WO2023029163A1

WO2023029163A1 - Full spatial positioning method, apparatus, device and computer-readable storage medium

Info

Publication number: WO2023029163A1
Application number: PCT/CN2021/125090
Authority: WO
Inventors: 阳堃; 朱伏生; 李永军; 周晨虹; 胡晶晶
Original assignee: 广东省新一代通信与网络创新研究院
Priority date: 2021-09-02
Filing date: 2021-10-20
Publication date: 2023-03-09
Also published as: CN113447887B; CN113447887A

Abstract

A full spatial positioning method, an apparatus, a device and a computer-readable storage medium, the method comprising: when a response signal of a mobile device is received through a three-dimensional antenna array, storing the response signal as a response signal matrix set (S10); determining a feature vector set in accordance with the response signal matrix set, and determining a power value set of the response signal in accordance with the feature vector set and a preset steering vector set (S20); and, in accordance with the power value set, determining the azimuth angle of the mobile device so as to perform positioning on the mobile device (S30). In the method, a response signal received by a three-dimensional antenna array is stored as a response signal matrix set; and a feature vector set is determined in accordance with the response signal matrix set, and then a power value set is determined in accordance with the feature vector set and a preset steering vector set; and the azimuth angle of the mobile device is determined in accordance with the power value set so as to perform positioning on the mobile device, thereby expanding a positioning range and improving positioning accuracy.

Description

Full space positioning method, device, equipment and computer-readable storage medium

technical field

The present invention relates to the technical field of mobile communication, in particular to a method, device, equipment and computer-readable storage medium for all-space positioning.

Background technique

With the development of Massive MIMO technology (multiple antennas are used at both the transmitting end and the receiving end to form multiple channels between the transmitting and receiving ends), the development of the positioning method based on the angle of arrival has been promoted. The Massive MIMO antenna array used in the positioning method is a two-dimensional planar array. During the positioning process, the positioning range is narrow and the positioning accuracy is not high. Therefore, how to expand the positioning range and improve the positioning accuracy is an urgent problem to be solved.

Contents of the invention

The main purpose of the present invention is to provide a full-space positioning method, device, equipment and computer-readable storage medium, aiming to solve the problem of how to expand the positioning range and improve the positioning accuracy.

In order to achieve the above object, the present invention provides a full space positioning method, the full space positioning method includes the following steps:

When the response signal of the mobile device is received through the three-dimensional antenna array, the response signal is stored as a set of response signal matrices;

Determine a set of eigenvectors according to the set of response signal matrices, and determine a set of power values of the response signal according to the set of eigenvectors and the set of preset steering vectors;

Determine the azimuth where the mobile device is located according to the set of power values, so as to locate the mobile device.

Preferably, the response signal matrix set includes a horizontal-dimensional response signal matrix set and a vertical-dimensional response signal matrix set, and when a response signal from a mobile device carried by a user is received through a three-dimensional antenna array, the response signal is stored as a response signal The steps for matrix assembly include:

When the response signal of the mobile device carried by the user is received through the three-dimensional antenna array, according to the distribution of antenna elements in the three-dimensional antenna array, the response signal is stored as a horizontal dimension response signal matrix set and a vertical dimension A set of response signal matrices, and storing the set of horizontal-dimensional response signal matrices and the set of vertical-dimensional response signal matrices as the set of response signal matrices.

Preferably, according to the distribution of antenna elements in the three-dimensional antenna array, the step of storing the response signal as a set of horizontal-dimensional response signal matrices and a vertical-dimensional response signal matrix set includes:

According to the distribution of antenna elements in the three-dimensional antenna array, the response signals received by the antenna elements distributed in the same row are stored in the same horizontal dimension response signal matrix, and the response signals distributed in two adjacent rows are stored in the same horizontal dimension response signal matrix. The response signals received by the antenna elements in the same row and in the same column are stored in the same vertical dimension response signal matrix;

All horizontal dimension response signal matrices are stored as the horizontal dimension response signal matrix set, and all vertical dimension response signal matrices are stored as the vertical dimension response signal matrix set.

Preferably, the eigenvector set includes a horizontal eigenvector and a vertical eigenvector set, and the step of determining the eigenvector set according to the response signal matrix set includes:

Calculate the horizontal dimension covariance matrix of each horizontal dimension response signal matrix in the response signal matrix set, and calculate the vertical dimension covariance matrix of each vertical dimension response signal matrix in the response signal matrix set;

Accumulate all the horizontal dimension covariance matrices, and perform singular value decomposition, determine the horizontal eigenvector, accumulate all the vertical dimension covariance matrices corresponding to the antenna elements in two adjacent rows, and perform singular value Decompose to determine the set of vertical eigenvectors.

Preferably, the preset steering vector set includes a horizontal steering vector and a vertical steering vector, and the step of determining the power value set of the response signal according to the feature vector set and the preset steering vector set includes:

performing correlation calculations on the horizontal eigenvectors in the set of eigenvectors and the horizontal steering vectors in the set of preset steering vectors to determine a set of horizontal power values;

performing correlation calculations on the vertical eigenvector set in the eigenvector set and the vertical steering vector in the preset steering vector set to determine a vertical power value set;

Determine a power value set of the response signal according to the horizontal power value set and the vertical power value set.

Preferably, according to the set of power values, the step of determining the azimuth of the mobile device includes:

determining the largest horizontal power value in the horizontal power value set in the power value set of the response signal, determining the largest vertical power value in the vertical power value set in the power value set of the response signal, and according to the largest The horizontal power value and the maximum vertical power value are used to calculate the azimuth where the mobile device is located.

Preferably, the step of locating the mobile device includes:

According to the azimuth angle of the mobile device, the corresponding position coordinates of the mobile device are determined, so as to complete the positioning of the mobile device.

In addition, in order to achieve the above purpose, the present invention also provides an all-space positioning device, which includes:

A storage module, configured to store the response signal as a set of response signal matrices when the response signal of the mobile device is received through the three-dimensional antenna array;

A determining module, configured to determine a set of eigenvectors according to the set of response signal matrices, and determine a set of power values of the response signal according to the set of eigenvectors and the set of preset steering vectors;

A positioning module, configured to determine the azimuth of the mobile device according to the set of power values, so as to locate the mobile device.

Preferably, the storage module is also used for:

Preferably, the determination module is also used for:

Preferably, the positioning module is also used for:

determining the largest horizontal power value in the horizontal power value set in the power value set of the response signal, determining the largest vertical power value in the vertical power value set in the power value set of the response signal, and according to the largest The horizontal power value and the maximum vertical power value are used to calculate the azimuth angle of the mobile device.

Preferably, the positioning module is also used for:

In addition, in order to achieve the above object, the present invention also provides a full-space positioning device, which includes: a memory, a processor, and a full-space positioning system stored in the memory and operable on the processor. A program, when the full-space positioning program is executed by the processor, implements the steps of the above-mentioned full-space positioning method.

In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium, on which a full-space positioning program is stored, and when the full-space positioning program is executed by a processor, the above-mentioned Steps of the full spatial localization method.

The full-space positioning method proposed by the present invention stores the response signal as a response signal matrix set when receiving the response signal of the mobile device through the three-dimensional antenna array; determines the feature vector set according to the response signal matrix set, and determines the The set of steering vectors is preset to determine the set of power values of the response signal; according to the set of power values, the azimuth of the mobile device is determined to locate the mobile device. The present invention stores the response signals received by the three-dimensional antenna array as a response signal matrix set, and determines the feature vector set according to the response signal matrix set, and then determines the power value set according to the feature vector set and the preset steering vector set, and according to the power value The azimuth angle of the mobile device is determined by the collection, so as to locate the mobile device, which expands the positioning range and improves the positioning accuracy.

Description of drawings

Fig. 1 is a schematic diagram of the device structure of the hardware operating environment involved in the solution of the embodiment of the present invention;

Fig. 2 is a schematic flow chart of the first embodiment of the full space positioning method of the present invention;

Fig. 3 is a side view of a three-dimensional antenna array with 4 rows and 8 columns;

Figure 4 is a top view of a three-dimensional antenna array with 4 rows and 8 columns;

Fig. 5 is a schematic diagram of joint angle measurement range distribution of a 4-row and 8-column three-dimensional antenna array.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of the equipment structure of the hardware operating environment involved in the solution of the embodiment of the present invention.

The device in this embodiment of the present invention may be a PC or a server device.

As shown in FIG. 1 , the device may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the device structure shown in FIG. 1 does not constitute a limitation to the device, and may include more or less components than shown in the figure, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a full-space positioning program.

Among them, the operating system is a program that manages and controls portable full-space positioning equipment and software resources, and supports the operation of network communication modules, user interface modules, full-space positioning programs, and other programs or software; the network communication module is used to manage and control network interfaces 1004 : the user interface module is used to manage and control the user interface 1003 .

In the full-space positioning device shown in FIG. 1, the full-space positioning device invokes the full-space positioning program stored in the memory 1005 through the processor 1001, and executes operations in various embodiments of the following full-space positioning method.

Based on the above hardware structure, an embodiment of the full-space positioning method of the present invention is proposed.

Referring to FIG. 2, FIG. 2 is a schematic flow chart of the first embodiment of the full-space positioning method of the present invention, and the method includes:

Step S10, when receiving the response signal of the mobile device through the three-dimensional antenna array, storing the response signal as a set of response signal matrices;

Step S20, determining a set of eigenvectors according to the set of response signal matrices, and determining a set of power values of the response signal according to the set of eigenvectors and the set of preset steering vectors;

Step S30, according to the set of power values, determine the azimuth where the mobile device is located, so as to locate the mobile device.

The full-space positioning method of this embodiment is applied to the full-space positioning equipment. The full-space positioning equipment can be a terminal or a PC device. For the convenience of description, the full-space positioning equipment is used as an example for description. , the base station includes a three-dimensional antenna array; when the all-space positioning device receives the response signal of the mobile device carried by the user through the three-dimensional antenna array in the base station, it stores the response signal as a response signal matrix set, and according to the response signal matrix set, determines A set of eigenvectors, and according to the set of eigenvectors and the set of preset steering vectors, determine the power value set of the response signal, and determine the azimuth angle of the mobile device according to the set of power values, so as to locate the mobile device and then locate the user ; It should be noted that the three-dimensional antenna array is a Massive MIMO three-dimensional antenna array, that is, a three-dimensional antenna array composed of multiple antenna elements. The three-dimensional antenna array has a variety of three-dimensional architectures. The specific three-dimensional architecture is formulated by relevant R&D personnel according to specific needs. In this embodiment, a three-dimensional antenna array with 4 rows and 8 columns is used as an example for illustration. Referring to FIG. 3 and FIG. 4, the antenna elements of the first row and the antenna elements of the fourth row in the three-dimensional antenna array of 4 rows and 8 columns are located on the same plane , the antenna elements in the second row and the antenna elements in the third row are located in the same plane, and the antenna elements in the first row and the antenna elements in the fourth row are located in the plane where the antenna elements in the second row and the antenna elements in the third row are located After the plane, the three-dimensional antenna array with 4 rows and 8 columns has a total of 32 antenna elements, which are numbered Ant0 to Ant31 respectively; the preset steering vector set is set by the relevant R&D personnel according to the specific three-dimensional structure of the three-dimensional antenna array , including the horizontal steering vector and the vertical steering vector; the power value set includes the power values of the response signals of different phases received by the three-dimensional antenna array.

In the full space positioning method of this embodiment, when the response signal of the mobile device is received through the three-dimensional antenna array, the response signal is stored as a response signal matrix set; according to the response signal matrix set, the eigenvector set is determined, and according to the eigenvector set and The set of steering vectors is preset to determine the set of power values of the response signal; according to the set of power values, the azimuth of the mobile device is determined to locate the mobile device. The present invention stores the response signals received by the three-dimensional antenna array as a response signal matrix set, and determines the feature vector set according to the response signal matrix set, and then determines the power value set according to the feature vector set and the preset steering vector set, and according to the power value The azimuth angle of the mobile device is determined by the collection, so as to locate the mobile device, which expands the positioning range and improves the positioning accuracy.

Each step will be described in detail below:

In this embodiment, when the full-space positioning device receives the response signal from the mobile device carried by the user through the three-dimensional antenna array in the base station, it stores the response signal as a set of response signal matrices, such as: a three-dimensional antenna with 4 rows and 8 columns The response signals received by each row of antenna elements in the array are respectively stored as four response signal matrices H_row1, H_row2, H_row3, and H_row4, and the antenna elements in the first row and the second row of antenna elements in the same column The received response signals are respectively stored as V_column1_12, V_column2_12, V_column3_12, V_column4_12, V_column5_12, V_column6_12, V_column7_12, V_column8_12 eight response signal matrices, and the second row of antenna elements and the third row of antenna elements in the same column of the antenna array The response signals received by the elements are respectively stored as V_column1_23, V_column2_23, V_column3_23, V_column4_23, V_column5_23, V_column6_23, V_column7_23, V_column8_23 eight response signal matrices, and the antenna array elements in the third row and the antenna array elements in the fourth row are located in the same column The response signals received by the array elements are respectively stored as V_column1_34, V_column2_34, V_column3_34, V_column4_34, V_column5_34, V_column6_34, V_column7_34, V_column8_34 eight response signal matrices, and all the above response signal matrices are stored as a set of response signal matrices; where Row1, Row2, Row3 and Row4 respectively represent the first row of antenna elements, the second row of antenna elements, the third row of antenna elements and the fourth row of antenna elements.

Specifically, step S10 also includes:

Step a, when the response signal of the mobile device carried by the user is received through the three-dimensional antenna array, according to the distribution of antenna elements in the three-dimensional antenna array, the response signal is stored as a horizontal dimension response signal matrix set and a vertical dimension response signal matrix set, and storing the horizontal dimension response signal matrix set and the vertical dimension response signal matrix set as the response signal matrix set.

In this step, when the full-space positioning device receives the response signal from the mobile device carried by the user through the three-dimensional antenna array, according to the distribution of the antenna elements in the three-dimensional antenna array, the response signal is stored as a horizontal dimension response signal matrix set and the vertical dimension response signal matrix set, and store the horizontal dimension response signal matrix set and the vertical dimension response signal matrix set as the response signal matrix set, such as: if the three-dimensional antenna array designed by the relevant research and development personnel is 4 rows and 8 columns, then The response signals received by each row of antenna elements in the 4-row and 8-column three-dimensional antenna array are stored as four horizontal-dimensional response signal matrices, and the four horizontal-dimensional response signal matrices are stored as a set of horizontal-dimensional response signal matrices. The response signals received by antenna elements in the same column in one row of antenna elements and the second row of antenna elements are respectively stored as eight vertical dimension response signal matrices, and the second row of antenna elements and the third row of antenna elements The response signals received by the antenna elements located in the same column in , respectively, are stored as eight vertical dimension response signal matrices, and the responses received by the antenna elements located in the same column in the third row and the fourth row of antenna elements The signals are respectively stored as eight vertical dimension response signal matrices, the above-mentioned 24 vertical dimension response signal matrices are stored as a vertical dimension response matrix set, and the horizontal dimension response signal matrix set and the vertical dimension response signal matrix set are stored as a response signal matrix set; If the three-dimensional antenna array designed by the relevant R&D personnel has 3 rows and 7 columns, the response signal received by each row of antenna elements in the 3-row and 7-column three-dimensional antenna array is stored as a horizontal-dimensional response signal matrix, and the three horizontal-dimensional The response signal matrix is stored as a set of horizontal-dimensional response signal matrices, and the response signals received by the antenna elements in the same column in the first row of antenna elements and the second row of antenna elements are respectively stored as seven vertical-dimensional response signal matrices, The response signals received by the antenna elements in the same column in the second row of antenna elements and the third row of antenna elements are stored as seven vertical response signal matrices, and the above 14 vertical dimension response signal matrices are stored as vertical dimension For the response matrix set, the horizontal dimension response signal matrix set and the vertical dimension response signal matrix set are stored as a response signal matrix set; other three-dimensional antenna arrays with different three-dimensional structures are also obtained according to the above method.

Step b, according to the distribution of the antenna elements in the three-dimensional antenna array, the response signals received by the antenna elements distributed in the same row are stored in the same horizontal dimension response signal matrix, and the distributed The response signals received by the antenna elements in two adjacent rows and in the same column are stored in the same vertical dimension response signal matrix;

In this step, the full-space positioning device stores the response signals received by the antenna elements distributed in the same row in the same horizontal dimension response signal matrix according to the distribution of the antenna elements in the three-dimensional antenna array, and The response signals received by the antenna elements distributed in two adjacent rows and located in the same column are stored in the same vertical dimension response signal matrix, such as: for a three-dimensional antenna array with 4 rows and 8 columns, the full space positioning device will each The response signals received by a row of antenna elements are stored as a horizontal dimension response signal matrix, and four rows of antenna elements obtain a total of four horizontal dimension response signal matrices. The first row of antenna elements and the second row of antenna elements are located in the same The response signals received by the antenna elements in the second row and the antenna elements in the third row are stored as the same vertical dimension response signal matrix, and the response signals received by the antenna elements in the same column in the second row and the third row are stored as the same A vertical-dimensional response signal matrix, the response signals received by the antenna elements in the same column in the third row and the fourth row of antenna elements are stored as the same vertical-dimensional response signal matrix, and a total of 24 vertical-dimensional response signals are obtained Response signal matrix;

Step c, storing all horizontal dimension response signal matrices as the horizontal dimension response signal matrix set, and storing all vertical dimension response signal matrices as the vertical dimension response signal matrix set.

In this step, the full-space positioning device stores all horizontal-dimensional response signal matrices as a horizontal-dimensional response signal matrix set, and stores all vertical-dimensional response signal matrices as a vertical-dimensional response signal matrix set. For example, for a three-dimensional antenna array with 4 rows and 8 columns, the full-space positioning device stores the obtained four horizontal-dimensional response signal matrices as a set of horizontal-dimensional response signal matrices, and stores 24 vertical-dimensional response signal matrices as a vertical-dimensional response signal matrix gather.

In this embodiment, the full-space positioning device performs covariance calculation on the horizontal dimension response signal matrix and the vertical dimension response signal matrix in the obtained response signal matrix set to obtain the horizontal dimension covariance matrix and the vertical dimension covariance matrix. Singular value decomposition is performed on all horizontal dimension covariance matrices and all vertical dimension covariance matrices to obtain horizontal eigenvectors and vertical eigenvector sets, and store the horizontal eigenvectors and vertical eigenvector sets as eigenvector sets. The eigenvector, the set of vertical eigenvectors and the set of preset steering vectors determine the set of power values of the response signal.

Specifically, step S20 also includes:

Step d, calculating the horizontal dimension covariance matrix of each horizontal dimension response signal matrix in the response signal matrix set, and calculating the vertical dimension covariance matrix of each vertical dimension response signal matrix in the response signal matrix set;

In this step, the omnidirectional positioning device calculates the horizontal dimension covariance matrix of each horizontal dimension response signal matrix in the response signal matrix set, and calculates the vertical dimension covariance matrix of each vertical dimension response signal matrix in the response signal matrix set Matrix, such as: if the three-dimensional antenna array designed by the relevant R&D personnel has 4 rows and 8 columns, the omnidirectional positioning equipment performs covariance calculation on the four horizontal dimension response signal matrices in the response signal matrix set, and obtains R_row1, R_row2, R_row3, R_row4四个水平维协方差矩阵，对响应信号矩阵集合中的24个垂直维响应信号矩阵进行协方差计算得到R_column1_12、R_column2_12、R_column3_12、R_column4_12、R_column5_12、R_column6_12、R_column7_12、R_column8_12、R_column1_23、R_column2_23、R_column3_23、R_column4_23 , R_column5_23, R_column6_23, R_column7_23, R_column8_23, R_column1_34, R_column2_34, R_column3_34, R_column4_34, R_column5_34, R_column6_34, R_column7_34, R_column8_34, 24 vertical covariance matrices.

Step e, accumulating all the covariance matrices in the horizontal dimension, performing singular value decomposition, determining the horizontal eigenvector, accumulating all the covariance matrices in the vertical dimension corresponding to the antenna elements in two adjacent rows, and Perform singular value decomposition to determine the set of vertical eigenvectors.

In this step, the full-space positioning device accumulates all horizontal-dimensional covariance matrices, performs singular value decomposition, determines the horizontal eigenvector, accumulates all vertical-dimensional covariance matrices corresponding to two adjacent rows of antenna elements, and Perform singular value decomposition to determine the set of vertical eigenvectors. For example, if the three-dimensional antenna array designed by the relevant R&D personnel has 4 rows and 8 columns, the four horizontal dimension covariance matrices of R_row1, R_row2, R_row3, and R_row4 obtained by the omnidirectional positioning equipment are accumulated. , to obtain the total horizontal dimension covariance matrix R_row, and perform singular value decomposition on R_row, determine the horizontal eigenvector V0, and combine R_column1_12, R_column2_12, R_column3_12, R_column4_12, R_column5_12 corresponding to the first row of antenna elements and the second row of antenna elements , R_column6_12, R_column7_12, and R_column8_12 eight vertical dimension covariance matrices are accumulated to obtain the total vertical dimension covariance matrix R_column_12 of the first row of antenna elements and the second row of antenna elements, and the second row of antenna elements and the third row of antenna elements The eight vertical dimension covariance matrices of R_column1_23, R_column2_23, R_column3_23, R_column4_23, R_column5_23, R_column6_23, R_column7_23, R_column8_23 corresponding to the antenna elements are accumulated to obtain the total vertical dimension covariance of the first row of antenna elements and the second row of antenna elements Matrix R_column_23, the eight vertical dimension covariance matrices of R_column1_34, R_column2_34, R_column3_34, R_column4_34, R_column5_34, R_column6_34, R_column7_34, R_column8_34 corresponding to the first row of antenna elements and the second row of antenna elements are accumulated to obtain the first row of antenna arrays The total vertical dimensional covariance matrix R_column_34 of the antenna element and the second row of antenna elements, respectively perform singular value decomposition on R_column_12, R_column_23 and R_column_34, and obtain the vertical eigenvectors V1, V2 and V3 respectively, and then determine the set of vertical eigenvectors; where Row1, Row2, Row3, and Row4 respectively represent the first row of antenna elements, the second row of antenna elements, the third row of antenna elements, and the fourth row of antenna elements.

Step f, performing correlation calculations on the horizontal eigenvectors in the set of eigenvectors and the horizontal steering vectors in the set of preset steering vectors to determine a set of horizontal power values;

In this step, the omnidirectional positioning device performs correlation calculations on the horizontal eigenvectors in the eigenvector set and the horizontal steering vectors in the preset steering vector set to determine the horizontal power value set; such as: the horizontal steering vector is Vh=[vh1, ...,vh8], the phase of the horizontal steering vector Vh changes through time, which can be used to characterize the angular direction of the three-dimensional antenna array from 0 degrees to 180 degrees in the horizontal dimension, and then combine the horizontal steering vector Vh with the horizontal characteristic The vector V0 is correlated to obtain the horizontal power values of the response signals in each angular direction, and obtain a set of horizontal power values.

Step g, performing correlation calculation on the vertical eigenvector set in the eigenvector set and the vertical steering vector in the preset steering vector set to determine the vertical power value set;

In this step, the omnidirectional positioning device performs correlation calculations on the vertical eigenvector set in the eigenvector set and the vertical steering vector in the preset steering vector set to determine the vertical power value set; such as: the vertical steering vector is Vv=[vv1 ,vv2], the phase of the vertical steering vector Vh changes through time, which can be used to characterize the angular direction of the three-dimensional antenna array from 0 degrees to 180 degrees in the vertical dimension, and then the vertical steering vector Vv and the vertical eigenvector V1, V2, and V3 are correlated, and the vertical power values of the response signals in each angle direction are respectively obtained, and a set of vertical power values is obtained.

Step h, determining a power value set of the response signal according to the horizontal power value set and the vertical power value set.

In this step, the omnidirectional positioning device determines the power value set of the response signal according to the horizontal power value set and the vertical power value set.

In this embodiment, the full-space positioning device determines the azimuth of the mobile device according to the maximum horizontal power value in the horizontal power value set and the maximum vertical power value in the vertical power value set in the power value set, so as to determine the azimuth of the mobile device. device positioning;

Specifically, step S30 also includes:

Step i, determining the largest horizontal power value in the horizontal power value set in the power value set of the response signal, determining the largest vertical power value in the vertical power value set in the power value set of the response signal, and according to the The maximum horizontal power value and the maximum vertical power value are used to calculate the azimuth where the mobile device is located.

In this step, the full-space positioning device compares all horizontal power values in the horizontal power value set in the power value set of the response signal to determine the maximum horizontal power value, and compares the vertical power value set in the power value set of the response signal Compare all vertical power values in , determine the maximum vertical power value, and determine the incident angle of the response signal when the three-dimensional antenna array receives the response signal according to the maximum horizontal power value and maximum vertical power value, so as to determine the orientation of the mobile device It should be noted that at least two full-space positioning devices are required to determine the azimuth of the mobile device. Each full-space positioning device is installed in a different position, and the full-space positioning devices at different positions determine the incidence of the response signal. The angles are different, and by combining at least two different angles of incidence, the azimuth of the user can be determined.

Step j: Determine the corresponding position coordinates of the mobile device according to the azimuth of the mobile device, so as to complete the positioning of the mobile device.

In this step, the full-space positioning device determines the corresponding location coordinates of the mobile device according to the azimuth of the mobile device, so as to complete the positioning of the mobile device; The specific location of the spatial positioning device and the electronic map determine the specific location coordinates of the mobile device to complete the positioning of the mobile device, and then determine the specific location of the user carrying the mobile device.

When the full-spatial positioning device of this embodiment receives the response signal from the mobile device carried by the user through the three-dimensional antenna array in the base station, it stores the response signal as a set of response signal matrices, and determines the characteristic according to the set of response signal matrices. Vector set, and according to the feature vector set and the preset steering vector set, determine the power value set of the response signal, and determine the azimuth angle of the mobile device according to the power value set, so as to locate the mobile device, and then complete the mobile device carrying the mobile device The user's positioning, thereby expanding the positioning range and improving the positioning accuracy.

Referring to Figure 3 and Figure 4, Figure 3 is a side view of a three-dimensional antenna array with 4 rows and 8 columns, and Figure 4 is a top view of a three-dimensional antenna array with 4 rows and 8 columns; as shown in Figure 3, the first three-dimensional antenna array with 4 rows and 8 columns One row of antenna elements and the fourth row of antenna elements are located on the same plane, the second row of antenna elements and the third row of antenna elements in the 4-row and 8-column three-dimensional antenna array are located on the same plane, and the first row of antenna elements and the The plane where the antenna elements in the fourth row are located behind the planes where the antenna elements in the second row and the antenna elements in the third row are located; as shown in Figure 4, the first to eighth array elements in each row of antenna elements They are all located on the same plane, and it can be imagined in combination with Figure 3 and Figure 4 that in the front view of a 4-row and 8-column three-dimensional antenna array, the first antenna element in each row of antenna elements is located in the same column, and the first antenna element in each row of antenna elements The second antenna element is also located in the same column, and so on. It should be noted that the three-dimensional antenna array with 4 rows and 8 columns is only one of various three-dimensional antenna arrays, and the three-dimensional antenna array can be composed of various structures, such as 3 rows and 7 columns, 5 rows and 9 columns, 10 rows and 10 columns, etc. Taking the 4-row and 8-column three-dimensional antenna array as an example, it is also possible to design that the first row of antenna elements and the second row of antenna elements are located on the same plane, and the third row of antenna elements and the fourth row of antenna elements are located on the same plane according to the actual situation. The plane, that is, the antenna elements of any row in the three-dimensional antenna array can be located on the same plane, as long as not all the antenna elements of the row are located on the same plane.

Referring to Figure 5, Figure 5 is a schematic diagram of the joint angle measurement range distribution of a 4-row and 8-column three-dimensional antenna array. The first and third dashed lines from top to bottom represent the first row of antenna elements and the second row of antenna elements The joint angle measurement range of , the two dotted lines and the fifth dotted line from top to bottom represent the joint angle measurement range of the second row of antenna elements and the third row of antenna elements, the fourth dotted line from top to bottom and the sixth dotted line The dotted line represents the joint angular measurement range of the antenna elements in the third row and the antenna elements in the fourth row. It should be noted that the joint angle measurement ranges corresponding to the three-dimensional antenna arrays with different architectures are different.

The invention also provides an all-space positioning device. The whole space positioning device of the present invention comprises:

Preferably, the storage module is also used for:

Preferably, the determination module is also used for:

Preferably, the positioning module is also used for:

The present invention also provides a computer-readable storage medium.

The computer-readable storage medium of the present invention stores a full-space positioning program, and when the full-space positioning program is executed by a processor, the steps of the above-mentioned full-space positioning method are realized.

For the method implemented when the full-space positioning program running on the processor is executed, reference may be made to various embodiments of the full-space positioning method of the present invention, which will not be repeated here.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article, or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims

A kind of whole-space positioning method, it is characterized in that, described full-space positioning method comprises the following steps:

When the response signal of the mobile device is received through the three-dimensional antenna array, the response signal is stored as a set of response signal matrices;

Determine a set of eigenvectors according to the set of response signal matrices, and determine a set of power values of the response signal according to the set of eigenvectors and the set of preset steering vectors;

Determine the azimuth where the mobile device is located according to the set of power values, so as to locate the mobile device.
The full-space positioning method according to claim 1, wherein the response signal matrix set includes a horizontal dimension response signal matrix set and a vertical dimension response signal matrix set, and the response of the mobile device is received through the three-dimensional antenna array. signal, the step of storing the response signal as a set of response signal matrices includes:

When receiving a response signal from a mobile device through the three-dimensional antenna array, store the response signal as a set of horizontal-dimensional response signal matrices and a vertical-dimensional response signal matrix according to the distribution of antenna elements in the three-dimensional antenna array set, and store the set of horizontal-dimensional response signal matrices and the set of vertical-dimensional response signal matrices as the set of response signal matrices.
The full-space positioning method according to claim 2, wherein, according to the distribution of antenna elements in the three-dimensional antenna array, the response signal is stored as a set of horizontal-dimensional response signal matrices and a vertical-dimensional response The steps for signal matrix assembly include:

According to the distribution of antenna elements in the three-dimensional antenna array, the response signals received by the antenna elements distributed in the same row are stored in the same horizontal dimension response signal matrix, and the response signals distributed in two adjacent rows are stored in the same horizontal dimension response signal matrix. The response signals received by the antenna elements in the same row and in the same column are stored in the same vertical dimension response signal matrix;

All horizontal dimension response signal matrices are stored as the horizontal dimension response signal matrix set, and all vertical dimension response signal matrices are stored as the vertical dimension response signal matrix set.
The full-space positioning method according to claim 3, wherein the set of feature vectors includes a set of horizontal feature vectors and a set of vertical feature vectors, and the step of determining the set of feature vectors according to the set of response signal matrices includes:

Calculate the horizontal dimension covariance matrix of each horizontal dimension response signal matrix in the response signal matrix set, and calculate the vertical dimension covariance matrix of each vertical dimension response signal matrix in the response signal matrix set;

Accumulate all the horizontal dimension covariance matrices, and perform singular value decomposition, determine the horizontal eigenvector, accumulate all the vertical dimension covariance matrices corresponding to the antenna elements in two adjacent rows, and perform singular value Decompose to determine the set of vertical eigenvectors.
The full-space positioning method according to claim 4, wherein the set of preset steering vectors includes a horizontal steering vector and a vertical steering vector, and according to the set of feature vectors and the set of preset steering vectors, the determined The step of said power value set of the response signal comprises:

performing correlation calculations on the horizontal eigenvectors in the set of eigenvectors and the horizontal steering vectors in the set of preset steering vectors to determine a set of horizontal power values;

performing correlation calculations on the vertical eigenvector set in the eigenvector set and the vertical steering vector in the preset steering vector set to determine a vertical power value set;

Determine a power value set of the response signal according to the horizontal power value set and the vertical power value set.
The full-space positioning method according to claim 5, wherein the step of determining the azimuth of the mobile device according to the set of power values comprises:

determining the largest horizontal power value in the horizontal power value set in the power value set of the response signal, determining the largest vertical power value in the vertical power value set in the power value set of the response signal, and according to the largest The horizontal power value and the maximum vertical power value are used to calculate the azimuth where the mobile device is located.
The full-space positioning method according to claim 6, wherein the step of positioning the mobile device comprises:

According to the azimuth angle of the mobile device, the corresponding position coordinates of the mobile device are determined, so as to complete the positioning of the mobile device.
An all-space positioning device, characterized in that the all-space positioning device comprises:

A storage module, configured to store the response signal as a set of response signal matrices when the response signal of the mobile device is received through the three-dimensional antenna array;

A determining module, configured to determine a set of eigenvectors according to the set of response signal matrices, and determine a set of power values of the response signal according to the set of eigenvectors and the set of preset steering vectors;

A positioning module, configured to determine the azimuth of the mobile device according to the set of power values, so as to locate the mobile device.
An all-space positioning device, characterized in that the full-space positioning device includes: a memory, a processor, and a full-space positioning program stored on the memory and operable on the processor, the full-space positioning When the program is executed by the processor, the steps of the full space positioning method according to any one of claims 1 to 7 are realized.
A computer-readable storage medium, characterized in that a full-space positioning program is stored on the computer-readable storage medium, and when the full-space positioning program is executed by a processor, it realizes any one of claims 1 to 7. The steps of the full space positioning method described above.