WO2020042143A1 - 用于检测信号传播类型的方法和装置 - Google Patents

用于检测信号传播类型的方法和装置 Download PDF

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WO2020042143A1
WO2020042143A1 PCT/CN2018/103492 CN2018103492W WO2020042143A1 WO 2020042143 A1 WO2020042143 A1 WO 2020042143A1 CN 2018103492 W CN2018103492 W CN 2018103492W WO 2020042143 A1 WO2020042143 A1 WO 2020042143A1
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Prior art keywords
signal propagation
type
base station
positioning
certain positioning
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PCT/CN2018/103492
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English (en)
French (fr)
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曾卓琦
王炜
于华俊
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罗伯特·博世有限公司
曾卓琦
王炜
于华俊
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Application filed by 罗伯特·博世有限公司, 曾卓琦, 王炜, 于华俊 filed Critical 罗伯特·博世有限公司
Priority to US17/272,407 priority Critical patent/US20210318422A1/en
Priority to PCT/CN2018/103492 priority patent/WO2020042143A1/zh
Priority to CN201880095828.6A priority patent/CN112534293A/zh
Priority to EP18931513.8A priority patent/EP3845920A4/en
Publication of WO2020042143A1 publication Critical patent/WO2020042143A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/0209—Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/0202—Channel estimation
    • H04L25/0212—Channel estimation of impulse response
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/0202—Channel estimation
    • H04L25/0212—Channel estimation of impulse response
    • H04L25/0216—Channel estimation of impulse response with estimation of channel length
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/20—Systems for measuring distance only using transmission of interrupted, pulse modulated waves whereby multiple time-around echoes are used or eliminated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0218—Multipath in signal reception

Definitions

  • the present invention relates to the field of ultra-wideband (UWB) positioning, and in particular, to a method and apparatus for detecting a type of signal propagation, and a computing device and a machine-readable storage medium.
  • UWB ultra-wideband
  • UWB positioning is a technology that uses extremely narrow impulse response and bandwidth above 1GHz to locate objects indoors.
  • the UWB positioning system includes multiple positioning base stations and positioning labels placed on objects to be positioned.
  • the positioning tag sends a pulse signal, which becomes an impulse response when it reaches the positioning base station through channel modulation.
  • the UWB positioning system uses the impulse response received by the positioning base station from the positioning tag to determine the positioning of the object.
  • the UWB positioning system can obtain accurate positioning of the object.
  • the signal transmission between the positioning base station and the positioning label is obstacle blocking Non-line-of-sight propagation, the positioning obtained by the UWB positioning system is usually inaccurate.
  • Embodiments of the present invention provide a method and apparatus for detecting a type of signal propagation, and a computing device and a machine-readable storage medium capable of detecting a type of signal propagation between a positioning base station and a positioning tag of a UWB positioning system.
  • a method for detecting a signal propagation type includes: when a positioning base station of an ultra-wideband positioning system currently receives an impulse response from a positioning tag, calculating a plurality of similarity values , Where each similarity value indicates the degree of similarity between the currently received impulse response and one of the reference impulse responses of a plurality of reference impulse responses.
  • An impulse response received from the at least one positioning tag if the type of signal propagation between the positioning tags is a specific signal propagation type; and, based on the plurality of similarity values, determining whether A signal propagation type between the certain positioning tags.
  • An apparatus for detecting a signal propagation type includes a calculation module for calculating when a positioning base station of an ultra-wideband positioning system currently receives an impulse response from a positioning tag. Multiple similarity values, where each similarity value represents the degree of similarity between the currently received impulse response and one of the reference impulse responses of the plurality of reference impulse responses, the plurality of reference impulse responses being a certain positioning base station previously described An impulse response received from the at least one positioning tag if the type of signal propagation between it and the at least one positioning tag is a specific signal propagation type; and a determining module for based on the plurality of similarity values, Determining a signal propagation type currently between the certain positioning base station and the certain positioning label.
  • a computing device includes: a processor; and a memory that stores executable instructions that, when executed, cause the processor to perform operations included in the foregoing method.
  • a machine-readable storage medium has executable instructions thereon, and when the executable instructions are executed, the machine is caused to perform operations included in the foregoing method.
  • the solution of the embodiment of the present invention utilizes an impulse response currently received by a positioning base station of a UWB positioning system from a positioning tag and multiple reference impulse responses received by the positioning base station from at least one positioning tag under a certain signal propagation type, To determine the current signal propagation type between the positioning base station and the positioning label, so that the solution of the embodiment of the present invention can detect the signal propagation type between the positioning base station and the positioning label of the UWB positioning system.
  • FIG. 1 shows an overall flowchart of a method for detecting a signal propagation type according to an embodiment of the present invention
  • FIG. 2 shows a flowchart of a method for detecting a signal propagation type according to an embodiment of the present invention
  • FIG. 3 shows a schematic diagram of an apparatus for detecting a type of signal propagation according to an embodiment of the present invention.
  • Figure 4 shows a schematic diagram of a computing device according to an embodiment of the invention.
  • FIG. 1 shows an overall flowchart of a method for detecting a type of signal propagation according to an embodiment of the present invention.
  • the method 100 shown in FIG. 1 may be implemented by any computing device having computing capabilities.
  • the computing device may be, but is not limited to, a desktop computer, a notebook computer, a tablet computer, or a server.
  • a certain positioning base station Bi in the UWB positioning system currently receives an impulse response IN from a certain positioning tag Ti.
  • a plurality of similarity values are calculated according to the currently received impulse response IN and the plurality of reference impulse responses MR of the positioning base station Bi, wherein each similarity value indicates the impulse response IN and the plurality of reference impulse responses The degree of similarity of one of the MR reference impulse responses.
  • the plurality of reference impulse responses MR of the positioning base station Bi are impulse responses received by the positioning base station Pi from the at least one positioning tag when the type of signal propagation between the positioning base station Pi and the at least one positioning tag is a specific signal propagation type S.
  • the specific signal propagation type S can be line-of-sight or non-line-of-sight.
  • the plurality of similarity values are calculated.
  • KS-test Kinolmogorov-Smirnov test
  • Chi-Squared test G-test
  • Fisher's exact test Fisher's test
  • the degree of similarity of the impulse responses so as to calculate the multiple similarity values.
  • the maximum distance of the cumulative distribution function between the impulse response IN and any of the reference impulse responses of the plurality of reference impulse responses MR of the positioning base station Bi may be calculated as the similarity between the impulse response IN and the any reference impulse response, Thus, the multiple similarity values are calculated.
  • the plurality of similarity values are calculated.
  • the Euclidean distance, dynamic time warping, and longest common distance between the impulse response IN and any one of the plurality of reference impulse responses MR of the positioning base station Bi can be calculated.
  • the coefficient value (for example, root mean square, variance, etc.) is used as the degree of similarity between the impulse response IN and the any one of the reference impulse responses to calculate the plurality of similarity values.
  • a signal propagation type between the current positioning base station Bi and the positioning tag Ti is determined. For example, but not limited to, if the similarity value of at least half of the plurality of similarity values is greater than the first threshold, it is determined that the signal propagation type between the current positioning base station Bi and the positioning tag Ti is the specific signal propagation type S, otherwise It is determined that the signal propagation type between the current positioning base station Bi and the positioning tag Ti is another type different from the specific signal propagation type S in the line-of-sight and non-line-of-sight propagation.
  • the signal propagation type between the current positioning base station Bi and the positioning tag Ti is the specific signal propagation type S
  • the signal propagation type between the current positioning base station Bi and the positioning tag Ti is another type different from the specific signal propagation type S in the line-of-sight and non-line-of-sight propagation.
  • the solution of this embodiment uses an impulse response currently received by a positioning base station of a UWB positioning system from a positioning tag and multiple reference impulse responses received by the positioning base station from at least one positioning tag under a certain signal propagation type to determine The current type of signal propagation between the positioning base station and the positioning label, so that the solution of this embodiment can detect the type of signal propagation between the positioning base station and the positioning label of the UWB positioning system.
  • the similarity value is calculated under the condition that both the impulse response IN and the multiple reference impulse responses MR of the positioning base station Bi are regarded as probability density functions or trajectories, however, The invention is not limited to this. In other embodiments of the present invention, the similarity value may also be calculated by using any other method by using the impulse response IN and the multiple reference impulse responses MR of the positioning base station Bi.
  • FIG. 2 shows a flowchart of a method for detecting a signal propagation type according to an embodiment of the present invention.
  • the method 200 shown in FIG. 2 may be implemented by any computing device having computing capabilities.
  • the computing device may be, but is not limited to, a desktop computer, a notebook computer, a tablet computer, or a server.
  • the method 200 may include, at block 202, when a positioning base station of an ultra-wideband positioning system currently receives an impulse response from a positioning tag, calculating multiple similarity values, where each A similarity value indicates a degree of similarity between a currently received impulse response and one of the reference impulse responses of a plurality of reference impulse responses, where the plurality of reference impulse responses are between a positioning base station and at least one positioning tag previously described
  • the signal propagation type of is the impulse response received from the at least one positioning tag in the case of a specific signal propagation type.
  • the method 200 may further include, at block 204, determining a signal propagation type currently between the certain positioning base station and the certain positioning tag based on the plurality of similarity values.
  • the plurality of similarity values are calculated with both the currently received impulse response and the plurality of reference impulse responses as a probability density function.
  • the plurality of similarity values are calculated with both the currently received impulse response and the plurality of reference impulse responses as trajectories.
  • the specific signal propagation type is one of line-of-sight and non-line-of-sight propagation
  • block 204 includes: if at least half of the plurality of similarity values have a similarity value greater than a first Threshold, it is determined that the current signal propagation type between the certain positioning base station and the certain positioning label is the specific signal propagation type, otherwise it is determined that the current positioning base station and the certain positioning label are currently
  • the type of signal propagation between is another type of the line-of-sight propagation and the non-line-of-sight propagation that is different from the specific signal propagation type; or if the average of the plurality of similarity values is greater than Two thresholds, it is determined that the current signal propagation type between the certain positioning base station and the certain positioning label is the specific signal propagation type, otherwise it is determined that the current positioning between the certain positioning base station and the certain positioning
  • the type of signal propagation between the tags is another type different from the specific signal propagation type in the line-of-sight propagation and the
  • FIG. 3 shows a schematic diagram of an apparatus for detecting a type of signal propagation according to an embodiment of the present invention.
  • the apparatus 300 shown in FIG. 3 may be implemented by using software, hardware, or a combination of software and hardware.
  • the apparatus 300 shown in FIG. 3 may be installed in any suitable computing device having computing capabilities, for example.
  • the apparatus 300 may include a calculation module 302 and a determination module 304.
  • the calculation module 302 is configured to calculate a plurality of similarity values when a certain positioning base station of the ultra-wideband positioning system currently receives an impulse response from a certain positioning tag, wherein each similarity value represents the current impulse response and The degree of similarity of one reference impulse response of multiple reference impulse responses, where the multiple reference impulse responses are a case where a signal propagation type between a positioning base station and at least one positioning tag is a specific signal propagation type previously described Receiving an impulse response from the at least one positioning tag.
  • the determining module 304 is configured to determine a signal propagation type currently between the certain positioning base station and the certain positioning tag based on the multiple similarity values.
  • the plurality of similarity values are calculated with both the currently received impulse response and the plurality of reference impulse responses as a probability density function.
  • the plurality of similarity values are calculated with both the currently received impulse response and the plurality of reference impulse responses as trajectories.
  • the specific signal propagation type is one of line-of-sight propagation and non-line-of-sight propagation
  • the determining module 304 includes: if a similarity value of at least half of the plurality of similarity values is greater than A first threshold value, it is determined that a signal propagation type currently between the certain positioning base station and the certain positioning label is the specific signal propagation type, otherwise it is determined that the signal propagation type between the certain positioning base station and the certain positioning base station is currently
  • the type of signal propagation between the positioning targets is another type of module in the line-of-sight propagation and the non-line-of-sight propagation different from the specific signal propagation type; or, if the plurality of similarities are If the average value of the values is greater than the second threshold, it is determined that the current signal propagation type between the certain positioning base station and the certain positioning label is the specific signal propagation type, otherwise it is determined that the current signal propagation is between the certain positioning base station and the certain positioning base station.
  • Figure 4 shows a schematic diagram of a computing device according to an embodiment of the invention.
  • the computing device 400 may include a processor 402 and a memory 404 coupled to the processor 402.
  • the memory 404 stores executable instructions that, when executed, cause the processor 402 to execute the method 100 or 200.
  • An embodiment of the present invention further provides a machine-readable storage medium having executable instructions thereon, and when the executable instructions are executed, the machine executes the method 100 or 200.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

提供了用于检测信号传播类型的方法（200）和装置（300），该方法（200）包括：当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应的相似程度，多个参考脉冲响应是以前某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自至少一个定位标签的脉冲响应（202）；基于多个相似性值，确定当前在某一定位基站与某一定位标签之间的信号传播类型（204）。该方法和装置能够检测UWB定位系统的定位基站与定位标签之间的信号传播类型。

Description

用于检测信号传播类型的方法和装置 技术领域
本发明涉及超宽带(UWB)定位领域，尤其涉及用于检测信号传播类型的方法和装置以及计算设备和机器可读存储介质。
背景技术
UWB定位是一种利用极窄的脉冲响应和1GHz以上带宽在室内对物体进行定位的技术。UWB定位系统包括多个定位基站和放置在要定位的对象上的定位标签。定位标签发送脉冲信号，该脉冲信号经过信道调制到达定位基站时变成脉冲响应。UWB定位系统利用定位基站接收的来自定位标签的脉冲响应来确定对象的定位。
当定位基站与定位标签之间的信号传播是没有障碍物阻挡的视距传播时，UWB定位系统可以获得对象的准确定位，然而，如果定位基站与定位标签之间的信号传播是有障碍物阻挡的非视距传播，那么UWB定位系统获得的定位通常是不准确的。
因此，在UWB定位中，识别定位基站与定位标签之间的信号传播类型是非常重要的。
发明内容
本发明的实施例提供用于检测信号传播类型的方法和装置以及计算设备和机器可读存储介质，其能够检测UWB定位系统的定位基站与定位标签之间的信号传播类型。
按照本发明的实施例的一种用于检测信号传播类型的方法，包括：当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应 的相似程度，所述多个参考脉冲响应是以前所述某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自所述至少一个定位标签的脉冲响应；以及，基于所述多个相似性值，确定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型。
按照本发明的实施例的一种用于检测信号传播类型的装置，包括：计算模块，用于当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应的相似程度，所述多个参考脉冲响应是以前所述某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自所述至少一个定位标签的脉冲响应；以及，确定模块，用于基于所述多个相似性值，确定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型。
按照本发明的实施例的一种计算设备，包括：处理器；以及，存储器，其存储有可执行指令，所述可执行指令当被执行时使得所述处理器执行前述方法所包括的操作。
按照本发明的实施例的一种机器可读存储介质，其上具有可执行指令，当所述可执行指令被执行时，使得机器执行前述方法所包括的操作。
本发明的实施例的方案利用UWB定位系统的定位基站当前接收的来自定位标签的一个脉冲响应和以前该定位基站在某种信号传播类型下接收的来自至少一个定位标签的多个参考脉冲响应，来确定当前在该定位基站与该定位标签之间的信号传播类型，从而本发明的实施例的方案能够检测UWB定位系统的定位基站与定位标签之间的信号传播类型。
附图说明
本发明的其它特征、特点、益处和优点通过以下结合附图的详细描述将变得更加显而易见。其中：
图1示出了按照本发明的一个实施例的用于检测信号传播类型的方法的总体流程图；
图2示出了按照本发明的一个实施例的用于检测信号传播类型的方法的流程图；
图3示出了按照本发明的一个实施例的用于检测信号传播类型的装置的示意图；以及
图4示出了按照本发明的一个实施例的计算设备的示意图。
具体实施方式
下面将参考附图详细描述本发明的各个实施例。
图1示出了按照本发明的一个实施例的用于检测信号传播类型的方法的总体流程图。图1所示的方法100可以由任何具有计算能力的计算设备来实现，该计算设备可以是但不局限于台式计算机、笔记本电脑、平板电脑或服务器等。
如图1所示，在方框102，UWB定位系统中的某一定位基站Bi当前接收来自某一定位标签Ti的一个脉冲响应IN。
在方框106，根据当前接收的脉冲响应IN和定位基站Bi的该多个参考脉冲响应MR，计算多个相似性值，其中，每一个相似性值指示脉冲响应IN与该多个参考脉冲响应MR的其中一个参考脉冲响应的相似程度。
定位基站Bi的该多个参考脉冲响应MR是以前定位基站Pi在其与至少一个定位标签之间的信号传播类型是特定信号传播类型S的情况下接收的来自该至少一个定位标签的脉冲响应。特定信号传播类型S可以是视距传播或非视距传播。
在一个方面，在将脉冲响应IN和定位基站Bi的该多个参考脉冲响应MR都视为概率密度函数的情况下，计算该多个相似性值。在这种情形下，可以利用例如但不局限于KS-检验(Kolmogorov-Smirnov test)、卡方检验(Chi-Squared Test)、G检验(G-test)、费舍尔精确 检验(Fisher′s exact test)、二项检验(binomial test)或者精确(显著性)检验(exact(significance)test)等的算法，来计算脉冲响应IN与定位基站Bi的该多个参考脉冲响应MR的每一个参考脉冲响应的相似程度，从而计算得到该多个相似性值。或者，可以计算脉冲响应IN与定位基站Bi的该多个参考脉冲响应MR的任一参考脉冲响应之间的累积分布函数的最大距离，作为脉冲响应IN与该任一参考脉冲响应的相似程度，从而计算得到该多个相似性值。
在另一个方面，在将脉冲响应IN和定位基站Bi的该多个参考脉冲响应MR都视为轨迹的情况下，计算该多个相似性值。在这种情形下，可以计算脉冲响应IN与定位基站Bi的该多个参考脉冲响应MR中的任意一个参考脉冲响应的欧式距离(Euclidean distance)、动态时间规整(dynamic time warping)、最长公共子序列(longest common sub-sequence)、编辑距离(edit distance)、切比雪夫距离(Chebyshev distance)、曼哈顿距离(Manhattan distance)、豪斯多夫距离(hausdorff distance)、弗雷歇距离(frechet distance)、单向距离(one way distance)、余弦相似度(cosine similarity)、折线之间的局部性(locality in-between)、多线或线索感知轨迹相似(polylines or clue-aware trajectory similarity)或者相关系数值(例如，均方根、方差等)，作为脉冲响应IN与该任意一个参考脉冲响应的相似程度，从而计算得到该多个相似性值。
在方框110，利用所计算的该多个相似性值，确定当前定位基站Bi与定位标签Ti之间的信号传播类型。例如但不局限于，如果该多个相似性值中至少一半的相似性值大于第一阈值，则判定当前定位基站Bi与定位标签Ti之间的信号传播类型是该特定信号传播类型S，否则判定当前定位基站Bi与定位标签Ti之间的信号传播类型是视距传播和非视距传播中的与该特定信号传播类型S不同的另一类型。又例如但不局限于，计算该多个相似性值的平均值，如果该平均值大于第二阈值，则判定当前定位基站Bi与定位标签Ti之间的信号传播类型是该特定信号传播类型S，否则判定当前定位基站Bi与定位标签Ti之间的信号传播类型是视距传播和非视距传播中的与该特定信号 传播类型S不同的另一类型。
本实施例的方案利用UWB定位系统的定位基站当前接收的来自定位标签的一个脉冲响应和以前该定位基站在某种信号传播类型下接收的来自至少一个定位标签的多个参考脉冲响应，来确定当前在该定位基站与该定位标签之间的信号传播类型，从而本实施例的方案能够检测UWB定位系统的定位基站与定位标签之间的信号传播类型。
其它变型
本领域技术人员将理解，虽然在上面的实施例中，在将脉冲响应IN和定位基站Bi的该多个参考脉冲响应MR都视为概率密度函数或轨迹的情况下来计算相似性值，然而，本发明并不局限于此。在本发明的其它一些实施例中，也可以通过其它任何的方法利用脉冲响应IN和定位基站Bi的该多个参考脉冲响应MR来计算相似度值。
图2示出了按照本发明的一个实施例的用于检测信号传播类型的方法的流程图。如图2所示的方法200可以由任何具有计算能力的计算设备来实现，该计算设备可以是但不局限于台式计算机、笔记本电脑、平板电脑或服务器等。
如图2所示，方法200可以包括，在方框202，当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应的相似程度，所述多个参考脉冲响应是以前所述某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自所述至少一个定位标签的脉冲响应。
方法200还可以包括，在方框204，基于所述多个相似性值，确定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型。
在一个方面，所述多个相似性值是在将所述当前接收的脉冲响应 和所述多个参考脉冲响应都视为概率密度函数的情况下计算的。
在另一个方面，所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为轨迹的情况下计算的。
在又一个方面，所述特定信号传播类型是视距传播和非视距传播的其中一种，以及，方框204包括：如果所述多个相似性值中至少一半的相似性值大于第一阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型；或者，如果所述多个相似性值的平均值大于第二阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型。
图3示出了按照本发明的一个实施例的用于检测信号传播类型的装置的示意图。图3所示的装置300可以利用软件、硬件或软硬件结合的方式来执行。图3所示的装置300例如可以安装在任何合适的具有计算能力的计算设备中。
如图3所示，装置300可以包括计算模块302和确定模块304。计算模块302用于当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应的相似程度，所述多个参考脉冲响应是以前所述某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自所述至少一个定位标签的脉冲响应。确定模块304用于基于所述多个相似性值，确定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型。
在一个方面，所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为概率密度函数的情况下计算的。
在另一个方面，所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为轨迹的情况下计算的。
在又一个方面，所述特定信号传播类型是视距传播和非视距传播的其中一种，以及，确定模块304包括：用于如果所述多个相似性值中至少一半的相似性值大于第一阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型的模块；或者，用于如果所述多个相似性值的平均值大于第二阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型的模块。
图4示出了按照本发明的一个实施例的计算设备的示意图。如图4所示，计算设备400可以包括处理器402和与处理器402耦合的存储器404。其中，存储器404存储有可执行指令，所述可执行指令当被执行时使得处理器402执行方法100或200。
本发明实施例还提供一种机器可读存储介质，其上具有可执行指令，当所述可执行指令被执行时，使得机器执行方法100或200。
本领域技术人员应当理解，上面所公开的各个实施例可以在不偏离发明实质的情况下做出各种变形、修改和改变，这些变形、修改和改变都应当落入在本发明的保护范围之内。因此，本发明的保护范围由所附的权利要求书来限定。

Claims (10)

  1. 一种用于检测信号传播类型的方法，包括：
    当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应的相似程度，所述多个参考脉冲响应是以前所述某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自所述至少一个定位标签的脉冲响应；以及
    基于所述多个相似性值，确定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型。
  2. 如权利要求1所述的方法，其中，
    所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为概率密度函数的情况下计算的。
  3. 如权利要求1所述的方法，其中，
    所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为轨迹的情况下计算的。
  4. 如权利要求1-3中的任意一项所述的方法，其中，
    所述特定信号传播类型是视距传播和非视距传播的其中一种，以及
    确定当前在所述某一定位基站与所述某一定位标签之间的信号传播的类型包括：
    如果所述多个相似性值中至少一半的相似性值大于第一阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型；或者
    如果所述多个相似性值的平均值大于第二阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型。
  5. 一种用于检测信号传播类型的装置，包括：
    计算模块，用于当超宽带定位系统的某一定位基站当前接收到来自某一定位标签的一个脉冲响应时，计算多个相似性值，其中，每一个相似性值表示当前接收的脉冲响应与多个参考脉冲响应的其中一个参考脉冲响应的相似程度，所述多个参考脉冲响应是以前所述某一定位基站在其与至少一个定位标签之间的信号传播类型是特定信号传播类型的情况下接收的来自所述至少一个定位标签的脉冲响应；以及
    确定模块，用于基于所述多个相似性值，确定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型。
  6. 如权利要求5所述的装置，其中，
    所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为概率密度函数的情况下计算的。
  7. 如权利要求5所述的装置，其中，
    所述多个相似性值是在将所述当前接收的脉冲响应和所述多个参考脉冲响应都视为轨迹的情况下计算的。
  8. 如权利要求5-7中的任意一项所述的装置，其中，
    所述特定信号传播类型是视距传播和非视距传播的其中一种，以及
    所述确定模块包括：
    用于如果所述多个相似性值中至少一半的相似性值大于第一阈 值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型的模块；或者
    用于如果所述多个相似性值的平均值大于第二阈值，则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述特定信号传播类型，否则判定当前在所述某一定位基站与所述某一定位标签之间的信号传播类型是所述视距传播和所述非视距传播中的与所述特定信号传播类型不同的另一种类型的模块。
  9. 一种计算设备，包括：
    处理器；以及
    存储器，其存储有可执行指令，所述可执行指令当被执行时使得所述处理器执行权利要求1-4中的任意一个所述的方法。
  10. 一种机器可读存储介质，其上具有可执行指令，当所述可执行指令被执行时，使得机器执行权利要求1-4中的任意一个所述的方法。
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EP3845920A4 (en) 2022-03-23

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