CN113286363B - Wireless positioning parameter estimation method and device, computer equipment and storage medium - Google Patents
Wireless positioning parameter estimation method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a wireless positioning parameter estimation method, a wireless positioning parameter estimation device, computer equipment and a storage medium. The method comprises the following steps: the method comprises the steps of carrying out channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter, carrying out time delay domain super-resolution spectrum estimation on the channel response parameter to obtain time delay domain super-resolution spectrum information, carrying out space spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-space spectrum information, and further obtaining a positioning parameter estimation value corresponding to each transmission path from the time delay domain super-resolution spectrum-space spectrum information. By adopting the method, the time delay domain super-resolution spectrum estimation can be carried out firstly, then the space spectrum estimation is carried out, the two-dimensional spectrum information is obtained in a cascading mode, and the estimated value of the positioning parameter is obtained.
Description
Technical Field
The present application relates to the field of wireless positioning technologies, and in particular, to a method and an apparatus for estimating wireless positioning parameters, a computer device, and a storage medium.
Background
With the rapid development of industrial internet, internet of things and internet of vehicles, high-precision positioning becomes an indispensable key support service for mobile terminals such as intelligent robots and unmanned vehicles. In order to provide better navigation positioning service in sheltered environment and indoor environment, commonly used positioning technologies include: cellular network positioning, wireless local area network positioning, Bluetooth positioning, ultra-wideband positioning and the like; most of these positioning technologies employ broadband transmission signals and array antennas. In the indoor positioning system, the size of the mobile terminal is limited, the antenna array aperture of the positioning base station is usually not too large, and the spatial resolution capability is limited. Therefore, how to improve the resolving power of the positioning system in a complex environment becomes a core problem of the positioning system in the complex environment.
In the conventional technology, a SpotFi wireless local area network positioning system adopts a two-dimensional super-resolution algorithm to estimate positioning parameters such as an Angle of Arrival (AoA) and propagation delay of multipath, so that multipath signals with more than array elements can be resolved, wherein the propagation delay is generally referred to as Time of Arrival (ToA). However, the conventional positioning parameter estimation method needs to perform two-dimensional parameter space search, which results in low estimation efficiency of the positioning parameters.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a wireless positioning parameter estimation method, device, computer device and storage medium capable of improving the efficiency of positioning parameter estimation.
A method of wireless location parameter estimation, the method comprising:
performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information;
the time delay domain super-resolution spectrum-space spectrum information comprises positioning parameter estimated values corresponding to all transmission paths.
In one embodiment, the determining the target location parameter estimated value from the time-delay domain super-resolution spectrum-space spectrum information includes: and determining the target positioning parameter estimation value corresponding to the direct path from the time delay domain super-resolution spectrum-space spectrum information, wherein the target positioning parameter estimation value comprises a target arrival angle and a target propagation time delay.
In one embodiment, the determining the target positioning parameter estimation value corresponding to the direct path from the time-delay domain super-resolution spectrum-space spectrum information includes:
extracting a spectrum peak in the time-delay domain super-resolution spectrum-space spectrum information to obtain a fading coefficient corresponding to the spectrum peak, an arrival angle of the positioning signal and propagation time delay;
and identifying the direct path according to the fading coefficient corresponding to the spectral peak and the propagation delay, and outputting the target arrival angle and the target propagation delay corresponding to the direct path.
In one embodiment, the performing channel estimation on the positioning signal sent by the device to be positioned to obtain a channel response parameter includes:
acquiring the positioning signal sent by the equipment to be positioned;
performing time-frequency conversion on the positioning signal to obtain a frequency domain positioning signal of the equipment to be positioned;
and performing channel estimation on the frequency domain positioning signal through a channel estimation model to obtain the channel response parameter.
In one embodiment, the channel estimation model includes a mapping relationship between the channel response parameters and the frequency domain positioning signals.
In one embodiment, the performing time-delay domain super-resolution spectrum estimation on the channel response parameter to obtain time-delay domain super-resolution spectrum information includes: and performing time delay domain super-resolution spectrum estimation on the channel response parameters of each signal receiving channel by adopting a weighted least square method to obtain the time delay domain super-resolution spectrum information.
In one embodiment, the performing spatial spectrum estimation on the time-delay domain super-resolution spectrum information to obtain time-delay domain super-resolution spectrum-spatial spectrum information includes: and performing spatial spectrum estimation on the time delay domain super-resolution spectrum information by adopting a digital beam forming algorithm to obtain the time delay domain super-resolution spectrum-spatial spectrum information.
A wireless positioning parameter estimation apparatus, the apparatus comprising:
the channel estimation module is used for carrying out channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
the first spectrum estimation module is used for performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
the second spectrum estimation module is used for carrying out spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information;
the time delay domain super-resolution spectrum-space spectrum information comprises positioning parameter estimated values corresponding to all transmission paths.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information;
the time delay domain super-resolution spectrum-space spectrum information comprises positioning parameter estimated values corresponding to all transmission paths.
A storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
and performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, wherein the time delay domain super-resolution spectrum-spatial spectrum information comprises positioning parameter estimation values corresponding to all transmission paths.
In the wireless positioning parameter estimation method, device, computer equipment and storage medium, the receiving station may perform channel estimation on a positioning signal sent by the equipment to be positioned to obtain a channel response parameter, perform time delay domain super-resolution spectrum estimation on the channel response parameter to obtain time delay domain super-resolution spectrum information, perform spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, and further obtain a positioning parameter estimation value corresponding to each transmission path from the time delay domain super-resolution spectrum-spatial spectrum information; the method can firstly carry out time delay domain super-resolution spectrum estimation and then carry out space spectrum estimation, obtains two-dimensional spectrum information in a cascading mode, and obtains the estimated value of the positioning parameter.
Drawings
FIG. 1 is a diagram of an exemplary wireless location parameter estimation method;
FIG. 2 is a flow diagram of a method for wireless location parameter estimation according to one embodiment;
FIG. 3 is a flowchart illustrating a specific method for obtaining channel response parameters according to an embodiment;
FIG. 4 is a schematic flow chart illustrating an exemplary method for determining an estimated value of a target location parameter corresponding to a direct path according to another embodiment;
FIG. 5 is a comparison graph of target angle of arrival estimation accuracy in another embodiment;
FIG. 6 is a diagram of propagation delay estimation accuracy comparison in another embodiment;
FIG. 7 is a comparison of algorithm runtime in another embodiment;
FIG. 8 is a block diagram of an apparatus for wireless location parameter estimation according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The wireless positioning parameter estimation method provided by the application can be applied to the wireless positioning parameter estimation system shown in fig. 1. As shown in fig. 1, the system includes a receiving station and a device to be located. The signals can be propagated between the receiving station and the device to be positioned by radio or electromagnetic waves. Optionally, the receiving station is not limited to a receiving device with a calibrated position in a 4G/5G, wireless local area network, and ultra-wideband positioning system, that is, a 4G/5G base station, a wireless local area network access point, and an ultra-wideband anchor point; the device to be positioned can be an electronic device with a data processing function, such as a PC, a portable device, a server and the like. The embodiment can be applied to a single snapshot scenario, which can be understood as that a receiving station can realize wireless positioning parameter estimation when receiving a single positioning signal, and can directly process a coherent incident signal caused by multipath propagation without performing a smoothing operation in the conventional technology in the estimation process. It should be noted that the specific form of the device to be positioned is not limited in this embodiment.
In one embodiment, as shown in fig. 2, a method for estimating wireless positioning parameters is provided, which is described by taking the method as an example applied to the receiving station in fig. 1, and includes the following steps:
s100, performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter.
Specifically, the receiving station may perform channel estimation on the positioning signal sent by the device to be positioned. The positioning signal may be a time domain positioning signal or a frequency domain positioning signal. If the positioning signal is a frequency domain positioning signal, the receiving station can directly perform channel estimation on the positioning signal; if the positioning signal is a time domain positioning signal, the receiving station may first pre-process the positioning signal, and then perform channel estimation on the pre-processed positioning signal. Optionally, the preprocessing may be time-frequency conversion processing, or may be performed after performing interval data interception processing on the positioning signal, or may also be performed after performing time-frequency conversion processing on the positioning signal and then performing interval data interception processing, or the like.
It is understood that the receiving station may perform channel estimation on the positioning signal based on the pilot symbols and based on decision feedback, may perform channel estimation on the positioning signal based on the training sequence and the pilot sequence, and may perform channel estimation on the positioning signal by other methods. Alternatively, the channel estimation may actually be understood as a process of estimating model parameters of a certain channel model to be assumed from the positioning signal. The channel response parameter may be a channel response matrix.
In order to reduce resource occupation of the positioning signal, the device to be positioned may generally map the positioning signal to a sub-band corresponding to the antenna array according to a certain pattern, and at this time, the receiving station may directly extract the frequency domain receiving signal of the corresponding sub-band according to the mapping relationship, that is, in this case, the receiving station directly receives the frequency domain positioning signal.
S200, performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information.
Specifically, the receiving station may perform time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information corresponding to the multiple transmission paths. Optionally, the transmission path may be a path through which the positioning signal is transmitted from the device to be positioned to the receiving station, and the paths may include a direct path and a non-direct path; the direct path may be a straight path along which the positioning signal is transmitted from the device to be positioned to the receiving station, and the indirect path may have a plurality of paths, and each indirect path may be a meandering path along which a plurality of paths that are not on the same straight line are combined together along which the positioning signal is transmitted from the device to be positioned to the receiving station.
S300, performing spatial spectrum estimation on the time-delay domain super-resolution spectrum information to obtain time-delay domain super-resolution spectrum-spatial spectrum information, wherein the time-delay domain super-resolution spectrum-spatial spectrum information comprises positioning parameter estimation values corresponding to all transmission paths.
Specifically, the receiving station may perform spatial spectrum estimation on the acquired time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, that is, two-dimensional spectrum information. Optionally, the positioning parameter estimated value may include an angle of arrival, a propagation delay, a time difference of arrival, a transmission rate, and the like of the positioning signal, but in the present embodiment, the positioning parameter estimated value includes an angle of arrival and a propagation delay of the positioning signal. Optionally, the two-dimensional spectrum information includes a positioning parameter estimation value corresponding to the direct path and also includes a positioning parameter estimation value corresponding to the indirect path.
In the wireless positioning parameter estimation method, the receiving station may perform channel estimation on a positioning signal sent by a device to be positioned to obtain a channel response parameter, perform time delay domain super-resolution spectrum estimation on the channel response parameter to obtain time delay domain super-resolution spectrum information, perform spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, and further obtain a positioning parameter estimation value corresponding to each transmission path from the time delay domain super-resolution spectrum-spatial spectrum information; the method can firstly carry out time delay domain super-resolution spectrum estimation and then carry out space spectrum estimation, obtains two-dimensional spectrum information in a cascading mode, and obtains the estimated value of the positioning parameter.
In some scenarios, the time-delay domain super-resolution spectrum-spatial spectrum information includes a plurality of sets of estimated values of positioning parameters, and in order to improve the accuracy of the estimated values of the positioning parameters, one set of estimated values of the positioning parameters may be used as an estimated value of target positioning parameters, in one embodiment, the method for estimating wireless positioning parameters may further include: determining a target positioning parameter estimation value from time delay domain super-resolution spectrum-space spectrum information, wherein the target positioning parameter estimation value comprises: target angle of arrival and target propagation delay.
In this embodiment, the target location parameter estimation value may include a target arrival angle and a target propagation delay. Optionally, the time-delay domain super-resolution spectrum-space spectrum information may be represented by a signal spectrogram. The receiving station may determine a target positioning parameter estimation value from the time delay domain super-resolution spectrum-space spectrum information, that is, a positioning parameter estimation value corresponding to a direct path in the time delay domain super-resolution spectrum-space spectrum information may be used as a target positioning parameter estimation value, or a positioning parameter estimation value corresponding to any indirect path in the time delay domain super-resolution spectrum-space spectrum information may be used as a target positioning parameter estimation value. It can also be understood that the receiving station may select any point from the signal spectrogram corresponding to the time delay domain super-resolution spectrum-space spectrum information, and use the positioning parameter estimation value corresponding to the point as the target positioning parameter estimation value.
In order to accurately obtain the estimated value of the positioning parameter, the determining the estimated value of the target positioning parameter from the time delay domain super-resolution spectrum-space spectrum information may specifically include: and determining the target positioning parameter estimation value corresponding to the direct path from the time delay domain super-resolution spectrum-space spectrum information.
In this embodiment, the time-delay domain super-resolution spectrum-space spectrum information may be displayed by a two-dimensional spectrum image. The receiving station can traverse each point in the two-dimensional spectrogram, judge the spectral intensity of the current point relative to all other adjacent points, if the spectral intensity of the current point is greater than the spectral intensity of all other adjacent points, judge that the current point is a spectral peak point, find out all spectral peak points of the two-dimensional spectrogram in this way, sort according to the spectral peak intensity, extract the maximum K from the spectral peak points1A spectral peak, this K1The number of the spectral peaks is 1 to the diameter and K1-1 reflection path corresponding signal component. The receiving station can determine a target positioning parameter estimation value corresponding to the direct path from the time delay domain super-resolution spectrum spatial spectrum information as an optimal target positioning parameter estimation value based on the basic criteria that the direct path is shorter in propagation time compared with other indirect paths (namely, reflection paths) or the direct path is stronger in energy compared with other indirect paths.
The wireless positioning parameter estimation method can determine the target positioning parameter estimation value corresponding to the direct path from the signal spectrogram corresponding to the time delay domain super-resolution spectrum space spectrum information, thereby improving the accuracy of the positioning parameter estimation value.
As an embodiment, as shown in fig. 3, the step of performing channel estimation on the positioning signal sent by the device to be positioned in S100 to obtain the channel response parameter may be implemented by the following steps:
and S110, acquiring a positioning signal sent by the equipment to be positioned.
Specifically, the receiving station may receive a positioning signal sent by the device to be positioned. In this embodiment, the positioning signal may be a time domain signal.
In this embodiment, the receiving station may receive the positioning signal sent by the device to be positioned through the signal receiving channel of the antenna array. Optionally, the positioning signal may include longitude and latitude information, an azimuth angle, and the like of the device to be positioned. Optionally, the antenna array may be a dot array, an area array, a linear array, or the like, and may also be a circular antenna array, a square antenna array, a diamond antenna array, or the like according to the type. Alternatively, if the antenna array sharesNEach array element can correspond to a signal receiving channel.
If the number of sub-bands occupied by the positioning signal isMThen the antenna array receives the channel from the signalnThe received positioning signals may be represented as vectors
，
Wherein, in the step (A),X m,n is shown asnA signal receiving channelmThe positioning signals received by the individual sub-bands,
the representation of a space of a plurality of numbers,
to represent
Dimensional complex space, i.e.MA complex vector space is maintained. Optionally, the vectors in this embodiment may all refer to column vectors. Wherein, the positioning signal matrix received by all signal receiving channels of the receiving station can be expressed as
，
If atMThe positioning signal sequence transmitted on the sub-band is
，
The center carrier frequency of the transmitted positioning signal is
The corresponding wavelength of the positioning signal is
（
），
Representing the speed of light in vacuum.
And S120, performing time-frequency conversion on the positioning signal to obtain a frequency domain positioning signal of the equipment to be positioned.
In this embodiment, the receiving station may perform time-frequency conversion on the positioning signal to obtain a frequency domain positioning signal of the device to be positioned. Optionally, the time-frequency conversion method may be fourier transform, fast fourier transform, or a combined transform of fourier transform and fast fourier transform, or the like.
In this embodiment, the time-frequency transform method may be fast fourier transform, so as to reduce the computation of the algorithm and shorten the estimation period of the positioning parameters. To avoid loss of generality, assumeMThe individual bands are uniformly distributed at intervals of
The receiving antenna array is an equidistant linear array with array element spacing ofdAnd the positioning signal is passed throughKThe strip path propagates to the equidistant linear arraykThe propagation delay, azimuth angle and fading coefficient of a strip path are respectively expressed as
、
And
，
representing the included angle between the incident direction of the positioning signal and the normal direction of the equidistant linear array; in this embodiment, the propagation delay of the positioning signal may represent the propagation distance of the positioning signal, and the propagation delay and the propagation distance may be measured by the speed of light
Mutually converse, therefore, the positioning signal matrix X received by a plurality of signal receiving channels can be expressed as:
the formula (1) is an expression of a positioning signal matrix X obtained after fast Fourier transform, and S in the formula represents a diagonal matrix of a positioning signal sent by equipment to be positioned, namely
，
It can be represented that a diagonal matrix is obtained with each element in the vector as a main diagonal element;
（
) Representing a delay domain matching vector function, the input of which may be the propagation delay
The output can beMThe dimension propagation delay field matches the vector,
represents the time-delay domain matching the scope of the vector function, and
corresponding propagation delays for all possible transmission paths
A set of (i) i
，
Representing real space, propagation delay domain match vectorsmThe element may indicate that the positioning signal propagation delay is at the secondmThe phase shift caused by the individual sub-bands, thus, there are
，
Represents an imaginary unit, defined as
，
（
) Representing a receive array steering vector function, the input of which may be the angle of arrival of the positioning signal
The output of the receive array steering vector function may be the array steering vector corresponding to the angle of arrival,
the scope of the function representing the steering vector of the receiving array is
Corresponding to a range of values ofNThe vector of the complex numbers is then maintained,
the space formed by all possible angles of arrival of the signal, i.e.
(ii) a If the receiving array of the receiving station is an equidistant linear array, the function value
To (1) anAn element is
，
，
Is a noise matrix, W ismGo to the firstnColumn element representsnA signal receiving channelmNoise components on individual subbands.
S130, performing channel estimation on the frequency domain positioning signal through a channel estimation model to obtain a channel response parameter.
Specifically, the channel estimation may be a blind estimation method, a semi-blind estimation method, or a combination of blind estimation and training sequence-based estimation.
The channel estimation model comprises a mapping relation between the channel response parameters and the frequency domain positioning signals.
In this embodiment, the receiving station may perform channel estimation on the frequency domain positioning signal through a preset channel estimation model to obtain a frequency domain response of a channel, so as to provide required channel state information for subsequent processing. Alternatively, the channel estimation method may be a least square algorithm, a steepest descent method, or a least mean square error method, etc. In this embodiment, the channel estimation model may be a reference signal-based channel estimation model, and the specific channel estimation model may be set in a self-defined manner, including a mapping relationship between the channel response parameter and the frequency domain positioning signal. Optionally, the channel response parameter and the frequency domain positioning signal may have a positive correlation.
However, in this embodiment, the channel estimation model includes:
in the formula (2), the reaction mixture is,
to (1) anThe column represents the second of the receiving stationnThe channel response parameters of the individual signal receiving channels,
a diagonal matrix representing the positioning signals,
representing a frequency domain positioning signal matrix.
It can be understood that, assuming that the specific form of the positioning signal received by the receiving end on the frequency domain is known, the channel estimation may employ a least square algorithm to obtain the channel response parameter
The concrete expression is as follows:
in the formula (3), the reaction mixture is,
（
) To (1) anThe column representsnChannel response parameters of the signal receiving channels;
（
) Representing the noise component in the channel response parameters,
to (1) amGo to the firstnColumn element representsnA channel ismA noise component in the subband channel estimate.
Further, the step of performing the time delay domain super-resolution spectrum estimation on the channel response parameter to obtain the time delay domain super-resolution spectrum information may specifically include: and performing time delay domain super-resolution spectrum estimation on the channel response parameters of each signal receiving channel by adopting a weighted least square method.
Specifically, the receiving station may perform time delay domain super-resolution spectrum estimation on each signal receiving channel through the channel response parameter.
Suppose that
（
) Represents a channel response parameter HnColumn elements, i.e. secondnChannel response parameters of a signal receiving channel, then
Can be expressed as:
in the formula (4), the reaction mixture is,
is shown asnA receiving array element pairkThe response of the positioning signal transmitted by the strip path,
is a vector
To (1) anThe number of the elements is one,
（
) Is shown asnNoise of signal receiving channelVector and matrix
To (1) anAnd (4) columns.
For a frequency domain equally spaced sampling sequence of a positioning signal, the unambiguous propagation delay range is
It is assumed that the propagation delay range is divided intoP+1 share, which is usually set to reduce algorithm complexity
This isPThe propagation time delay corresponding to each scanning grid point is respectively
（
) (ii) a Note the book
For each scanning of the fading coefficient at the grid point, when
When the temperature of the water is higher than the set temperature,
in the otherP-KOn the point of the individual scanning grid, the grid,
. Note the book
Is a vector of fading coefficients scanned over a set of grid points, and
（
) The propagation delay matching matrix representing the set of scanning grid points has the firstnThe channel response parameters for each signal reception channel may be expressed as:
it is understood that the receiving station may perform time-delay domain super-resolution spectrum estimation on the channel response parameters of each signal receiving channel by using a weighted least square method, a matrix-based eigen-space decomposition method, or an improved matrix eigen-space decomposition method. In this embodiment, performing time delay domain super-resolution spectrum estimation on the channel response parameters of each signal receiving channel by using a weighted least squares method may be represented as:
in the formula (6)
（
) Representing a vector
Weighting of
The norm of the number of the first-order-of-arrival,
is shown asnA signal receiving channel
The interference covariance matrix at each scanning grid point is determined by the current scanning grid point
Other signal component formation, i.e.
Can be expressed as:
wherein the content of the first and second substances,
is shown asnThe covariance matrix of the channel response parameters of each signal receiving channel can be expressed as
，
Indicating that the expected value was taken.
In general, in order to improve resolution and reduce spectral side lobes, a least square problem with inverse weighting of an interference covariance matrix may be solved to suppress potential components on other scanning grid points when estimating time delay domain super-resolution spectral information of a current scanning grid point, where the solution of the weighted least square problem is:
in the formula (8), since
Is unknown and therefore cannot be directly calculated; in general, iterative methods can be used to iteratively pair
And
the estimation is performed, and the result of the last iteration is substituted in formula (8) for each calculation. Wherein a harmonic model pair can be employed
The estimation is carried out in the following specific way:
in formula (9)
The matrix representing the power estimate composition can be expressed as:
in the iterative solving process of the existing weighted least square problem, multiplication operation of a large number of matrixes is involved, so that the operation amount is large, and the embodiment utilizes the propagation delay to match the matrixes
The algorithm can be accelerated by adopting fast Fourier transform. The detailed procedure is as follows, for each signal receiving channelnThe following steps may be performed in order to obtain
The method comprises the following specific steps:
1) determining number of scan grid points for propagation delayPAnd corresponding propagation delay grid
To ensure accuracy, propagation delay scan interval
1/10 being generally smaller than the resolution of the inherent propagation delay of the positioning system, i.e.
. In order to speed up the algorithm using the fast fourier transform,Pcan be selected to be an integer power of 2, i.e.PCan be expressed as:
wherein the content of the first and second substances,
indicating rounding up.
2) Order to
The period map can be calculated using inverse fast fourier transform as an initial value of the iteration:
wherein the content of the first and second substances,
representing doing to vectorsPInverse fast Fourier transform of points, recording
Is shown asiPower vector of sub-iteration, each element of which represents a vector
The modulo square of the corresponding element.
3) Fast computation of the first row elements of the covariance matrix can be achieved using an inverse fast fourier transform, such as
。
4) Using matrices
The characteristics of Van der Waals and
for the properties of the diagonal matrix, a covariance matrix is obtained
Is a diagonal matrix, and therefore, the current iteration stepiCovariance matrix of
Can be constructed by the first row element thereof to obtain
Wherein, in the step (A),
indicating the amount of orientation
Front of
The number of the elements is one,
represents the Toeplitz chemometrics operator, representing the generation of the corresponding Toeplitz matrix from the vectors.
5) Computing covariance matrix inverse
，
。
6) The molecular part in the formula of calculating the spectrum value is completed together with the step 7), and the calculation is firstly carried out
。
7) Using matrices
The characteristics of the Van der Waals and the characteristics of the elements of the Van der Waals as fast Fourier transform factors are calculated
。
8) And step 9) and step 10) together complete the denominator part of the formula for calculating the spectrum value, and the same applies
The characteristics of the van der waals and the complex exponentiation of the terms of the van der waals realize the fast calculation of the denominator, firstly:
9) will be provided with
Arranged in a matrix
Then there is
10) Computing
。
11) Updating time-delay domain super-resolution spectrum estimated value
Of which the firstpAn element is
。
12) Order to
Repeating the steps 3) to 11) until
Without significant improvement, in this case, order
。
In addition, the above spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain the time delay domain super-resolution spectrum-spatial spectrum information may specifically include: and performing space spectrum estimation on the time delay domain super-resolution spectrum information by adopting a digital beam forming algorithm to obtain time delay domain super-resolution spectrum-space spectrum information.
Specifically, the receiving station may employ a digital beamforming algorithm to scan each propagation delay over a grid of pointsNAnd performing spatial spectrum estimation on the time delay domain super-resolution spectrum information of each signal receiving channel. The receiving station firstly carries out time delay domain super-resolution spectrum estimation and then carries out space spectrum estimation, and time delay domain super-resolution spectrum-space spectrum information, namely two-dimensional spectrum information, is obtained in a cascading mode, so that high-dimensional matrix operation involved when a two-dimensional super-resolution algorithm is adopted to execute a parallel estimation processing mode is avoided.
Wherein, ifpA time delay unit,Nthe vector corresponding to the time delay domain super-resolution spectrum information of each signal receiving channel is expressed as
Then there is
And further corresponding vectors to the time-delay domain super-resolution spectrum information
The spatial spectrum estimation is carried out in sequence, and the method can be specifically realized by the following steps:
(1) the receiving station may determine a set of scanning grid points for the angle of arrival of the positioning signal. Assuming equal spacing is used
Angle of arrival range to be covered by antenna array
Is divided intoQCorresponding to a set of angles of arrival of
. Wherein, the coverage area of the antenna array is determined by the array element directional diagram of the antenna array, and the angle of arrival interval
Typically 1/20 to 1/10 of the array beam width. The array flow pattern matrix on the scanning grid point set with the arrival angle is recorded as
。
(2) The receiving station can carry out super-resolution spectrum estimation value vector on a time delay domain
Sequentially carrying out spatial spectrum estimation, wherein the time delay domain super-resolution spectrum-spatial spectrum information is
，
Then there is
；
Note the book
Of which the firstqGo to the firstpColumn element
Presentation of time delay
Angle of arrival
An estimate of the channel fading coefficient.
The wireless positioning parameter estimation method avoids high-dimensional matrix operation involved when a two-dimensional super-resolution algorithm is adopted to execute a parallel estimation processing mode, and meanwhile, the method adopts fast Fourier transform in the time delay domain super-resolution spectrum estimation process to accelerate the spectrum solving process, so that the operation amount of the algorithm is reduced, the estimation period of the positioning parameters is shortened, and the real-time performance of the positioning parameter estimation is further improved.
In some scenarios, in order to accurately obtain the estimated value of the positioning parameter, as shown in fig. 4, the step of determining the estimated value of the target positioning parameter corresponding to the direct path from the time delay domain super-resolution spectrum-spatial spectrum information may specifically be implemented by the following steps:
s400, extracting a spectrum peak in the time delay domain super-resolution spectrum-space spectrum information to obtain a fading coefficient corresponding to the spectrum peak, an arrival angle of the positioning signal and propagation time delay.
Specifically, the receiving station may display the time-delay domain super-resolution spectrum-space spectrum information through a two-dimensional spectrum image, traverse each point in the two-dimensional spectrum, determine the spectrum intensity of the current point relative to all other adjacent points, determine that the current point is a spectrum peak point if the spectrum intensity of the current point is greater than the spectrum intensities of all other adjacent points, find out all other spectrum peak points of the two-dimensional spectrum according to the manner, sort according to the spectrum peak intensities, and extract the largest K among the K peak points1A spectral peak, this K1One spectral peak is corresponding to 1 directDiameter and K1-1 signal component corresponding to the reflection path, so as to obtain the fading coefficient of the corresponding path
Angle of arrival of positioning signal
And propagation delay
Wherein, in the step (A),
。
s500, identifying the direct path according to the fading coefficient and the propagation delay corresponding to the spectral peak, and outputting a target arrival angle and a target propagation delay corresponding to the direct path.
In particular, the receiving station may be based on a basic criterion, such as a direct path having a shorter propagation time than other non-direct paths (i.e., reflected paths) or a direct path having more energy than other non-direct paths, according to K1Determining K according to fading coefficient and propagation delay corresponding to each spectral peak1And time delay domain super-resolution spectrum-space spectrum information of the direct path corresponding to the spectrum peak, so that the target arrival angle and the target propagation delay corresponding to the direct path are obtained through the acquired time delay domain super-resolution spectrum-space spectrum information of the direct path.
Illustratively, the method of the present embodiment is verified by a simulation platform of a 5G system based on a sub-6G frequency band, and compared with a SpotFi algorithm result, simulation parameters of the 5G positioning system are as follows:
fig. 5 and fig. 6 show cumulative distribution function graphs of estimation errors of an arrival angle and propagation delay in the SpotFi algorithm and this embodiment, respectively, where fig. 5 is a diagram of a comparison of estimation accuracy of an arrival angle, fig. 6 is a diagram of a comparison of estimation accuracy of a propagation delay, where the propagation delay has been converted into a distance, and 68% of the point errors are used as evaluation criteria, and the estimation errors of the SpotFi algorithm and this embodiment are: 0.13 ° and 0.32 °; the distance estimation errors are respectively: 0.040m and 0.077 m. As shown in fig. 7, a running time comparison graph of the SpotFi algorithm and the present embodiment in each experiment is obtained, and the precision comparison results are combined, so that it can be seen that the running time is saved by more than 25 times compared with the SpotFi at the cost of a small amount of precision loss, and therefore, the present embodiment is also very suitable for a real-time positioning system.
The wireless positioning parameter estimation method can determine the target positioning parameter estimation value corresponding to the direct path from the signal spectrogram corresponding to the time delay domain super-resolution spectrum-space spectrum information, thereby improving the accuracy of the positioning parameter estimation value.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 8, there is provided a wireless positioning parameter estimation apparatus, including: a channel estimation module 11, a first spectrum estimation module 12 and a second spectrum estimation module 13, wherein:
the channel estimation module 11 is configured to perform channel estimation on a positioning signal sent by a device to be positioned to obtain a channel response parameter;
the first spectrum estimation module 12 is configured to perform time delay domain super-resolution spectrum estimation on the channel response parameter to obtain time delay domain super-resolution spectrum information;
and a second spectrum estimation module 13, configured to perform spatial spectrum estimation on the time-delay domain super-resolution spectrum information to obtain time-delay domain super-resolution spectrum-spatial spectrum information, where the time-delay domain super-resolution spectrum-spatial spectrum information includes positioning parameter estimation values corresponding to each transmission path.
The wireless positioning parameter estimation apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the wireless positioning parameter estimation apparatus further includes: a target estimate determination module, wherein:
and the target estimation value determining module is used for determining the target positioning parameter estimation value corresponding to the direct path from the time delay domain super-resolution spectrum-space spectrum information.
The wireless positioning parameter estimation apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the target estimation value determination unit includes: an information extraction subunit and an identification subunit, wherein:
the information extraction subunit is configured to extract a spectral peak in the time delay domain super-resolution spectrum-spatial spectrum information, so as to obtain a fading coefficient corresponding to the spectral peak, an arrival angle of the positioning signal, and a propagation time delay;
and the identification subunit is configured to identify the direct path according to the fading coefficient corresponding to the spectral peak and the propagation delay, and output the target arrival angle and the target propagation delay corresponding to the direct path.
The wireless positioning parameter estimation apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the channel estimation module 11 includes: a positioning signal obtaining unit, a time-frequency conversion unit and a channel estimation unit, wherein:
a positioning signal acquiring unit, configured to acquire the positioning signal sent by the device to be positioned;
the time-frequency conversion unit is used for performing time-frequency conversion on the positioning signal to obtain a frequency domain positioning signal of the equipment to be positioned;
and the channel estimation unit is used for carrying out channel estimation on the frequency domain positioning signal through a channel estimation model to obtain the channel response parameter.
Wherein the channel estimation model comprises a mapping relationship between the channel response parameters and the frequency domain positioning signals.
The wireless positioning parameter estimation apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the first spectrum estimation module 12 is specifically configured to perform time delay domain super-resolution spectrum estimation on the channel response parameters of each signal receiving channel by using a weighted least square method, so as to obtain the time delay domain super-resolution spectrum information.
The wireless positioning parameter estimation apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, the second spectrum estimation module 13 is specifically configured to perform spatial spectrum estimation on the time delay domain super-resolution spectrum information by using a digital beam forming algorithm, so as to obtain the time delay domain super-resolution spectrum-spatial spectrum information.
The wireless positioning parameter estimation apparatus provided in this embodiment may implement the method embodiments described above, and the implementation principle and technical effect are similar, which are not described herein again.
For specific limitations of the wireless positioning parameter estimation apparatus, reference may be made to the above limitations of the wireless positioning parameter estimation method, which is not described herein again. The modules in the wireless positioning parameter estimation device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the positioning signals. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a wireless location parameter estimation method.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
and performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, wherein the time delay domain super-resolution spectrum-spatial spectrum information comprises positioning parameter estimation values corresponding to all transmission paths.
In one embodiment, a storage medium is provided having a computer program stored thereon, the computer program when executed by a processor implementing the steps of:
performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
and performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, wherein the time delay domain super-resolution spectrum-spatial spectrum information comprises positioning parameter estimation values corresponding to all transmission paths.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for wireless location parameter estimation, the method comprising:
performing channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, wherein the time delay domain super-resolution spectrum-spatial spectrum information comprises positioning parameter estimation values corresponding to all transmission paths;
the performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information includes: and performing spatial spectrum estimation on the time delay domain super-resolution spectrum information by adopting a digital beam forming algorithm to obtain the time delay domain super-resolution spectrum-spatial spectrum information.
2. The method of claim 1, further comprising:
and determining a target positioning parameter estimation value corresponding to the direct path from the time delay domain super-resolution spectrum-space spectrum information, wherein the target positioning parameter estimation value comprises a target arrival angle and a target propagation time delay.
3. The method according to claim 2, wherein said determining the target positioning parameter estimation value corresponding to the direct path from the time-delay domain super-resolution spectrum-space spectrum information comprises:
extracting a spectrum peak in the time-delay domain super-resolution spectrum-space spectrum information to obtain a fading coefficient corresponding to the spectrum peak, an arrival angle of the positioning signal and propagation time delay;
and identifying the direct path according to the fading coefficient corresponding to the spectral peak and the propagation delay, and outputting the target arrival angle and the target propagation delay corresponding to the direct path.
4. The method of claim 1, wherein performing channel estimation on the positioning signal sent by the device to be positioned to obtain a channel response parameter comprises:
acquiring the positioning signal sent by the equipment to be positioned;
performing time-frequency conversion on the positioning signal to obtain a frequency domain positioning signal of the equipment to be positioned;
and performing channel estimation on the frequency domain positioning signal through a channel estimation model to obtain the channel response parameter.
5. The method of claim 4, wherein the channel estimation model comprises a mapping between the channel response parameters and the frequency domain positioning signals.
6. The method of claim 1, wherein the performing time-delay domain super-resolution spectrum estimation on the channel response parameters to obtain time-delay domain super-resolution spectrum information comprises:
and performing time delay domain super-resolution spectrum estimation on the channel response parameters of each signal receiving channel by adopting a weighted least square method to obtain the time delay domain super-resolution spectrum information.
7. An apparatus for wireless location parameter estimation, the apparatus comprising:
the channel estimation module is used for carrying out channel estimation on a positioning signal sent by equipment to be positioned to obtain a channel response parameter;
the first spectrum estimation module is used for performing time delay domain super-resolution spectrum estimation on the channel response parameters to obtain time delay domain super-resolution spectrum information;
the second spectrum estimation module is used for performing spatial spectrum estimation on the time delay domain super-resolution spectrum information to obtain time delay domain super-resolution spectrum-spatial spectrum information, and the time delay domain super-resolution spectrum-spatial spectrum information comprises positioning parameter estimation values corresponding to all transmission paths;
the second spectrum estimation module is specifically configured to perform spatial spectrum estimation on the time delay domain super-resolution spectrum information by using a digital beam forming algorithm, so as to obtain the time delay domain super-resolution spectrum-spatial spectrum information.
8. The apparatus of claim 7, further comprising: a target estimate determination module, wherein:
and the target estimation value determining module is used for determining a target positioning parameter estimation value corresponding to the direct path from the time delay domain super-resolution spectrum-space spectrum information.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, realizing the steps of the method according to any one of claims 1 to 6.
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