WO2019072062A1 - 一种基于5g信号的doa指纹库定位方法 - Google Patents
一种基于5g信号的doa指纹库定位方法 Download PDFInfo
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- WO2019072062A1 WO2019072062A1 PCT/CN2018/104919 CN2018104919W WO2019072062A1 WO 2019072062 A1 WO2019072062 A1 WO 2019072062A1 CN 2018104919 W CN2018104919 W CN 2018104919W WO 2019072062 A1 WO2019072062 A1 WO 2019072062A1
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- target
- angle information
- positioning
- fingerprint database
- cell
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0273—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves using multipath or indirect path propagation signals in position determination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
Definitions
- the invention belongs to the field of positioning technology, and particularly relates to a DOA fingerprint library positioning method based on a 5G signal.
- Traditional positioning technologies mainly include outdoor GPS positioning technology, wireless network sensor positioning technology, sonar underwater positioning technology, radar positioning technology and cellular network base station positioning technology, while indoor positioning includes Wi-Fi indoor positioning technology, Bluetooth indoor positioning technology. And ultra-wideband indoor positioning technology.
- GPS Global Positioning System
- Other positioning methods are mainly based on Received Signal Strength Indication (RSSI), based on Time of Arrival (TOA), based on Time Difference of Arrival (TDOA). , based on the Signal Angle of Arrival (DOA) and joint positioning method. In the NLOS environment, these positioning technologies are very poorly positioned and even unable to locate.
- the location of the existing fingerprint database is mostly based on the RSSI location fingerprint method.
- the fingerprint database is constructed by using the difference of signal strengths at different nodes, and then the fingerprint matching algorithm such as K nearest neighbor (KNN) is used for positioning. Since the RSSI of the reference position is to be measured point by point, the method takes a lot of manpower and time in the stage of offline fingerprint collection, which results in low application efficiency.
- KNN K nearest neighbor
- the object of the present invention is to solve the deficiencies in the prior art and provide a DOA fingerprint library positioning method based on 5G signals.
- a method for positioning a DOA fingerprint database based on a 5G signal includes the following steps:
- step (1) the original area is first divided into a plurality of micro cells, and a reference point is set in each micro cell, and then the data received by the base station antenna array is calculated by the ESPRIT method to obtain each micro cell. Estimated angle information of the reference point in the middle.
- step (2) the estimated angle information of each micro cell needs to be in one-to-one correspondence with the reference point and the actual location information corresponding to the cell; and the estimated angle information in the fingerprint database is updated every fixed time.
- step (3) when there is a target in the positioning area, the data received by the base station antenna array is calculated by the MUSIC method or the ESPRIT method, thereby estimating the angle information of the target in the area.
- the specific method of the step (4) is: matching the angle information of the target estimation in the step (3) with the estimated angle information in the fingerprint database, and searching for the best matching estimated angle information in the fingerprint database, and obtaining the best result.
- the cell corresponding to the matched point is the location where the target is now, that is, the location where the target is located.
- the angle value in the fingerprint database is updated in real time according to the current environment and channel conditions.
- the angle between the estimated angle and the fingerprint database can be matched without considering any channel information. Therefore, the scheme can perform accurate positioning in a complicated channel environment, and is applicable to a wide range of applications.
- the scheme is divided into cells by region, and the target point is located in the cell by using angle matching. When the divided cells are small enough, high-precision positioning can be achieved.
- the fingerprint library location of the present invention is less affected by channel conditions, and can achieve accurate positioning in a poor channel condition and NLOS environment. At the same time, it solves the positioning problem in the NLOS environment, and has high positioning accuracy and applicability. A wide range of advantages.
- FIG. 1 is a layout view of a positioning area of a fingerprint library in Embodiment 1;
- FIG. 2 is a schematic diagram of a signal received by an antenna array in Embodiment 1;
- FIG. 3 is a layout view of a positioning area of a fingerprint library in Embodiment 2;
- Embodiment 4 is a positioning target positioning diagram in Embodiment 2.
- Figure 5 is a block diagram of the sub-array of the ESPRIT algorithm.
- the traditional positioning technology is greatly affected by the environment, channel conditions, and the presence or absence of the direct path.
- the positioning accuracy is poor or even impossible to locate in the poor channel conditions and NLOS environment.
- the invention divides the original area into a plurality of micro cells, uses an algorithm to estimate the angle information of the reference points in the divided cells, and then saves the angle information of each cell reference point and the location information of the corresponding cell in the fingerprint database. And updating the angle information in the fingerprint library at a fixed time; so that when there is a target in the area, by determining the angle information of the target, and then matching with the angle information in the fingerprint database, determining the cell where the target is located, You can get the location information of the target to achieve the target's positioning.
- the required location area is divided into N ⁇ N cells, and a reference point is set in each cell (in practice, the number of reference points can be set according to requirements), according to the reference point.
- the positions are numbered 1, 2, 3..., N ⁇ N and assigned different ID numbers, and the reference points of different ID numbers are transmitted at different times, as shown in Fig. 1. (The slot interval is greater than the maximum arrival time)
- the location information of each reference point and cell is entered into the fingerprint database according to the number.
- One or more sets of antenna arrays are set at the boundary of the positioning area, and the wideband OFDM signals transmitted from the reference points of the respective cells are sequentially received, and each signal is used by using the ESPRIT algorithm or the MUSIC algorithm.
- the subcarrier signals (narrowbands) used for positioning are processed, and the corresponding angle information of each reference point is estimated, as shown in FIG. 2.
- the reference point is correspondingly matched with the estimated angle and the coordinates.
- all the estimated angle information is entered into the fingerprint database, and the estimated information in the fingerprint database is updated at regular intervals according to actual conditions.
- the wideband OFDM signal transmitted by the target is located in the area, and after receiving the antenna array, the subcarrier signal is processed by the ESPRIT algorithm or the MUSIC algorithm, and all the estimated angle information of the target and corresponding are obtained. Signal strength information.
- the estimated angle information is matched with the angle information in the fingerprint database. Due to the complexity of the environment, there may be multiple estimation angles. When correlation matching is performed, different weights a1, a2 are set according to the signal strength information of each angle. ...an. By selecting the reference point with the largest correlation with the target angle by correlation matching, you can know the area where the target is located and locate the target.
- the positioning area is first divided into N ⁇ N cells, and a reference point is set in each cell (in practice, the number of reference points can be set according to requirements), according to the reference point
- the positions are numbered 1, 2, 3..., N ⁇ N and assigned different IDs, and different numbers are transmitted at different times, as shown in FIG. (The slot interval is greater than the maximum arrival time)
- the location information of each reference point and cell is entered into the fingerprint database according to the number.
- each base station has a set of antenna arrays, which in turn receive wideband OFDM signals transmitted from reference points of respective cells, and use ESPRIT algorithm or MUSIC algorithm for each signal.
- the subcarrier signals (narrowbands) used for positioning are processed, and all angle information of each corresponding reference point is estimated, as shown in FIG.
- the virtual coordinate information of the anchor point can be obtained by solving the following equation.
- the reference point is in one-to-one correspondence with the coordinates, and all the virtual coordinate information is entered into the fingerprint database, and the estimated information in the fingerprint database is updated at regular intervals according to actual conditions.
- the wideband OFDM signal transmitted by the target is located in the area, and after receiving the antenna array, the subcarrier signal is processed by using the ESPRIT algorithm or the MUSIC algorithm, and all the estimated angle information of the target and corresponding are obtained. Signal strength information.
- the virtual position information of the target is calculated by the method in step (3).
- the estimated virtual location information is matched with the virtual location information in the fingerprint database. Due to the complexity of the environment, there may be multiple virtual coordinates. When the correlation is matched, the signal strength information of each virtual coordinate is set differently. Weights a1, a2...an. By correlating the reference points that have the greatest correlation with the target virtual coordinates, the target area can be known and the target can be located.
- the DOA fingerprint library positioning of the present invention utilizes a large-scale MIMO antenna array and an algorithm to directly estimate the signal direction angle, and the information of the unused signal strength (in the NLOS environment, is not affected by the channel environment). And using the intersection of two or more directional angles, accurately calculate the position of the target, and build a fingerprint library.
- Both sub-array X 1 and sub-array X 2 comprise N-1 array elements, wherein sub-array X 1 is composed of the first N-1 array elements of the ULA array, and sub-array X 2 is composed of N-1 array elements after the ULA array.
- the sub-array X 1 is shifted to the right by one array element spacing to obtain the sub-array X 2 .
- the two sub-arrays have translation invariance, and the signal subspace corresponding to the two sub-arrays has rotation invariance. This relationship is expressed by the formula as
- the steering vector B Since the steering vector B is equal to the signal space, it must exist and there is only one non-singular transformation matrix T such that the formula (5) is established.
- the signal feature subspaces E 1 and E 2 are obtained by the eigenvalue decomposition of the autocovariance matrix R yy , and then the eigenvalue decomposition is obtained by the formula (9) to obtain the angle of arrival parameters as shown below.
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
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Claims (5)
- 一种基于5G信号的DOA指纹库定位方法,其特征在于:包括以下步骤:(1)将初始区域划分成N*N个大小相等的微型小区,选定每个小区的中心点为参考点,并对划分的微型小区中的参考点的角度信息进行估计;(2)然后将各个微型小区参考点的角度信息和相应小区的位置信息保存在指纹库中,每隔固定的时间对指纹库中的角度信息进行更新;(3)使得当有目标在该区域时,通过估计目标的角度信息;(4)与指纹库中的角度信息进行匹配,确定该目标所在的小区,即可得到目标的位置信息,从而实现目标的定位。
- 根据权利要求1所述的基于5G信号的DOA指纹库定位方法,其特征在于:所述步骤(1)中首先将原本的区域划分成很多微型小区,并在每个微型小区中都设置参考点,接着通过MUSIC法或者ESPRIT法对基站天线阵列接收的数据进行计算,得到每个微型小区中参考点的估计角度信息。
- 根据权利要求1所述的基于5G信号的DOA指纹库定位方法,其特征在于:所述步骤(2)中需将每个微型小区的参考点估计角度信息与参考点和小区相应的的实际位置信息一一对应;每隔固定的时间对指纹库中的估计角度信息进行更新。
- 根据权利要求1所述的基于5G信号的DOA指纹库定位方法,其特 征在于:所述步骤(3)当有目标在定位区域的时候,接着通过ESPRIT法对基站天线阵列接收的数据进行计算,进而估计出目标在该区域的角度信息。
- 根据权利要求1所述的基于5G信号的DOA指纹库定位方法,其特征在于:所述步骤(4)的具体方法为:将步骤(3)目标估计的角度信息与指纹库中的估计角度信息进行匹配,在指纹库中寻找最佳匹配的估计角度信息,得到的最佳匹配的点所对应的小区便是目标现在所处的位置,即定位出目标的位置。
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US20220099789A1 (en) * | 2020-09-25 | 2022-03-31 | Nokia Solutions And Networks Oy | Positioning system deployment |
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CN107613559B (zh) * | 2017-10-12 | 2019-06-21 | 东南大学 | 一种基于5g信号的doa指纹库定位方法 |
CN108957396A (zh) * | 2018-07-19 | 2018-12-07 | 东南大学 | 一种基于5g信号的ofdm定位***及定位方法 |
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CN109982306B (zh) * | 2019-02-22 | 2022-03-08 | 普联技术有限公司 | 一种基于天线方向特性的定位方法、装置和*** |
US11968591B2 (en) * | 2019-03-19 | 2024-04-23 | Invensense, Inc. | Maintenance of a location fingerprint database for an area |
CN110751854B (zh) * | 2019-10-28 | 2021-08-31 | 芜湖雄狮汽车科技有限公司 | 汽车的停车指引方法、装置及存储介质 |
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CN111565357B (zh) * | 2020-04-13 | 2021-12-07 | 中国联合网络通信集团有限公司 | 定位方法和终端 |
CN113938360B (zh) * | 2021-10-12 | 2024-02-27 | 东南大学 | 一种基于指纹定位的分布式mimo***协方差矩阵估计方法 |
CN117320150B (zh) * | 2023-09-22 | 2024-04-05 | 大连海事大学 | 基于移动蜂窝网络多特征的室外指纹定位方法、计算机及存储介质 |
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