WO2017190441A1

WO2017190441A1 - Positioning method and apparatus and positioning device

Info

Publication number: WO2017190441A1
Application number: PCT/CN2016/094655
Authority: WO
Inventors: 陆晓铮
Original assignee: 中兴通讯股份有限公司
Priority date: 2016-05-06
Filing date: 2016-08-11
Publication date: 2017-11-09
Also published as: CN107346012A

Abstract

A positioning method and apparatus and a positioning device. The method comprises: acquiring direction parameters, from a plurality of positioning devices (21, 22) to a target device (23), respectively generated by the positioning devices (21, 22), wherein each of the positioning devices (21, 22) comprises a phase-controlled arrayed antenna, the direction parameters comprise an antenna main lobe direction when the phase-controlled arrayed antenna is in a first antenna array phase, and the first antenna array phase is an antenna array phase when the strength of a signal received by the phase-controlled arrayed antenna from the target device (23) is at the maximum; and according to the direction parameters of at least two positioning devices (21, 22) and the positions of the at least two positioning devices (21, 22), determining position information about the target device (23).

Description

Positioning method, device and positioning device

Technical field

This document refers to, but is not limited to, the field of communication technology, especially a positioning method, device and positioning device.

Background technique

At present, when one or more satellite positioning systems locate the target equipment in the room, the positioning capability is weakened because the signal is weakened indoors. At present, the main indoor positioning system relies on the indoor wireless network, and the signal strength analysis is performed on the connected device through the wireless access point to determine the approximate distance of the target device, and according to the distance range provided by the plurality of wireless access point devices. , to calculate an overlapping range, thereby achieving the purpose of indoor positioning.

However, at present, the antenna of the wireless access point basically adopts a general omnidirectional antenna, and in a space without obstacles, the signal strength can be used to determine the target within a fixed distance of a certain wireless access point. In practice, indoor positioning needs to face the environment of obstacles. Although the actual signal strength of one or more points in the room can be actually measured, the relevant database can be established, and the positioning can be achieved through signal strength and database comparison, but the flow of people changes greatly. In the indoor environment, the change of the obstacle situation is more responsible, and the positioning accuracy is further reduced.

Summary of the invention

The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.

The embodiment of the invention provides a positioning method, a device and a positioning device, which can improve the positioning speed and accuracy of the target device in an obstacle environment.

The embodiment of the invention provides a positioning method, including:

Obtaining, by each of the plurality of positioning devices, a direction parameter of the positioning device to the target device, each positioning device includes a phased array antenna, and the direction parameter includes an antenna master of the phased array antenna at a phase of the first antenna array a direction of the lobes, the first antenna array phase is an antenna array phase when the phased array antenna receives the signal strength of the target device at a maximum;

Determining location information of the target device according to a direction parameter of the at least two positioning devices and a location of the at least two positioning devices.

Optionally, the method further includes: after the step of determining the location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices, sending the location information of the target device to Target device.

Optionally, the step of determining the location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices, including:

And calculating, according to a direction parameter of the at least two positioning devices and a position of the at least two positioning devices, an intersection area of the antenna main lobe directions of the at least two positioning devices as position information of the target device.

The embodiment of the invention further provides a positioning method, which is applied to a positioning device, and includes:

Changing the phase of the antenna array of the phased array antenna of the positioning device, and measuring the received signal strength of the target device under different antenna array phases;

Determining a direction parameter of the target device according to a received signal strength of the target device in a phase of the antenna array, where the direction parameter includes an antenna main lobe corresponding to a phase of the first antenna array when the received signal strength of the target device is maximum direction;

Sending the direction parameter of the target device to the server, so that the server determines the location information of the target device according to the direction parameter sent by the at least two positioning devices and the location of the corresponding positioning device.

Optionally, the method further includes: changing the phase of the antenna array of the phased array antenna of the positioning device, and measuring the received signal strength of the target device separately under different antenna array phases, establishing a relationship between the positioning device and the target device connection.

Optionally, the step of changing the phase of the antenna array of the phased array antenna of the positioning device includes:

Different phase offsets are generated by a digital phase shifter, and the phase of the antenna array of the phased array antenna of the positioning device is changed according to the phase shift.

The embodiment of the invention further provides a positioning device, comprising:

The acquiring module is configured to obtain a direction parameter of the positioning device to the target device generated by each of the plurality of positioning devices, each positioning device includes a phased array antenna, and the direction parameter includes the phased array antenna in the first antenna array The direction of the antenna main lobe in phase, the phase of the first antenna array is an antenna array phase when the phased array antenna receives the signal intensity of the target device at a maximum;

The first generating module is configured to determine location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices.

Optionally, the positioning device further includes:

The first sending module is configured to send the location information of the target device to the target device.

Optionally, the first generating module includes:

The first processing unit is configured to calculate, according to the direction parameter of the at least two positioning devices and the position of the at least two positioning devices, a intersection area of the antenna main lobe directions of the at least two positioning devices as position information of the target device.

An embodiment of the present invention further provides a positioning apparatus, including: a phased array antenna;

a monitoring module, configured to change an antenna array phase of the phased array antenna, and separately measure a received signal strength of the target device under different antenna array phases;

a second generating module, configured to determine a direction parameter of the target device according to a received signal strength of the target device in a phase of a different antenna array, where the direction parameter includes a first antenna when a received signal strength of the target device is maximum The direction of the main lobe of the antenna corresponding to the phase of the array;

The second sending module is configured to send the direction parameter of the target device to the server, so that the server determines the location information of the target device according to the direction parameter sent by the at least two positioning devices and the location of the corresponding positioning device.

Optionally, the positioning device further includes:

The connection module is set to establish a connection between the positioning device and the target device.

Optionally, the monitoring module includes:

The second processing unit is configured to generate a phase offset by a digital phase shifter, and according to the phase offset, change an antenna array phase of the phased array antenna of the positioning device.

Embodiments of the present invention also provide a computer readable storage medium storing computer executable instructions for performing any of the methods described above.

The beneficial effects of embodiments of the present invention are:

In the above solution, the phased array antenna can be used to change the phase of the antenna array by changing the phase to obtain the signal strength of the target device received in different phases, thereby The direction of the target main device is determined by receiving the direction of the main lobe of the antenna when the signal strength transmitted by the target device is maximum. The direction of the target device determined by the plurality of positioning devices is calculated to obtain a intersection area, thereby achieving fine positioning of the target device. The above scheme uses a digital phase shifter to change the antenna pattern, which is faster than mechanically scanning multiple directions, ensuring positioning time. The main lobe beam based on the phased array antenna pattern is narrower, so only a small number of positioning devices can be used to obtain a small intersection area, which realizes fast and accurate positioning.

Other aspects will be apparent upon reading and understanding the drawings and detailed description.

BRIEF abstract

1 is a flow chart showing a positioning method according to an embodiment of the present invention;

2 is a schematic diagram of determining a direction of a target device by a positioning device according to an embodiment of the present invention;

3 is a block diagram showing the structure of a positioning device having a plurality of positioning devices according to an embodiment of the present invention;

4 is a flowchart of a positioning method applied to a positioning device according to an embodiment of the present invention;

Figure 5 is a block diagram showing the structure of a phased array antenna according to an embodiment of the present invention;

FIG. 6 is a schematic diagram showing an antenna array according to an embodiment of the present invention; FIG.

Figure 7 is a block diagram showing the structure of a positioning device according to an embodiment of the present invention;

FIG. 8 is a block diagram showing the structure of a positioning apparatus according to an embodiment of the present invention.

Embodiments of the invention

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention has been shown and described with reference to the embodiments Rather, these embodiments are provided so that this invention may be more fully understood and the scope of the invention can be fully conveyed by those skilled in the art.

As shown in FIG. 1 , an embodiment of the present invention provides a positioning method, including:

S101. Acquire a direction parameter of the positioning device to the target device generated by each of the multiple positioning devices, where each positioning device includes a phased array antenna, and the direction parameter includes an antenna master of the phased array antenna in the phase of the first antenna array. In the direction of the lobes, the phase of the first antenna array is the phase of the antenna array when the signal strength of the phased array antenna receiving the target device is maximum;

In this embodiment, the positioning device radiates the scanning signal in a plurality of directions through the phased array antenna, and receives an intensity signal generated by the target device according to the scanning signal radiated to the plurality of directions by the corresponding phased array antenna. The positioning device determines the antenna array phase corresponding to the maximum signal strength according to the intensity signals in multiple directions, and uses the direction of the main lobe of the antenna corresponding to the determined antenna array phase as the direction parameter of the positioning device to the target device. The location information of the target device can be determined by calculating the intersection area of the direction parameters determined by the at least two positioning devices. Correspondingly, the more the number of positioning devices, the more accurate the position information of the target device obtained through calculation.

S102. Determine location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices.

In this embodiment, the location information of the target device can be determined by calculating the intersection area of the at least two direction parameters according to the location of the at least two positioning devices and the direction parameter of the corresponding positioning device. The positioning device based on the phased array antenna can realize omnidirectional scanning of the target device, and the main array of the antenna array determined according to the phase direction is narrow, and the positioning precision thereof is high.

Specifically, how to calculate the intersection of the at least two directional parameters can be implemented by using the well-known techniques of the present invention, and is not intended to limit the scope of protection of the embodiments of the present invention, and details are not described herein again.

Optionally, the method further includes: after determining the location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices, sending the location information of the target device to the target device.

In this embodiment, the server can enable the user on the target device side to know the current geographic location by returning the location information of the target device to the target device.

Optionally, as shown in FIG. 2, the steps of the positioning method are specifically described by taking two positioning devices as an example. It should be noted that the positioning method may also be implemented according to multiple positioning devices shown in FIG. 3.

Step 1: The target device 23 establishes a connection with both the positioning device 21 and the positioning device 22.

Step 2: The positioning device 21 and the positioning device 22 change the phase of the phased array antenna by the respective digital phase shifters to change the main beam direction of the respective antenna array, and record a received target device 23 every time the phase is changed. Signal strength value;

Step 3: The positioning device 21 and the positioning device 22 repeat step 2 until the phased array antenna completes scanning in all directions, and determines the phase of the corresponding antenna array when the target device 23 receives the maximum signal strength. And calculating the direction of the main lobe of the antenna array according to the phase value of the antenna array. The main lobe direction of the antenna array can be understood as the area in the direction of the positioning device 21 to the target device 23 in FIG.

Step 4: Send the direction of the main lobe of the antenna array calculated by each positioning device in step 3 to the server, and the server calculates the intersection area of the main lobe direction of the antenna array of each positioning device, that is, the shaded portion in FIG. 2, The intersection area is the location area of the target device 23.

Step 5: The server returns the calculated location information of the target device 23 to the target device.

And calculating, according to the direction parameter of the at least two positioning devices and the position of the at least two positioning devices, the intersection area of the antenna main lobe directions of the at least two positioning devices as the position information of the target device.

Optionally, by establishing a spatial model, the location of the at least two positioning devices and the direction parameter of the corresponding positioning device are correspondingly allocated in the spatial model. In the spatial model, the direction parameters of at least two positioning devices that locate the same target device meet to form an overlapping region, which is the location of the target device. The location information is generated according to the overlapping area, that is, the positioning of the target device is achieved.

The above method can be implemented by a server.

As shown in FIG. 4, an embodiment of the present invention further provides a positioning method, which is applied to a positioning device, and includes:

S401. Change an antenna array phase of the phased array antenna of the positioning device, and measure received signal strength of the target device separately under different antenna array phases;

In this embodiment, by changing the phase of the antenna array of the phased array antenna, the scanning signals of different directions are radiated to the target device, and the signal strength returned by the target device according to the corresponding scanning signal is received.

S402. Determine a direction parameter of the target device according to the received signal strength of the target device in the phase of the different antenna array, where the direction parameter includes an antenna main lobe direction corresponding to the phase of the first antenna array when the received signal strength of the target device is maximum;

In this embodiment, the positioning device determines the phase of the antenna array when the signal strength is maximum by analyzing the received signal strength of the target device under different antenna array phases. The direction of the main lobe of the antenna corresponding to the phase of the antenna array is used as a direction parameter of the positioning device to the target device. At the same time, the phase scanning array antenna is used for beam scanning at a high speed.

S403. Send the direction parameter of the target device to the server, so that the server determines the location information of the target device according to the direction parameter sent by the at least two positioning devices and the location of the corresponding positioning device.

In this embodiment, the positioning device is configured to acquire a direction parameter between the positioning device and the target device, and the target device is monitored by at least two positioning devices disposed at different positions, and each positioning device determines a direction parameter of each target device. And sending the direction parameter to the server, and the server calculates the location information of the target device according to the location of the positioning device and the corresponding direction parameter.

Optionally, the method further includes: changing a phase of the antenna array of the phased array antenna of the positioning device, and establishing a connection between the positioning device and the target device before the step of separately measuring the received signal strength of the target device under different antenna array phases.

In this embodiment, by establishing a connection between the positioning device and the target device, the positioning device can be configured to radiate a scan signal to the target device, and the target device can respond to the return strength signal to the positioning device according to the rice seedling signal of the positioning device. In addition, as an implementation manner, the positioning device, the target device, and the server are both connected to an access network, and the positioning device may send the obtained direction parameter of the target device to the server, and the server may calculate the obtained The location parameter of the target device is sent to the target device.

Optionally, the step of changing the phase of the antenna array of the phased array antenna of the positioning device comprises:

Specifically, how to change the phase of the antenna array of the phased array antenna of the positioning device according to the phase offset can be implemented by using the well-known techniques of the present invention, and is not intended to limit the protection scope of the embodiment of the present invention, and details are not described herein again.

Optionally, as shown in FIG. 5, the phased array antenna includes an antenna array 51, a feed network 52, and a digital phase shifter 53. The antenna array 51 is arranged by the plurality of antenna radiating units 510 in an array of N rows and M columns in the manner of FIG. 6. The antenna radiating unit 510 may be composed of an antenna array or a microstrip antenna or other forms of antennas, and the antenna array 51 The greater the number of antenna radiating elements 510, the narrower the main lobe of the antenna array pattern formed, and the higher the accuracy of positioning. The digital phase shifter 53 produces a phase offset, and the antenna radiating elements 510 in the control antenna array 51 collectively generate a phase shift even if the antenna array 51 produces a phase shift. At the same time, the feed network 52 is set to give each of the antenna arrays 51 The antenna radiating elements 510 are fed, and signals of different phases are fed through the feed network 52 into different antenna radiating elements in the antenna array 51. The positioning device uses the digital phase shifter 53 to generate a phase offset, changes the phase of the antenna array of the phased array antenna of the positioning device, realizes positioning monitoring of multiple directions of the target device, and has the advantages of high precision and high speed.

As shown in FIG. 7, an embodiment of the present invention further provides a positioning apparatus, including:

The obtaining module 701 is configured to acquire direction parameters of the positioning device to the target device generated by each of the plurality of positioning devices, each positioning device includes a phased array antenna, and the direction parameter includes the phased array antenna in the first antenna array phase The direction of the main lobe of the antenna, the phase of the first antenna array is the phase of the antenna array when the signal strength of the phased array antenna receiving target device is maximum;

In this embodiment, the acquiring module 701 of the positioning device radiates the scanning signal to the plurality of directions through the phased array antenna, and receives the intensity signal generated by the target device according to the scanning signal radiated to the plurality of directions by the corresponding phased array antenna. The positioning device determines the phase of the antenna array corresponding to the maximum signal strength according to the intensity signals in multiple directions, and uses the direction of the main lobe of the antenna corresponding to the phase of the antenna array as the direction parameter of the positioning device to the target device. The location information of the target device can be determined by calculating the intersection area of the direction parameters determined by the at least two positioning devices. Correspondingly, the more the number of positioning devices, the more accurate the position information of the target device obtained through calculation.

The first generating module 702 is configured to determine location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices.

In this embodiment, the first generation module 702 can determine the location information of the target device by calculating the intersection area of the at least two direction parameters according to the location of the at least two positioning devices and the direction parameter of the corresponding positioning device. The positioning device based on the phased array antenna can realize omnidirectional scanning of the target device, and the main array of the antenna array determined according to the phase direction is narrow, and the positioning precision thereof is high.

Optionally, the positioning device further includes:

The first sending module 703 is configured to send location information of the target device to the target device.

In this embodiment, the server returns the location information of the target device to the target device by using the first sending module 703, so that the user on the target device side can know the current geographic location.

Optionally, the first generating module 702 includes:

The first processing unit 7021 is configured to determine a direction parameter according to at least two positioning devices and at least The position of the two positioning devices calculates the intersection area of the antenna main lobe directions of at least two positioning devices as the position information of the target device.

Optionally, by establishing a spatial model, the location of each positioning device and the direction parameter of the corresponding positioning device are correspondingly allocated in the spatial model. In the spatial model, the direction parameters of at least two positioning devices that locate the same target device meet to form an overlapping region, which is the location of the target device. The location information is generated according to the overlapping area, that is, the positioning of the target device is achieved.

As shown in FIG. 8, the embodiment of the present invention further provides a positioning device, including: a phased array antenna 801;

The monitoring module 802 is configured to change the phase of the antenna array of the phased array antenna, and separately measure the received signal strength of the target device under different antenna array phases;

In this embodiment, the monitoring module 802 changes the phase of the antenna array of the phased array antenna through the digital phase shifter, so that the phased array antenna radiates the scanning signals in different directions to the target device, and receives the return of the target device according to the corresponding scanning signal. Intensity signal.

The second generation module 803 is configured to determine a direction parameter of the target device according to the received signal strength of the target device under different antenna array phases, where the direction parameter includes an antenna main lobe corresponding to the phase of the first antenna array when the received signal strength of the target device is maximum direction;

In this embodiment, the positioning device analyzes the received signal strength of the target device under different antenna array phases by the second generation module 803, and determines the phase of the antenna array when the signal strength is maximum. The direction of the main lobe of the antenna corresponding to the phase of the antenna array is used as a direction parameter of the positioning device to the target device. The use of phased array antennas for beam scanning has the advantage of high speed.

The second sending module 804 is configured to send the direction parameter of the target device to the server, so that the server determines the location information of the target device according to the direction parameter sent by the at least two positioning devices and the location of the corresponding positioning device.

In this embodiment, the positioning device is configured to acquire a direction parameter between the positioning device and the target device, and the target device is monitored by at least two positioning devices disposed at different positions, and each positioning device determines a direction parameter to the target device. And sending, by the second sending module 804, the direction parameter to the server, and the server calculates the location information of the target device according to the location of the positioning device and the corresponding direction parameter.

Optionally, the positioning device further includes:

The connection module 805 is configured to establish a connection between the positioning device and the target device.

In this embodiment, the positioning device establishes a connection with the target device through the connection module 805, so that the positioning device can radiate the scan signal to the target device, and the target device can correspond to the return intensity signal to the positioning device according to the rice seedling signal of the positioning device. In addition, as an implementation manner, the positioning device, the target device, and the server are both connected to an access network, and the positioning device may send the obtained direction parameter of the target device to the server, and the server may calculate the obtained The location parameter of the target device is sent to the target device.

Optionally, the monitoring module 802 includes:

The second processing unit 8021 is configured to generate a phase offset by a digital phase shifter, and change the phase of the antenna array of the phased array antenna of the positioning device according to the phase offset.

Optionally, as shown in FIG. 5, the phased array antenna includes an antenna array, a feed network, and a digital phase shifter. The antenna array is arranged by the plurality of antenna radiating elements in an array of N rows and M columns according to the manner of FIG. 6. The antenna radiating unit may be composed of an antenna array or a microstrip antenna or other forms of antennas, and the antenna radiating unit in the antenna array The larger the number, the narrower the main lobe of the formed antenna array pattern, and the higher the positioning accuracy. The digital phase shifter generates a phase offset, and the antenna radiating elements in the antenna array are controlled to jointly generate a phase offset, that is, the antenna array generates a phase offset. At the same time, the feed network is arranged to feed each antenna radiating element in the antenna array, and signals of different phases are fed into different antenna radiating elements in the antenna array through the feed network. The positioning device generates the phase offset by using the digital phase shifter, changes the phase of the antenna array of the phased array antenna of the positioning device, realizes the positioning monitoring of the target device in multiple directions, and has the advantages of high precision and high speed.

In the above solution of the present invention, the phased array antenna can be used to change the phase of the antenna array by changing the phase to obtain the intensity signal sent by the target device received in different phases, thereby maximizing the signal strength according to the received target device. Determine the direction of the target device by the corresponding antenna main lobe direction. The direction of the target device determined by the plurality of positioning devices is calculated to obtain a intersection area, thereby achieving fine positioning of the target device. The above scheme uses a digital phase shifter to change the antenna pattern, and the signal speed is faster than the mechanical scanning in each direction, thereby ensuring the positioning time. The main lobe beam based on the phased array antenna pattern is narrower, so only a small number of positioning devices can be used to obtain a small intersection area for fast and accurate positioning.

One of ordinary skill in the art will appreciate that all or a portion of the above steps may be performed by a program to instruct related hardware, such as a processor, which may be stored in a computer readable storage medium, such as a read only memory, disk or optical disk. Wait. Alternatively, all or part of the steps of the above embodiments may also be implemented using one or more integrated circuits. Correspondingly, each module/unit in the foregoing embodiment may be implemented in the form of hardware, for example, by implementing an integrated circuit to implement its corresponding function, or may be implemented in the form of a software function module, for example, executing a program in a storage and a memory by a processor. / instruction to achieve its corresponding function. The invention is not limited to any specific form of combination of hardware and software.

The above is a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and refinements without departing from the principles of the present invention. These improvements and refinements are also within the scope of the present invention. Inside.

Industrial applicability

The above technical solution achieves fast and accurate positioning.

Claims

A positioning method comprising:

Obtaining, by each of the plurality of positioning devices, a direction parameter of the positioning device to the target device, each positioning device includes a phased array antenna, and the direction parameter includes an antenna master of the phased array antenna at a phase of the first antenna array a direction of the lobes, the first antenna array phase is an antenna array phase when the phased array antenna receives the signal strength of the target device at a maximum;

Determining location information of the target device according to a direction parameter of the at least two positioning devices and a location of the at least two positioning devices.
The positioning method according to claim 1, further comprising:

After the step of determining the location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices,

Sending location information of the target device to the target device.
The positioning method according to claim 1, wherein the determining the location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices comprises:

And calculating, according to a direction parameter of the at least two positioning devices and a position of the at least two positioning devices, an intersection area of the antenna main lobe directions of the at least two positioning devices as position information of the target device.
A positioning method applied to a positioning device, including:

Changing the phase of the antenna array of the phased array antenna of the positioning device, and measuring the received signal strength of the target device under different antenna array phases;

Determining a direction parameter of the target device according to a received signal strength of the target device in a phase of the antenna array, where the direction parameter includes an antenna main lobe corresponding to a phase of the first antenna array when the received signal strength of the target device is maximum direction;

Sending the direction parameter of the target device to the server, so that the server determines the location information of the target device according to the direction parameter sent by the at least two positioning devices and the location of the corresponding positioning device.
The positioning method according to claim 4, further comprising:

Changing the phase of the antenna array of the phased array antenna of the positioning device and at different antenna array phases Before the step of separately measuring the received signal strength of the target device, establishing a connection between the positioning device and the target device.
The positioning method according to claim 4, wherein the step of changing the phase of the antenna array of the phased array antenna of the positioning device comprises:

Different phase offsets are generated by a digital phase shifter, and the phase of the antenna array of the phased array antenna of the positioning device is changed according to the phase shift.
A positioning device comprising:

The acquiring module is configured to obtain a direction parameter of the positioning device to the target device generated by each of the plurality of positioning devices, each positioning device includes a phased array antenna, and the direction parameter includes the phased array antenna in the first antenna array The direction of the antenna main lobe in phase, the phase of the first antenna array is an antenna array phase when the phased array antenna receives the signal intensity of the target device at a maximum;

The first generating module is configured to determine location information of the target device according to the direction parameter of the at least two positioning devices and the location of the at least two positioning devices.
The positioning device according to claim 7, further comprising:

The first sending module is configured to send the location information of the target device to the target device.
The positioning device of claim 7, wherein the first generation module comprises:

The first processing unit is configured to calculate, according to the direction parameter of the at least two positioning devices and the position of the at least two positioning devices, a intersection area of the antenna main lobe directions of the at least two positioning devices as position information of the target device.
A positioning device comprising: a phased array antenna;

a monitoring module, configured to change an antenna array phase of the phased array antenna, and separately measure a received signal strength of the target device under different antenna array phases;

a second generating module, configured to determine a direction parameter of the target device according to a received signal strength of the target device in a phase of a different antenna array, where the direction parameter includes a first antenna when a received signal strength of the target device is maximum The direction of the main lobe of the antenna corresponding to the phase of the array;

The second sending module is configured to send the direction parameter of the target device to the server, so that the server determines the location information of the target device according to the direction parameter sent by the at least two positioning devices and the location of the corresponding positioning device.
The positioning device of claim 10, further comprising:

The connection module is set to establish a connection between the positioning device and the target device.
The positioning device of claim 10, wherein the monitoring module comprises:

The second processing unit is configured to generate a phase offset by a digital phase shifter, and according to the phase offset, change an antenna array phase of the phased array antenna of the positioning device.