The device according to claim 8, wherein the third processing module is specifically configured to: if the difference between the target's positioning position and the k-lth positioning position of the target does not exceed an error threshold, Then the target's k-th positioning position is determined as the target's final position, and if the difference between the k-th positioning position of the target and the k-lth positioning position of the target exceeds the error threshold, then according to the determine the final position of the target.

10. The device according to claim 8, wherein the third processing module is specifically configured to determine the first positioning position of the target as the final position of the target.

11. The device according to any one of claims 8 to 10, characterized in that the second determination module includes:

A first determination unit, configured to determine a new detection node for the k-th positioning based on the target's k-th positioning position, where the distance between the new detection node and the kl-th positioning position of the target is The distance is within the predetermined range;

The second determination unit is used to determine the newly added detection node as the detection node positioned for the first time; or

The third determination unit is configured to determine at least one detection node among the detection nodes positioned for the k-1th time and the newly added detection node as the detection node positioned for the k-1th time.

12. The device according to claim 11, characterized in that the third determining unit includes:

The determination subunit is used to determine the detection node positioned for the k-ith time and the newly added detection node as the detection node positioned for the k-ith time.

13. The device according to any one of claims 8 to 10, wherein the first processing module is specifically configured to perform a decorrelation operation on the positioning data measured by the detection node of the first positioning, Then perform signal reconstruction to determine the first positioning position of the target;

The second processing module is specifically configured to perform a decorrelation operation on the positioning data measured by the detection node for the first positioning, and then perform signal reconstruction to determine the first positioning position of the target.

14. The device according to any one of claims 8 to 10, characterized in that the first determination module is specifically configured to determine the detection node for the first positioning in a randomly selected or predetermined manner.