CN107484241B - A Method and Device Based on Geo-Fingerprint Positioning under a Millimeter Wave Channel - Google Patents

Abstract

The embodiment of the present invention provides a method and device for positioning based on geographic fingerprints under a millimeter wave channel. The method estimates the location of the online sink according to the preset location of the sink to be positioned and the preset offline geographic fingerprint database, and determines the location of the online sink. , wherein, the offline geographic fingerprint database is used to store the geographic fingerprint of the access point AP in the preset positioning area, and the geographic fingerprint of an AP includes: each reference point RP in the preset positioning area receives the The signal strength of the sent signal, the relative angle between each RP and the AP, the relative angle is: the angle between the connection line between the AP and an RP and the vertical direction; use the online sink position to locate the sink to be positioned s position. The solution provided by the embodiment of the present invention comprehensively considers the characteristics of relative angle and signal strength in the millimeter wave channel environment, thereby improving the accuracy of positioning.

Description

A Method and Device Based on Geo-Fingerprint Positioning under a Millimeter Wave Channel

technical field

The present invention relates to the technical field of wireless communication, in particular to a method and device for locating based on geographical fingerprints under a millimeter wave channel.

Background technique

In different geographical environments, the multipath characteristics of channels are different. The wireless signal transmitted by the terminal at a certain location is reflected, refracted, and scattered during the propagation process, and generates unique multipath signals related to the propagation environment. These multipath characteristics are considered as the "geographical fingerprint" of this location.

Compared with the positioning method based on distance measurement and angle measurement, the positioning method based on geographical fingerprint does not rely on the direct path for positioning. It combines the characteristics of received signals, channel estimation results and geographical environment information, etc., to complete high-precision sink location.

At present, the prior art proposes a positioning method based on geographical fingerprints under the millimeter wave channel. This method is to use the measured signal strength of the target sink as the geographical fingerprint of the preset target sink under the wireless WIFI channel environment. The geographic fingerprints stored in the fingerprint database are compared, and the location of the sampling point corresponding to the geographic fingerprint with the smallest difference is used as the final target destination location, wherein the geographic fingerprint in the fingerprint database is the signal strength measured at the sampling point. However, this method only relies on signal strength as a geographical fingerprint for positioning. Due to the insufficient directionality of WIFI and limited low-frequency resources, the positioning accuracy of this method is poor.

Contents of the invention

The purpose of the embodiments of the present invention is to provide a method and device for positioning based on geographic fingerprints under a millimeter wave channel, which performs positioning after comprehensively considering the characteristics of relative angle and signal strength, so as to improve the accuracy of positioning. The specific technical scheme is as follows:

A method for positioning based on geographical fingerprints under a millimeter wave channel, the method comprising:

Perform online sink location estimation and determine the online sink location according to the preset location of the sink to be positioned and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store access points AP in the preset positioning area Geographical fingerprint, the geographic fingerprint of an AP includes: the signal strength of each reference point RP in the preset positioning area receiving the signal sent by the AP, and the relative angle between each RP and the AP, and the relative angle is : The angle between the connection line between the AP and an RP and the vertical direction;

Using the online sink position, locate the position of the sink to be located.

Further, the relative angle is:

The angle obtained by estimating the relative angle of the RP in the preset positioning area by using the direction of arrival positioning technology DOA.

Further, said performing online sink location estimation and determining the online sink location according to the preset location of the sink to be located and the preset offline geographical fingerprint database, including:

Obtaining the signal strength S _q of the signal sent by each AP in the preset positioning area received online by the sink at the preset position; where, q is the serial number of the AP in the preset positioning area;

According to the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

According to the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

Comparing the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtaining a comparison value corresponding to each RP, and sorting the obtained comparison values;

Select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink.

Further, using the online sink location to locate the location of the sink to be located includes:

A weighted calculation is performed on the position of the RP corresponding to the selected comparison value according to a preset weight value to obtain the position of the destination to be located.

Further, the first weighted sum of each AP in the preset positioning area is compared with the second weighted sum of each RP corresponding to the AP to obtain a comparison value corresponding to each RP, and the obtained comparison Values are sorted, including:

Compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtain the comparison value corresponding to each RP according to the following expression, and compare the obtained comparison value put in order;

expression: Among them, B _w represents the comparison value corresponding to the wth RP, Q represents the total number of APs in the area to be located, and a is any positive real number.

Further, using the online sink location to locate the location of the sink to be located includes:

Using the selected comparison value as a weight, performing weighted calculation on the position of the RP corresponding to the selected comparison value according to the following expression, to obtain the position of the destination to be located;

expression: in, are the positions corresponding to the x-axis and y-axis of the destination to be located in the Cartesian coordinate system, x _w and y _w are the positions corresponding to the x-axis and y-axis of the wth RP in the Cartesian coordinate system, and K is the selected comparison value corresponding to the total number of RPs, A number that approaches zero to prevent the denominator from being zero.

A device based on geographic fingerprint positioning under a millimeter wave channel, the device comprising:

The online sink position determination module is used to estimate the position of the online sink and determine the position of the online sink according to the preset position of the sink to be located and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store the preset The geographical fingerprint of the access point AP in the positioning area. The geographical fingerprint of an AP includes: the signal strength of the signal sent by the AP received by each reference point RP in the preset positioning area, and the distance between each RP and the AP. Relative angle, the relative angle is: the angle between the connection line between the AP and one RP and the vertical direction;

The position determining module of the sink to be located is configured to locate the position of the sink to be located by using the position of the sink to be located online.

Further, the online sink location determination module includes:

The first signal strength determination submodule is used to obtain the signal strength Sq of the signal sent by each AP in the preset positioning area received online by the sink at the preset location; where, _q is the preset positioning area The serial number of the internal AP;

The first weighted calculation sub-module is used to follow the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

The second weighted calculation sub-module is used to follow the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

The comparison sub-module is used to compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtain a comparison value corresponding to each RP, and compare the obtained Compare values to sort;

The second online sink determining submodule is configured to select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink.

In yet another aspect of the implementation of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium stores instructions, and when it is run on a computer, it causes the computer to perform any one of the above-mentioned ones. A geo-fingerprint-based positioning method in millimeter wave channels.

In yet another aspect of the implementation of the present invention, the embodiment of the present invention also provides a computer program product containing instructions, which, when run on a computer, enables the computer to execute any one of the above-mentioned geographic-based The method of fingerprint location.

The embodiment of the present invention provides a method and device based on geo-fingerprint positioning under the millimeter wave channel, which can estimate the location of the online sink according to the preset location of the sink to be positioned and the preset offline geographic fingerprint database, and determine the location of the online sink. Using the online sink location, determine the location of the target sink. In the millimeter wave channel environment, this method comprehensively considers the characteristics of angle and signal strength, thereby improving the accuracy of positioning.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of the first method for positioning based on geographical fingerprints under a millimeter wave channel provided by an embodiment of the present invention;

Fig. 2 is a display diagram of relative angles provided by the embodiment of the present invention;

FIG. 3 is a schematic diagram of a second geographical fingerprint-based positioning method under a millimeter wave channel provided by an embodiment of the present invention;

FIG. 4 is a schematic diagram of a third method for positioning based on geographical fingerprints under a millimeter wave channel provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of a device based on geographical fingerprint positioning under a millimeter wave channel provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Features and exemplary embodiments of various aspects of the invention will be described in detail below. It should be noted that in the following detailed description, numerous specific details are set forth in order to provide a comprehensive understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details.

In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that in some cases, well-known structures, units or operation steps are not shown in detail to avoid obscuring the main technical idea of the present invention.

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can change the connection relationship, change the sequence of steps, or make different combinations with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

Fig. 1 is a schematic diagram of the first method for positioning based on geographical fingerprints under the millimeter wave channel provided by the embodiment of the present invention, the method includes:

S101. Perform online sink position estimation and determine the online sink position according to the preset position of the sink to be located and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store access points in the preset positioning area The geographic fingerprint of the AP. The geographic fingerprint of an AP includes: the signal strength of the signal sent by the AP received by each reference point RP in the preset positioning area, the relative angle between each RP and the AP, and the relative angle between the RP and the AP. The angle is: the angle between the connection line between the AP and an RP and the vertical direction;

Wherein, the sink can be understood as an object receiving a signal;

In order to describe the relative angle more clearly, the relative angle is shown in the figure. In Figure 2, θ ₁ is the relative angle formed by the access point 1 and the reference point 1 in the vertical direction, and θ ₂ is the relative angle between the access point 2 and the reference point. 1 is the relative angle formed in the vertical direction, θ ₃ is the relative angle formed by the access point 3 and the reference point 1 in the vertical direction.

It should be noted that the offline geographic fingerprint database is composed of geographic fingerprints, and a geographic fingerprint includes the signal strength of a signal sent by an AP received by each reference point RP in the preset positioning area, the distance between the AP and the preset location The relative angle between, that is to say, one AP corresponds to one signal strength and one relative angle.

In order to describe the fingerprint database more clearly, an example is given to illustrate it. Example: Assume that there are 2 RPs and 3 APs in the preset positioning area. Among them, the 2 RPs are marked as RP1 and RP2, and the 3 APs are respectively AP1 and RP2. AP2 and AP3, the offline database has six geographic fingerprints, which are:

The first geographic fingerprint: the signal strength of a signal sent by AP1 received by RP1, the relative angle between AP1 and said RP1;

The second geographical fingerprint: RP1 receives the signal strength of a signal sent by AP2, the relative angle between AP2 and the RP1;

The third geographical fingerprint: RP1 receives the signal strength of a signal sent by AP3, the relative angle between AP3 and the RP1;

The fourth geographical fingerprint: RP2 receives the signal strength of a signal sent by AP1, the relative angle between AP1 and the RP2;

The fifth geographical fingerprint: RP2 receives the signal strength of a signal sent by AP2, the relative angle between AP2 and the RP2;

The sixth geographic fingerprint: RP2 receives the signal strength of a signal sent by AP3, the relative angle between AP3 and the RP2;

It is worth mentioning that, compared with the prior art, a geographical fingerprint provided by the embodiment of the present invention includes both the signal strength corresponding to the AP and the relative angle corresponding to the AP. Therefore, the geographical fingerprint provided by the embodiment of the present invention is relatively With technical geographical fingerprints, the accuracy of positioning is higher.

The relative angle is an angle obtained by estimating the relative angle of the RP in the preset positioning area by using the direction of arrival positioning technology DOA.

specific,

The first implementation mode is: obtaining the signal strength S _q of the signal sent by each AP in the preset positioning area received by the sink at the preset position online; where, q is the signal strength S q of the AP in the preset positioning area serial number;

According to the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

According to the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

Comparing the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtaining a comparison value corresponding to each RP, and sorting the obtained comparison values;

Select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink.

The second implementation mode is:

According to the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

According to the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

Compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtain the comparison value corresponding to each RP according to the following expression, and compare the obtained comparison value put in order;

expression: Among them, B _w represents the comparison value corresponding to the wth RP, Q represents the total number of APs in the area to be located, and a is any positive real number;

In order to more clearly describe the above-mentioned comparison of the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, an example will now be described. Example: Assume that in the preset positioning area There are 2 RPs and 3 APs, where the 2 RPs are denoted as RP1 and RP2, and the 3 APs are respectively AP1, AP2 and AP3, then the first weight sum corresponding to each AP is L _(AP1) , L _{( AP2)} and L _(AP3) , the second weight sums corresponding to each RP are: and Then the first weighted sum of each AP in the preset positioning area is compared with the second weighted sum of each RP corresponding to the AP, and the comparison value corresponding to RP1 is The comparison value corresponding to RP2 is a can take any positive real number, generally 1 or 0.5, L _(AP1) , L _(AP2) and L _(AP3) are the first weight sum corresponding to AP1, AP2 and AP3 respectively, and are respectively the second weight sum corresponding to the matching of RP1 and RP2 with AP1, AP2 and AP3.

Select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink.

Wherein, the above-mentioned sorting of the obtained comparison values may be sorting the comparison values from large to small, or may sort the comparison values from small to large.

Based on the above situation, when the size of the comparison values is sorted from large to small, the position of the RP corresponding to the preset number of comparison values after sorting is determined as the online sink position. Similarly, when all When sorting the comparison values from small to large, the position of the RP corresponding to the sorted preset number of comparison values is determined as the position of the online sink.

S102. Using the online sink location, locate the location of the sink to be located.

specific,

The first implementation manner: the position of the RP corresponding to the selected comparison value is weighted according to a preset weight value to obtain the position of the destination to be located.

The second implementation manner: using the online sink position, the position of the sink to be located is located by weighted K-nearest neighbor method WKNN.

A third implementation manner: using the selected comparison value as a weight, perform weighted calculation on the position of the RP corresponding to the selected comparison value according to the following expression, to obtain the position of the destination to be located;

expression: in, are the positions corresponding to the x-axis and y-axis of the destination to be located in the Cartesian coordinate system, x _w and y _w are the positions corresponding to the x-axis and y-axis of the wth RP in the Cartesian coordinate system, and K is the selected comparison value corresponding to the total number of RPs, A number that approaches zero to prevent the denominator from being zero.

It can be seen that in the millimeter wave channel environment, this method comprehensively considers the geographical fingerprint corresponding to an AP including the relative angle and signal strength, thereby improving the positioning accuracy.

Fig. 3 is a schematic diagram of a second geographical fingerprint-based positioning method under a millimeter wave channel provided by an embodiment of the present invention, the method comprising:

S201. Obtain the signal strength Sq of the signal sent by each AP in the preset location area received online by the sink at the preset location; where, _q is the serial number of the AP in the preset location area;

S202, according to the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

S203, according to the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

S204, comparing the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtaining a comparison value corresponding to each RP, and sorting the obtained comparison values ;

S205. Select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink;

S206. Using the online sink location, locate the location of the sink to be located.

It can be seen that in the mmWave channel environment, this method comprehensively considers that the geographic fingerprint corresponding to an AP includes the characteristics of relative angle and signal strength, and compares the geographic fingerprint obtained online with the geographic fingerprint in the offline geographic fingerprint database. processing to obtain the position of the destination to be located, thereby improving the accuracy of positioning.

Fig. 4 is a schematic diagram of a third method for positioning based on geographical fingerprints under a millimeter wave channel provided by an embodiment of the present invention, the method comprising:

S301. Obtain the signal strength Sq of the signal sent by each AP in the preset location area received online by the sink at the preset location; where, _q is the serial number of the AP in the preset location area;

S302, according to the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

S303, according to the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

S304. Comparing the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtaining the comparison value corresponding to each RP according to the following expression, and comparing the obtained Compare values to sort;

expression: Among them, B _w represents the comparison value corresponding to the wth RP, Q represents the total number of APs in the area to be located, and a is any positive real number;

S305. Select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink;

S306. Using the selected comparison value as a weight, perform weighted calculation on the position of the RP corresponding to the selected comparison value according to the following expression, to obtain the position of the destination to be located;

expression: in, are the positions corresponding to the x-axis and y-axis of the destination to be located in the Cartesian coordinate system, x _w and y _w are the positions corresponding to the x-axis and y-axis of the wth RP in the Cartesian coordinate system, and K is the selected comparison value corresponding to the total number of RPs, A number that approaches zero to prevent the denominator from being zero.

It can be seen that in the mmWave channel environment, this method comprehensively considers that the geographic fingerprint corresponding to an AP includes the characteristics of relative angle and signal strength, and compares the geographic fingerprint obtained online with the geographic fingerprint in the offline geographic fingerprint database. Afterwards, a comparison value is obtained, and by weighting the selected comparison value, the position of the destination to be located is obtained, thereby improving the accuracy of positioning.

Fig. 5 is a schematic diagram of a device based on geographical fingerprint positioning under a millimeter wave channel provided by an embodiment of the present invention, the device includes:

The online sink position determination module 401 is configured to estimate the position of the online sink and determine the position of the online sink according to the preset position of the sink to be located and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store the preset Set the geographical fingerprint of the access point AP in the positioning area. The geographical fingerprint of an AP includes: the signal strength of the signal sent by each reference point RP in the preset positioning area, and the distance between each RP and the AP. The relative angle is: the angle between the connection line between the AP and one RP and the vertical direction;

The position determining module 402 of the sink to be located is configured to locate the position of the sink to be located by using the position of the sink to be located online.

specific,

The relative angle is:

The angle obtained by estimating the relative angle of the RP in the preset positioning area by using the direction of arrival positioning technology DOA.

The online destination location determination module 401 includes:

The first signal strength determination submodule is used to obtain the signal strength Sq of the signal sent by each AP in the preset positioning area received online by the sink at the preset location; where, _q is the preset positioning area The serial number of the internal AP;

The first weighted calculation sub-module is used to follow the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP;

The second weighted calculation sub-module is used to follow the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database;

The comparison sub-module is used to compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtain a comparison value corresponding to each RP, and compare the obtained Compare values to sort;

The second online sink determining submodule is configured to select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink.

The comparison sub-module includes:

The sorting subunit is used to compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, and obtain the comparison value corresponding to each RP according to the following expression, and Sort the obtained comparison values;

expression: Among them, B _w represents the comparison value corresponding to the wth RP, Q represents the total number of APs in the area to be located, and a is any positive real number.

The location determination module 402 of the to-be-located receiver includes:

The submodule for obtaining the position of the first sink to be located is configured to weight the position of the RP corresponding to the selected comparison value according to a preset weight based on the position of the online sink, and obtain the position of the sink to be located.

The location determination module 402 of the to-be-located receiver includes:

The second position obtaining submodule of the destination to be located is used to use the selected comparison value as a weight, and perform weighted calculation on the position of the RP corresponding to the selected comparison value according to the following expression, to obtain the position of the destination to be located;

expression: in, are the positions corresponding to the x-axis and y-axis of the destination to be located in the Cartesian coordinate system, x _w and y _w are the positions corresponding to the x-axis and y-axis of the wth RP in the Cartesian coordinate system, and K is the selected comparison value corresponding to the total number of RPs, A number that approaches zero to prevent the denominator from being zero.

It can be seen that in the millimeter wave channel environment, the characteristics of the relative angle and signal strength are comprehensively considered for positioning, thereby improving the accuracy and precision of positioning.

The embodiment of the present invention also provides an electronic device, as shown in FIG. complete the mutual communication,

Memory 503, used to store computer programs;

The processor 501 is configured to implement the geographical fingerprint-based positioning method provided by the embodiment of the present invention when executing the program stored in the memory 503 .

Specifically, the above positioning method based on geographical fingerprints includes:

Perform online sink location estimation and determine the online sink location according to the preset location of the sink to be positioned and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store access points AP in the preset positioning area Geographical fingerprint, the geographic fingerprint of an AP includes: the signal strength of each reference point RP in the preset positioning area receiving the signal sent by the AP, and the relative angle between each RP and the AP, and the relative angle is : the angle between the connection line between the AP and an RP and the vertical direction; using the online sink position, locate the position of the sink to be located.

It can be seen from the above that the implementation of the electronic device provided by this embodiment, in the millimeter wave channel environment, comprehensively considers the characteristics of the relative angle and the signal strength to perform positioning, thereby improving the accuracy of positioning.

The implementation of the geographical fingerprint-based positioning method of the above related content is the same as the positioning method of the geographical fingerprint-based positioning method provided in the foregoing method embodiments, and will not be repeated here.

The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus or the like. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The memory may include a random access memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-Volatile Memory, NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far away from the aforementioned processor.

Above-mentioned processor can be general-purpose processor, comprises central processing unit (Central Processing Unit, CPU), network processor (Network Processor, NP) etc.; It can also be digital signal processor (Digital Signal Processing, DSP), ASIC (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

A computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the geographical fingerprint-based positioning method provided by the embodiment of the present invention is implemented.

Specifically, the above positioning method based on geographical fingerprints includes:

Perform online sink location estimation and determine the online sink location according to the preset location of the sink to be positioned and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store access points AP in the preset positioning area Geographical fingerprint, the geographic fingerprint of an AP includes: the signal strength of each reference point RP in the preset positioning area receiving the signal sent by the AP, and the relative angle between each RP and the AP, and the relative angle is : the angle between the connection line between the AP and an RP and the vertical direction; using the online sink position, locate the position of the sink to be located.

It can be seen from the above that when the application program stored in the computer-readable storage medium provided by this embodiment is executed, in the millimeter wave channel environment, the characteristics of the relative angle and signal strength are comprehensively considered for positioning, thereby improving the accuracy of positioning sex.

The implementation of the geographical fingerprint-based positioning method of the above related content is the same as the positioning method of the geographical fingerprint-based positioning method provided in the foregoing method embodiments, and will not be repeated here.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present invention will be generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server, or data center by wired (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, a Solid State Disk (SSD)).

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Each embodiment in this specification is described in a related manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of methods, devices, electronic devices, and computer-readable storage media, since they are basically similar to the method embodiments, the description is relatively simple, and for relevant parts, please refer to part of the description of the method embodiments.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims (8)

1. A method based on geographic fingerprint positioning under a millimeter wave channel, characterized in that the method comprises: Perform online sink location estimation and determine the online sink location according to the preset location of the sink to be positioned and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store access points AP in the preset positioning area Geographical fingerprint. The geographical fingerprint of an AP includes: the signal strength of each reference point RP in the preset positioning area receiving the signal sent by the AP, and the relative angle between each RP and the AP. The relative angle is : The angle between the connection line between the AP and an RP and the vertical direction; Locating the location of the to-be-located information destination by using the location of the online destination; According to the preset location of the destination to be located and the preset offline geographical fingerprint database, the online destination estimation is carried out to determine the location of the online destination, including: Obtaining the signal strength S _q of the signal sent by each AP in the preset positioning area received online by the sink at the preset position; where, q is the serial number of the AP in the preset positioning area; According to the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP; According to the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database; Comparing the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtaining a comparison value corresponding to each RP, and sorting the obtained comparison values; Select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink. 2. The method of claim 1, wherein the relative angle is: The angle obtained by estimating the relative angle of the RP in the preset positioning area by using the direction of arrival positioning technology DOA. 3. The method according to claim 2, wherein the locating the position of the sink to be located by using the position of the online sink comprises: A weighted calculation is performed on the position of the RP corresponding to the selected comparison value according to a preset weight value to obtain the position of the destination to be located. 4. The method according to claim 2, wherein the first weighted sum of each AP in the preset positioning area is compared with the second weighted sum of each RP corresponding to the AP to obtain each The comparison value corresponding to RP, and sort the comparison value obtained, including: Compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtain the comparison value corresponding to each RP according to the following expression, and compare the obtained comparison value put in order; expression: Among them, B _w represents the comparison value corresponding to the wth RP, Q represents the total number of APs in the area to be located, and a is any positive real number. 5. The method according to claim 4, wherein the locating the location of the destination to be located by using the location of the online destination includes: Using the selected comparison value as a weight, performing weighted calculation on the position of the RP corresponding to the selected comparison value according to the following expression, to obtain the position of the destination to be located; expression: in, are the positions corresponding to the x-axis and y-axis of the destination to be located in the Cartesian coordinate system, x _w and y _w are the positions corresponding to the x-axis and y-axis of the wth RP in the Cartesian coordinate system, and K is the selected comparison value corresponding to the total number of RPs, A number that approaches zero to prevent the denominator from being zero. 6. A device based on geographical fingerprint positioning under a millimeter wave channel, characterized in that the device comprises: The online sink position determination module is used to estimate the position of the online sink and determine the position of the online sink according to the preset position of the sink to be located and the preset offline geographic fingerprint database, wherein the offline geographic fingerprint database is used to store the preset The geographical fingerprint of the access point AP in the positioning area. The geographical fingerprint of an AP includes: the signal strength of the signal sent by the AP received by each reference point RP in the preset positioning area, and the distance between each RP and the AP. Relative angle, the relative angle is: the angle between the connection line between the AP and one RP and the vertical direction; The position determination module of the sink to be located is used to locate the position of the sink to be located by using the position of the sink online; The online destination location determination module includes: The first signal strength determination submodule is used to obtain the signal strength Sq of the signal sent by each AP in the preset positioning area received online by the sink at the preset location; where, _q is the preset positioning area The serial number of the internal AP; The first weighted calculation sub-module is used to follow the following expression Calculating the first weighted sum corresponding to each AP in the preset positioning area, where L _q is the first weighted sum of the AP with the sequence number q in the preset positioning area, w ₁ +w ₂ =1, w ₁ , w ₂ is the weight, is the relative angle between the preset position and the qth AP; The second weighted calculation sub-module is used to follow the following expression Calculate the second weighted sum corresponding to each AP in the preset positioning area, where _Fwq is the second weighted sum corresponding to the qth AP corresponding to the RP with the sequence number w in the preset positioning area, and w is the preset Set the serial number of the RP in the location area, S _wq is the signal strength of the signal sent by the qth AP received by the wth RP recorded in the preset offline geographical fingerprint database, is the relative angle between the wth RP and the qth AP recorded in the preset offline geographic fingerprint database; The comparison sub-module is used to compare the first weighted sum of each AP in the preset positioning area with the second weighted sum of each RP corresponding to the AP, obtain a comparison value corresponding to each RP, and compare the obtained Compare values to sort; The second online sink determining submodule is configured to select the smallest preset number of comparison values from the sorted comparison values, and determine the position of the RP corresponding to the selected comparison value as the position of the online sink. 7. An electronic device, characterized in that, comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the bus, memory for storing computer programs; When the processor is used to execute the program stored in the memory, it realizes the method steps described in any one of claims 1-5. 8. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method steps of any one of claims 1-5 are implemented.