CN114375038A - Positioning method, positioning device, base station, storage medium and computer program product - Google Patents
Positioning method, positioning device, base station, storage medium and computer program product Download PDFInfo
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Abstract
The present application relates to a positioning method, apparatus, base station, storage medium and computer program product. The method comprises the following steps: a base station receives a positioning signal sent by a target terminal; determining a candidate arrival time interval corresponding to the positioning signal according to the priori knowledge; determining candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval; and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle. The method can improve the positioning efficiency of the terminal.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a positioning method, an apparatus, a base station, a storage medium, and a computer program product.
Background
With the rapid development of internet technology, a 5G base station may receive a positioning signal transmitted by a terminal through the internet, so as to position the terminal by using the received positioning signal.
In the conventional technology, a noise subspace of a positioning Signal is obtained by mainly using the received positioning Signal, so that a coefficient matrix corresponding to the noise subspace is processed by Fast Fourier Transform (FFT) to obtain a Multiple Signal Classification (MUSIC) spectrum, an Angle of Arrival (AoA) and an Arrival Time (Time of Arrival, ToA) of the received positioning Signal are obtained according to the MUSIC spectrum, and then a terminal is positioned according to the obtained AoA and ToA.
However, the fast fourier transform in the conventional technique requires global search, which results in more redundant computation and lower terminal positioning efficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a positioning method, an apparatus, a base station, a computer readable storage medium and a computer program product, which can improve the positioning efficiency of a terminal.
In a first aspect, the present application provides a positioning method, including:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to prior knowledge;
determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In one embodiment, the determining, according to the positioning signal and the candidate time-of-arrival interval, a candidate time-of-arrival corresponding to the positioning signal and a candidate angle-of-arrival corresponding to the positioning signal includes:
processing the positioning signal to obtain a signal subspace corresponding to the positioning signal;
obtaining the candidate arrival angle according to the signal subspace and the candidate arrival time interval;
and searching in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time.
In one embodiment, the obtaining the candidate arrival angle according to the signal subspace and the candidate arrival time interval includes:
obtaining a cost function of a target spectrum according to the signal subspace and the candidate arrival time interval;
reconstructing the cost function to obtain a coefficient matrix;
and carrying out Fourier transform on the coefficient matrix to obtain the candidate arrival angle.
In one embodiment, the processing the positioning signal to obtain a signal subspace corresponding to the positioning signal includes:
smoothing the positioning signal by using a smoothing algorithm to obtain a reconstruction signal corresponding to the positioning signal;
and performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
In one embodiment, the determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle includes:
determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle;
and searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
In one embodiment, the target arrival time interval includes the candidate arrival time and a candidate arrival time within a first range preset with the candidate arrival time as a center; the target arrival angle interval includes the candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle.
In a second aspect, the present application also provides a positioning device, the device comprising:
the receiving module is used for receiving a positioning signal sent by a target terminal;
a first determining module, configured to determine, according to a priori knowledge, a candidate arrival time interval corresponding to the positioning signal;
a second determining module, configured to determine, according to the positioning signal and the candidate arrival time interval, a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal;
a third determining module, configured to determine a target arrival time and a target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In a third aspect, the present application further provides a base station, including a memory and a processor, where the memory stores a computer program, and the processor implements the following steps when executing the computer program:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to prior knowledge;
determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing the steps of:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to prior knowledge;
determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to prior knowledge;
determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In the positioning method, the apparatus, the base station, the storage medium and the computer program product, the base station receives the positioning signal sent by the target terminal, and determines the candidate arrival time interval corresponding to the positioning signal according to the priori knowledge, so that the candidate arrival time corresponding to the positioning signal and the candidate arrival angle corresponding to the positioning signal can be rapidly determined according to the positioning signal and the candidate arrival time interval, and further the target arrival time and the target arrival angle of the positioning signal can be rapidly determined according to the candidate arrival time and the candidate arrival angle, the candidate arrival time interval is determined through historical experience, the candidate arrival time and the candidate arrival angle are calculated in the arrival time interval, the complexity of the calculation process is reduced, and the target arrival time and the target arrival angle of the positioning signal can be more rapidly determined according to the candidate arrival time and the candidate arrival angle, and positioning the terminal according to the target arrival time and the target arrival angle, so that the positioning efficiency of the terminal is improved.
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FIG. 1 is a diagram of an application environment of a positioning method in one embodiment;
FIG. 2 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 3 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 4 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 5 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 6 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 7 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 8 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 9 is a schematic flow chart diagram of a positioning method in one embodiment;
FIG. 10 is a flow diagram illustrating a positioning method in one embodiment;
FIG. 11 is a block diagram of the positioning device in one embodiment;
FIG. 12 is a block diagram of the positioning device in one embodiment;
FIG. 13 is a block diagram of the positioning device in one embodiment;
fig. 14 is an internal structural diagram of a base station in one 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.
First, before specifically describing the technical solution of the embodiment of the present application, a technical background on which the embodiment of the present application is based is described.
The current 5G uplink positioning and tracking technology mainly uses algorithms such as digital beam forming to measure the arrival angle and arrival time of a terminal, but these algorithms have poor accuracy and low resolution, which also leads to multi-terminal positioning failure. In order to solve the problem of poor accuracy of the current algorithm, the academic community has many researches on a high-accuracy super-resolution direction finding algorithm, such as a subspace decomposition algorithm of Multiple Signal Classification (MUSIC). However, due to the introduction of spectral peak search and feature decomposition with high computational overhead, these algorithms are difficult to meet the real-time requirements of practical applications. Currently, a document proposes that a Fast Fourier Transform (FFT) is used to replace a spectral peak search to calculate a MUSIC spectrum (FFT-MUSIC), so that the calculation speed can be effectively increased. However, the FFT-MUSIC method obtains the global spectrum each time, resulting in more redundant computation and lower terminal positioning efficiency.
When a moving target is tracked, the position of the target to be positioned is continuously changed, the target position can be limited in a limited range by using prior information such as historical tracks, and the like, namely, only local MUSIC spectrums in limited ToA and AoA ranges need to be calculated. For static targets, a priori information such as the general position of the target can be obtained through data of other sensors. The invention provides a method for combining and applying a spectral peak search method and an FFT method, which can obviously reduce the calculation cost of an array direction finding method, and the method can be suitable for the uplink positioning and downlink positioning processes of a terminal; the downlink positioning may be that the base station sends the positioning information to the terminal, so that the terminal positions the base station by using the positioning information sent by the base station.
Therefore, in view of the above problems, the following describes a technical solution related to the embodiments of the present disclosure with reference to a scenario in which the embodiments of the present disclosure are applied.
The positioning method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the base station 104. After the terminal 102 sends the positioning signal to the base station 104, the candidate arrival event interval is defined according to the prior knowledge, and the base station 104 calculates the arrival angle and arrival time of the terminal 102 according to the positioning signal and the candidate arrival event interval, so that the specific position of the terminal 102 can be obtained. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The base station may be a macro base station, a micro base station, a radio remote station, a repeater, an indoor distribution system, or the like.
In one embodiment, as shown in fig. 2, a positioning method is provided, which is described by taking the method as an example for being applied to the base station in fig. 1, and includes the following steps:
s201, receiving a positioning signal sent by a target terminal.
The positioning signal may include a time parameter type and an angle parameter type for measuring the positioning signal.
Specifically, the base station may receive the positioning signal sent by the target terminal in real time, or the base station may receive the positioning signal sent by the target terminal periodically according to a preset time period. Wherein the preset time period may be 5 seconds, 10 seconds, 15 seconds, or the like. The target terminal and the base station can be connected through a network or a Bluetooth, and the base station can receive the positioning signal sent by the target terminal through the network or receive the positioning signal sent by the target terminal through the Bluetooth.
S202, determining a candidate arrival time interval corresponding to the positioning signal according to the priori knowledge.
Wherein a priori knowledge refers to knowledge that has been determined, e.g., the position, weight, height, etc. of the object. The priori knowledge in this embodiment may refer to the position and height of the base station, the position and height of the terminal, the movement track and speed of the terminal, and the like.
Optionally, the base station may calculate the candidate arrival time interval corresponding to the positioning signal sent by the terminal according to the position and the height of the base station itself and the position and the height of the terminal. Optionally, the base station may determine an arrival time interval corresponding to a historical positioning signal sent by the target terminal as a candidate arrival time interval corresponding to the positioning signal, or the positioning signal may carry movement track information of the target terminal, the base station may establish a neural network prediction model according to the historical movement track of the target terminal and the arrival time corresponding to the historical movement track, input the positioning signal sent by the target terminal into the neural network prediction model, and output the candidate arrival time interval corresponding to the positioning signal through calculation of the neural network prediction model.
S203, according to the positioning signal and the candidate arrival time interval, determining the candidate arrival time corresponding to the positioning signal and the candidate arrival angle corresponding to the positioning signal.
Illustratively, the range of the arrival distance of the positioning signal sent by the terminal can be 0-625m, and the propagation speed of the positioning signal sent by the terminal is 3.0 x 108m/s, the range of the arrival time interval can be obtained by using the arrival distance of the positioning signal sent by the terminal and the propagation speed of the positioning signal sent by the terminal, for example, the range of the arrival time interval of the obtained positioning signal can be 0-2.08 x 10-6Further, the base station may be based on various parameters of the positioning signal within the time interval of arrival, which may include, for example, a time parameter and an angle parameter. Setting a candidate arrival time interval, selecting a plurality of arrival time sampling points with the same interval in the candidate arrival time interval by a base station, taking each arrival time sampling point and a positioning signal as the input of a correlation algorithm, obtaining a plurality of calculation results corresponding to a plurality of arrival times according to the calculation of the correlation algorithm, judging whether the calculation results meet the preset requirement, and taking the average value of the arrival times corresponding to the calculation results meeting the preset requirement as the candidate arrival time. Optionally, the angle of arrival of the positioning signal sent by the terminal is in the range of-180 ° -180 °, and the base station may select the interval in all intervals of the angle of arrivalAnd taking each arrival angle sampling point and the positioning signal as the input of a correlation algorithm, obtaining a plurality of calculation results corresponding to the plurality of arrival angles according to the calculation of the correlation algorithm, judging whether the calculation results meet the preset requirement, and taking the average value of the arrival angles corresponding to the calculation results meeting the preset requirement as the candidate arrival angle.
S204, determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
Optionally, after obtaining the candidate arrival time and the candidate arrival angle in step S203, the base station may select an interval of a small range around the candidate arrival time as the candidate arrival time interval, recalculate in the candidate arrival time interval, use the calculated result as the target arrival time of the positioning signal, select an interval of a small range around the candidate arrival angle as the candidate arrival angle interval, recalculate in the candidate arrival angle interval, use the calculated result as the target arrival angle of the positioning signal, or recalculate in the candidate arrival time interval, use the calculated result as the first arrival time, recalculate in the candidate arrival angle interval, use the calculated result as the first arrival angle, calculate an average value of the candidate arrival time and the first arrival time, use the result as the target arrival time of the positioning signal, calculate an average value of the candidate arrival angle and the first arrival angle, the result is taken as the target angle of arrival of the positioning signal.
In the positioning method, the base station receives the positioning signal sent by the target terminal, and can determine the candidate arrival time interval corresponding to the positioning signal according to the priori knowledge, so that the candidate arrival time corresponding to the positioning signal and the candidate arrival angle corresponding to the positioning signal can be rapidly determined according to the positioning signal and the candidate arrival time interval, further the target arrival time and the target arrival angle of the positioning signal can be rapidly determined according to the candidate arrival time and the candidate arrival angle, the candidate arrival time interval is determined through historical experience, the candidate arrival time and the candidate arrival angle are calculated in the arrival time interval, the complexity of the calculation process is reduced, the target arrival time and the target arrival angle of the positioning signal can be more rapidly determined according to the candidate arrival time and the candidate arrival angle, and the terminal is positioned according to the target arrival time and the target arrival angle, the positioning efficiency of the terminal is improved.
Fig. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application. The present embodiment relates to an optional implementation manner for determining a candidate arrival time corresponding to a positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval. On the basis of the above embodiment, as shown in fig. 3, the above S203 may include the following steps:
and S301, processing the positioning signal to obtain a signal subspace corresponding to the positioning signal.
Optionally, the base station may perform decomposition processing on the positioning signal sent by the target terminal to obtain a signal subspace corresponding to the positioning signal. Optionally, the base station may first perform filtering or smoothing processing on the positioning signal sent by the target terminal, and obtain a signal subspace corresponding to the positioning signal by using the filtered or smoothed positioning signal.
And S302, obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval.
Specifically, the base station may select multiple arrival times with the same time interval from the candidate arrival time intervals, obtain multiple arrival angles according to a functional relationship among the signal subspace, the arrival times, and the arrival angles, average the obtained multiple arrival angles, and use the average as the candidate arrival angle, or use a weighted average of the obtained multiple arrival angles, and use the weighted average as the candidate arrival angle.
And S303, searching in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time.
The preset search algorithm may include a spectral peak search algorithm, a hill climbing method, a simulated annealing method, and the like.
Specifically, the base station may divide the arrival time interval into a plurality of sampling points, bring the arrival time of each sampling point into a preset search algorithm, obtain a calculation result corresponding to each sampling point through calculation of the preset search algorithm, compare the obtained calculation result with a preset threshold, and use an average value of the arrival times corresponding to the calculation results larger than the preset threshold as the candidate arrival time.
In the positioning method, the base station processes the positioning signal to obtain the signal subspace corresponding to the positioning signal, so that the candidate arrival angle can be obtained according to the signal subspace and the candidate arrival time interval, the workload of the calculation process can be reduced for the arrival time limiting interval, the search is rapidly carried out in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time, and the efficiency of obtaining the candidate arrival angle and the candidate arrival time can be improved.
Fig. 4 is a schematic flowchart of a positioning method according to an embodiment of the present application. The present embodiment relates to an optional implementation manner for obtaining a candidate arrival angle according to a signal subspace and a candidate arrival time interval. On the basis of the above embodiment, as shown in fig. 4, the above S302 may include the following steps:
s401, obtaining a cost function of the target spectrum according to the signal subspace and the candidate arrival time interval.
Wherein, the target spectrum can be a MUSIC spectrum. Specifically, the following scheme is described with the target spectrum as the MUSIC spectrum, taking into account the number of arrival paths in the actual application scenario
Therefore, the noise subspace in the MUSIC spectral function can be replaced by the signal subspace, and the replaced MUSIC spectral function can be reconstructed as follows:
in the above formula, the first and second carbon atoms are,
is a matrix of the units,
for signal subspace, the MUSIC spectral function requires the calculation of p0(τ, ξ). Using flow pattern separation techniques, for each arrival time τ within the candidate arrival time intervali，i＝1，2，…，I，p0(τ, ξ) may be represented as:
in the above formula, I is the number of toas in the defined interval, and then the cost function of the target spectrum can be obtained as follows:
s402, reconstructing the cost function to obtain a coefficient matrix.
Specifically, reconstructing the cost function D may obtain a coefficient matrix
Or
Wherein the coefficient matrix
Is a coefficient matrix with only one arrival angle as a variable, and the coefficient matrix
The method refers to a coefficient matrix with two arrival angles as variables, wherein the two arrival angles are a pitch angle and an azimuth angle respectively. It should be noted that the coefficient matrix is obtained
Or
The same procedure is followed to obtainThe coefficient matrix is
For example, the process of reconstructing the cost function to obtain the coefficient matrix is described, wherein the cost function
The matrix can be represented as:
in the above formula, the first and second carbon atoms are,
u, V ═ 1, 2, …, 2V + 1. Summing each diagonal block matrix of the cost function D to obtain a coefficient matrix
To F'xEach pair of 0 line elements is summed to obtain a coefficient matrix
In the above formula, m, n is 1, 2, …, 2V + 1. It should be noted that the cost function D of the target spectrum is a Hermitian matrix, i.e., D ═ DH. Due to the coefficient matrix
Or
Is constructed from each diagonal element of the cost function D, and thus, the coefficient matrix
And
the construction time of the coefficient matrix can be shortened by nearly half, and the process can be expressed as:
and S403, performing Fourier transform on the coefficient matrix to obtain a candidate arrival angle.
In particular, the coefficient matrix is
Or
After Fourier calculation, the candidate arrival angle is output as an input value of Fourier transform. Optionally, when the input coefficient matrix is the above
In time, a value of an arrival angle is output through Fourier transform, and the base station can directly determine the arrival angle as a candidate arrival angle; optionally, when the input coefficient matrix is the above
In the meantime, two arrival angle values are output through fourier transform, the two arrival angles are a pitch angle and an azimuth angle respectively, and the base station can determine both the pitch angle and the azimuth angle as candidate arrival angles.
In the positioning method, the base station obtains the cost function of the target spectrum according to the signal subspace and the candidate arrival time interval, so that the cost function can be reconstructed to obtain a coefficient matrix, the coefficient matrix can be subjected to Fourier transform to obtain the candidate arrival angle, the complexity in the calculation process can be reduced by setting the candidate arrival time interval, and meanwhile, the candidate arrival angle of the positioning signal can be obtained in real time through Fourier transform.
Fig. 5 is a schematic flowchart of a positioning method according to an embodiment of the present application. The embodiment relates to an optional implementation mode for processing a positioning signal to obtain a signal subspace corresponding to the positioning signal. On the basis of the above embodiment, as shown in fig. 5, the above S301 may include the following steps:
s501, smoothing the positioning signal by using a smoothing algorithm to obtain a reconstruction signal corresponding to the positioning signal.
Assuming that the Arrival path from the positioning signal transmitted by the terminal to the base station includes K paths, the Time of Arrival (ToA) and the Angle of Arrival (Angle of Arrival, AoA) of the positioning signal are respectively used as (τ)k，ξk) Wherein K is 1, 2, …, K. It can be understood that the base station is a positioning signal transmitted by the terminal and received by the antenna array, where the total number of array elements of the antenna array in the base station may be N, and the position coordinates of the array elements are (x) respectivelyn，yn，zn) Where N is 1, 2, …, N, the antenna spacing is λ/2, where λ is the wavelength of the subcarrier, and the positioning signal of the nth antenna element at the mth subcarrier can be expressed as:
in the above formula, ρk(T) is the gain of the kth path at the tth (T ═ 1, 2, …, T) snapshot, T is the total number of snapshots, f is the number of snapshots1For the 1 st sub-carrier frequency,
Δ f is the subcarrier spacing. a isn(ξk) The response of the nth antenna element to the kth source.
Specifically, in this embodiment, the base station may divide the positioning signal received by the antenna array into W virtual sub-arrays by using a smoothing algorithm, where a signal corresponding to each virtual sub-array is a reconstructed signal corresponding to the positioning signal, and the length of each virtual sub-array is equal to
The reconstructed signal corresponding to the positioning signal may be represented as:
illustratively, taking an antenna array including 4 antenna elements and 100 subcarriers as an example, that is, the positioning signal corresponds to a 4 × 100 matrix, the first column to the fiftieth column are taken as a virtual sub-array, the second column to the fiftieth column are taken as a virtual sub-array by using a smoothing algorithm, and so on, 51 4 × 50 virtual sub-arrays can be obtained, and signals received by the 51 4 × 50 virtual sub-arrays are referred to as reconstructed signals corresponding to the positioning signal.
And S502, performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
Specifically, according to the reconstructed signal obtained in step S501, the reconstructed signal includes a positioning signal, a flow pattern matrix, and a noise subspace sent by the terminal, and after the feature decomposition is performed on the reconstructed signal, a noise subspace and a signal subspace corresponding to the reconstructed signal can be obtained, where the reconstructed signal of the positioning signal can be represented as:
in the above formula, y (t) [ < y >1(t)，y2(t)，…，yN(t)]T，yn(t)＝[yn，1(t)，yn，2(t)，…，yn，M-W+1(t)]S (t) and a positioning signal, n (t) is a noise subspace, Cw＝C1·Λw-1A flow pattern matrix which is the w-th subarray, wherein Λ ═ diag (η)1，η2，…，ηK)。C1A flow pattern matrix which is the 1 st sub-array, wherein,
C1＝[c(τ1，ξ1)，c(τ2，ξ2)，…，c(τKξK)]
in the above formula, the first and second carbon atoms are,
is the product of the Kronecker reaction,
further, the flow pattern matrix C is subjected to flow pattern Separation Technique (MST)w＝C1·Λw-1Is reconstructed into
a(ξ)＝G·v(ξ) (7)
In the above formula, G is a sampling matrix, and when a one-dimensional angle is measured, it corresponds to an angle of arrival v (ξ) ═ v (θ), and when a two-dimensional angle is measured,
corresponding to two arrival angles, which are the pitch angle and the azimuth angle, respectively, the pitch angle and the azimuth angle can be expressed as:
v(θ)＝[ejVθ，ej(V-1)θ，…，1，…，ej(-V+1)θ，ej(-V)θ]T
v(φ)＝[ejVφ，ej(V-1)φ，…，1，…，ej(-V+1)φ，ej(-V)φ]T
in the above equation, V is a modulus, and a sufficiently large V can obtain a sufficiently small model matching error.
Further, it is understood that the correspondence between the noise subspace and the signal subspace can be expressed as:
according to the positioning method, the base station carries out smoothing processing on the positioning signal by using a smoothing algorithm to obtain the reconstructed signal corresponding to the positioning signal, the dimension of the reconstructed signal obtained through the smoothing processing is smaller than that of the positioning signal, the complexity in the calculation process can be reduced, so that the feature decomposition can be rapidly carried out on the reconstructed signal to obtain the noise subspace corresponding to the reconstructed signal, the signal subspace can be rapidly obtained according to the noise subspace and the preset corresponding relation, and the efficiency of calculating the signal subspace is improved.
Fig. 6 is a schematic flowchart of a positioning method according to an embodiment of the present application. The present embodiment relates to an alternative implementation of determining a target arrival time and a target arrival angle of a positioning signal according to a candidate arrival time and a candidate arrival angle. On the basis of the above embodiment, as shown in fig. 6, the above S301 may include the following steps:
s601, determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle.
Optionally, the target arrival time interval includes a candidate arrival time and a candidate arrival time within a first range preset with the candidate arrival time as a center. The preset first range may be a circle centered on the arrival time, or may be a square or a rectangle. For example, when the candidate arrival time is 8.05, the target arrival time interval may be 7.55 to 8.15. The target arrival angle section includes a candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle. The preset second range may be a circle with the arrival angle as the center, or a square or a rectangle. For example, when the candidate arrival angle is 9.8 °, the target arrival angle interval may be 8.8 ° to 11.8 °.
And S602, searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
Specifically, since the target arrival angle interval and the target arrival time interval are set, only a local search algorithm can be selected, and thus the preset search algorithm can be used for searching a spectral peak. The base station can select a plurality of arrival time sampling points with smaller intervals in the candidate arrival time interval, each arrival time sampling point and the positioning signal are used as the input of a spectral peak search algorithm, a plurality of calculation results corresponding to a plurality of arrival times are obtained according to the calculation of the spectral peak search algorithm, whether the calculation results meet the preset requirements or not is judged, the arrival time corresponding to the calculation results meeting the preset requirements is obtained, and the arrival time with the minimum difference value between the arrival time and the candidate arrival time is used as the target arrival time. The base station may select a plurality of arrival angle sampling points with smaller intervals in the target arrival angle interval of the arrival angle, use each arrival angle sampling point and the positioning signal as input of a spectral peak search algorithm, obtain a plurality of calculation results corresponding to the plurality of arrival angles according to calculation of the spectral peak search algorithm, determine whether the calculation results meet preset requirements, obtain an arrival angle corresponding to the calculation results meeting the preset requirements, and use the arrival angle with the smallest difference between the arrival angle and the candidate arrival angle as the target arrival angle.
In the positioning method, the base station may determine a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle, so that a preset search algorithm may be used to search in the target arrival angle interval and the target arrival time interval, respectively, to obtain the target arrival angle and the target arrival time corresponding to the positioning signal, the arrival time interval and the arrival angle interval may be set according to the arrival time and the arrival angle with low accuracy, to narrow a search range, and the preset search algorithm may be used to search in the search range to obtain the target arrival angle and the target arrival time with higher accuracy.
In another embodiment, as shown in fig. 7, to facilitate understanding of those skilled in the art, a positioning method is described in detail below, the method comprising:
s701, receiving a positioning signal sent by a target terminal;
s702, determining a candidate arrival time interval corresponding to the positioning signal according to prior knowledge;
s703, smoothing the positioning signal by using a smoothing algorithm to obtain a reconstructed signal corresponding to the positioning signal;
s704, performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal;
s705, obtaining a cost function of the target spectrum according to the signal subspace and the candidate arrival time interval;
s706, reconstructing the cost function to obtain a coefficient matrix;
s707, carrying out Fourier transform on the coefficient matrix to obtain a candidate arrival angle;
s708, searching in the candidate arrival time interval by using a preset search algorithm to obtain candidate arrival time;
s709, determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle;
and S710, searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
It should be noted that, for the descriptions in S701 to S710, reference may be made to the descriptions related to the foregoing embodiments, and the effects thereof are similar, and the description of this embodiment is not repeated herein.
Further, fig. 8, 9 and 10 are schematic flow diagrams of the positioning method, where fig. 8 shows a flow of obtaining candidate arrival time and candidate arrival angle according to the positioning signal, and after receiving the positioning signal sent by the terminal, the base station performs special processing on the positioning signalSign decomposition to obtain a signal subspace UsOr noise subspace UnDefining the time of arrival interval tau from historical experienceiAccording to the interval of arrival time and the signal subspace UsDetermining a cost function D, determining a coefficient matrix according to the cost function
Or coefficient matrix
Matrix of coefficients
Or coefficient matrix
Inputting the estimated values into a Fourier function, and outputting initial estimated values of arrival time and arrival angle through Fourier transformation, namely corresponding candidate arrival time and candidate arrival angle. Fig. 9 and fig. 10 both show the process of determining the target arrival time and the target arrival angle according to the candidate arrival time and the candidate arrival angle, and fig. 9 shows that a fine-grained interval is set according to a coarse-grained arrival angle, and a fine-grained arrival angle is obtained according to the fine-grained interval and the fine-grained arrival time by a spectral peak search method. Fig. 10 shows that fine-grained arrival angle intervals are set according to coarse-grained arrival angles, fine-grained arrival time intervals are set according to coarse-grained arrival times, and fine-grained arrival angles and fine-grained arrival times are obtained according to the fine-grained intervals and the fine-grained arrival times by a spectral peak search method.
In the positioning method, a base station determines a candidate arrival time interval corresponding to a positioning signal according to prior knowledge by receiving the positioning signal sent by a target terminal, performs smoothing processing on the positioning signal by using a smoothing algorithm to obtain a reconstructed signal corresponding to the positioning signal, performs characteristic decomposition on the reconstructed signal to obtain a noise subspace corresponding to the reconstructed signal, obtains a signal subspace according to the noise subspace and a preset corresponding relation, thereby obtaining a cost function of a target spectrum according to the signal subspace and the candidate arrival time interval, reconstructs the cost function to obtain a coefficient matrix, performs Fourier transform on the coefficient matrix to obtain a candidate arrival angle, searches in the candidate arrival time interval by using a preset search algorithm to obtain candidate arrival time, determines a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle, and then, a preset search algorithm can be used for searching in the target arrival angle interval and the target arrival time interval respectively to obtain the target arrival angle and the target arrival time corresponding to the positioning signal, the interval is limited according to historical experience, the complexity of the calculation process is reduced, the real-time performance of terminal positioning is ensured by combining Fourier transform and the search algorithm, and the positioning efficiency of the terminal is improved.
It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence 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 a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application further provides a positioning apparatus for implementing the above-mentioned positioning method. The solution of the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one or more embodiments of the positioning device provided below can refer to the limitations on the positioning method in the above, and are not described herein again.
In one embodiment, as shown in fig. 11, there is provided a positioning device comprising: a receiving module 11, a first determining module 12, a second determining module 13 and a third determining module 14, wherein:
a receiving module 11, configured to receive a positioning signal sent by a target terminal;
a first determining module 12, configured to determine, according to the priori knowledge, a candidate arrival time interval corresponding to the positioning signal;
a second determining module 13, configured to determine, according to the positioning signal and the candidate arrival time interval, a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal;
and a third determining module 14, configured to determine a target arrival time and a target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
The positioning apparatus provided in this embodiment can perform the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, as shown in fig. 12, the second determining module 13 includes: a processing unit 131, an acquisition unit 132, and a search unit 133, wherein:
the processing unit 131 is configured to process the positioning signal to obtain a signal subspace corresponding to the positioning signal;
an obtaining unit 132, configured to obtain a candidate arrival angle according to the signal subspace and the candidate arrival time interval;
the first searching unit 133 is configured to search in the candidate arrival time interval by using a preset search algorithm to obtain a candidate arrival time.
The positioning apparatus provided in this embodiment can perform the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
Optionally, the obtaining unit 132 is specifically configured to obtain a cost function of the target spectrum according to the signal subspace and the candidate arrival time interval; reconstructing the cost function to obtain a coefficient matrix; and carrying out Fourier transform on the coefficient matrix to obtain a candidate arrival angle.
The positioning apparatus provided in this embodiment can perform the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
Optionally, the processing unit 131 is specifically configured to perform smoothing processing on the positioning signal by using a smoothing algorithm to obtain a reconstructed signal corresponding to the positioning signal; and performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
The positioning apparatus provided in this embodiment can perform the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
In one embodiment, as shown in fig. 13, the third determining module 14 includes: a determination unit 141 and a second search unit 142, wherein:
a determining unit 141, configured to determine, according to the candidate arrival time and the candidate arrival angle, a target arrival angle interval and a target arrival time interval corresponding to the positioning signal;
optionally, the target arrival time interval includes a candidate arrival time and a candidate arrival time within a first range preset with the candidate arrival time as a center; the target arrival angle section includes a candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle.
The second searching unit 142 is configured to search in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm, so as to obtain a target arrival angle and a target arrival time corresponding to the positioning signal.
The positioning apparatus provided in this embodiment can perform the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
The modules in the positioning 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 base station is provided, the internal structure of which may be as shown in fig. 14. The base station comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the base station is configured to provide computational and control capabilities. The memory of the base station comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the base station is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a positioning method.
Those skilled in the art will appreciate that the architecture shown in fig. 14 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, there is provided a base station comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program implementing the steps of:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to the priori knowledge;
determining candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval, including:
processing the positioning signal to obtain a signal subspace corresponding to the positioning signal;
obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval;
and searching in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time.
In one embodiment, the processor, when executing the computer program, further performs the steps of: obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval, including:
obtaining a cost function of the target spectrum according to the signal subspace and the candidate arrival time interval;
reconstructing the cost function to obtain a coefficient matrix;
and carrying out Fourier transform on the coefficient matrix to obtain a candidate arrival angle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: processing the positioning signal to obtain a signal subspace corresponding to the positioning signal, including:
smoothing the positioning signal by using a smoothing algorithm to obtain a reconstructed signal corresponding to the positioning signal;
and performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle, comprising the following steps:
determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle;
and searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the target arrival time interval comprises candidate arrival time and candidate arrival time in a first range preset by taking the candidate arrival time as a center; the target arrival angle section includes a candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to the priori knowledge;
determining candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval, including:
processing the positioning signal to obtain a signal subspace corresponding to the positioning signal;
obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval;
and searching in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time.
In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval, including:
obtaining a cost function of the target spectrum according to the signal subspace and the candidate arrival time interval;
reconstructing the cost function to obtain a coefficient matrix;
and carrying out Fourier transform on the coefficient matrix to obtain a candidate arrival angle.
In one embodiment, the computer program when executed by the processor further performs the steps of: processing the positioning signal to obtain a signal subspace corresponding to the positioning signal, including:
smoothing the positioning signal by using a smoothing algorithm to obtain a reconstructed signal corresponding to the positioning signal;
and performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle, comprising the following steps:
determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle;
and searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
In one embodiment, the computer program when executed by the processor further performs the steps of: the target arrival time interval comprises candidate arrival time and candidate arrival time in a first range preset by taking the candidate arrival time as a center; the target arrival angle section includes a candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to the priori knowledge;
determining candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval, including:
processing the positioning signal to obtain a signal subspace corresponding to the positioning signal;
obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval;
and searching in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time.
In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining a candidate arrival angle according to the signal subspace and the candidate arrival time interval, including:
obtaining a cost function of the target spectrum according to the signal subspace and the candidate arrival time interval;
reconstructing the cost function to obtain a coefficient matrix;
and carrying out Fourier transform on the coefficient matrix to obtain a candidate arrival angle.
In one embodiment, the computer program when executed by the processor further performs the steps of: processing the positioning signal to obtain a signal subspace corresponding to the positioning signal, including:
smoothing the positioning signal by using a smoothing algorithm to obtain a reconstructed signal corresponding to the positioning signal;
and performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
In one embodiment, the computer program when executed by the processor further performs the steps of: determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle, comprising the following steps:
determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle;
and searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
In one embodiment, the computer program when executed by the processor further performs the steps of: the target arrival time interval comprises candidate arrival time and candidate arrival time in a first range preset by taking the candidate arrival time as a center; the target arrival angle section includes a candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
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 related to 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, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. 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 databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
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 examples 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 present application. 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 application shall be subject to the appended claims.
Claims (10)
1. A method of positioning, the method comprising:
receiving a positioning signal sent by a target terminal;
determining a candidate arrival time interval corresponding to the positioning signal according to prior knowledge;
determining a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval;
and determining the target arrival time and the target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
2. The method of claim 1, wherein the determining the candidate arrival time corresponding to the positioning signal and the candidate arrival angle corresponding to the positioning signal according to the positioning signal and the candidate arrival time interval comprises:
processing the positioning signal to obtain a signal subspace corresponding to the positioning signal;
obtaining the candidate arrival angle according to the signal subspace and the candidate arrival time interval;
and searching in the candidate arrival time interval by using a preset search algorithm to obtain the candidate arrival time.
3. The method of claim 2, wherein obtaining the candidate angle of arrival from the signal subspace and the candidate time interval of arrival comprises:
obtaining a cost function of a target spectrum according to the signal subspace and the candidate arrival time interval;
reconstructing the cost function to obtain a coefficient matrix;
and carrying out Fourier transform on the coefficient matrix to obtain the candidate arrival angle.
4. The method according to claim 2 or 3, wherein the processing the positioning signal to obtain a signal subspace corresponding to the positioning signal comprises:
smoothing the positioning signal by using a smoothing algorithm to obtain a reconstruction signal corresponding to the positioning signal;
and performing characteristic decomposition on the reconstructed signal to obtain a signal subspace corresponding to the reconstructed signal.
5. The method of claim 1, wherein said determining a target time of arrival and a target angle of arrival of the positioning signal based on the candidate time of arrival and the candidate angle of arrival comprises:
determining a target arrival angle interval and a target arrival time interval corresponding to the positioning signal according to the candidate arrival time and the candidate arrival angle;
and searching in the target arrival angle interval and the target arrival time interval respectively by using a preset search algorithm to obtain a target arrival angle and target arrival time corresponding to the positioning signal.
6. The method of claim 5, wherein the target arrival time interval comprises the candidate arrival time and candidate arrival times within a first range preset centered around the candidate arrival time; the target arrival angle interval includes the candidate arrival angle and a candidate arrival angle within a second range preset centering on the candidate arrival angle.
7. A positioning device, the device comprising:
the receiving module is used for receiving a positioning signal sent by a target terminal;
a first determining module, configured to determine, according to a priori knowledge, a candidate arrival time interval corresponding to the positioning signal;
a second determining module, configured to determine, according to the positioning signal and the candidate arrival time interval, a candidate arrival time corresponding to the positioning signal and a candidate arrival angle corresponding to the positioning signal;
a third determining module, configured to determine a target arrival time and a target arrival angle of the positioning signal according to the candidate arrival time and the candidate arrival angle.
8. A base station comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.
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| CN113286362A (en) * | 2021-05-20 | 2021-08-20 | 北京邮电大学 | Method for acquiring arrival time and arrival angle of multipath signal and related device |
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| WO2013088951A1 (en) * | 2011-12-12 | 2013-06-20 | 株式会社村田製作所 | Position measurement device |
| CN109327248A (en) * | 2017-07-31 | 2019-02-12 | ***通信集团广东有限公司 | A kind of broadcast wave bean shaping method and base station |
| CN111142061A (en) * | 2019-12-24 | 2020-05-12 | 泰凌微电子（上海）有限公司 | Signal arrival angle estimation method and device and computer readable storage medium |
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