CN112710986A - Sound positioning method and system based on 5G signal synchronization - Google Patents
Sound positioning method and system based on 5G signal synchronization Download PDFInfo
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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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/20—Position of source determined by a plurality of spaced direction-finders
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Abstract
The invention provides a sound positioning method and system based on 5G signal synchronization, which comprises the steps of realizing simultaneous emission of a 5G signal and a sound signal at a base station end; by using the downlink transmission of the 5G signals, a receiving end receives the 5G signals transmitted by each base station, and the time delay compensation is carried out through a synchronous signal block in the 5G signals, so that the signal synchronization between the base stations is realized; and then, by utilizing the characteristic of low-speed propagation of the sound signals, based on time delay compensation correction, ranging is carried out through arrival differences of the sound signals transmitted by the base stations, and positioning is carried out through the multi-base-station ranging results. When the invention is implemented, the simultaneous transmission of two signals can be realized through hardware design, the time synchronization between base station equipment is carried out by utilizing the high-speed propagation characteristic of the 5G signal, the sound signal with ultra-low speed compared with the 5G signal is received, and the distance estimation and positioning are carried out through the synchronized sound signal. The method innovatively uses 5G signals to synchronize the base station equipment, and has higher synchronization precision compared with the existing sound wave positioning method.
Description
Technical Field
The invention belongs to the technical field of wireless positioning navigation, and particularly relates to a sound positioning method and system based on 5G signal synchronization.
Background
The existing satellite-based wireless positioning systems, such as the Global Positioning System (GPS) in the united states, the beidou positioning system in China, the GLONASS system in russia, and the Galileo (Galileo) system in europe, have an important advantage of wide coverage, and are widely used globally. However, in the important scenes of the civil field with great development potential, the positioning system is difficult to position under the condition of physical shielding of buildings and the like, and especially in the indoor environment, signals cannot be covered, and the positioning effect is poor. The existing indoor wireless positioning method and system mainly use electromagnetic waves, and are easily influenced by complex channels indoors due to the fact that the propagation speed of the electromagnetic waves is close to the speed of light. The sound signals are used, and due to the advantages of low frequency, low-speed transmission, low energy consumption and low cost, the transmission speed is far lower than that of electromagnetic wave signals, and acoustic characteristics are obviously difficult to eliminate, so that the sound signals are proved to have higher positioning accuracy indoors, but in practical application, the synchronization between sound source base stations based on the microphone array needs to achieve higher accuracy.
The invention notices that the 5G signal is a brand-new wireless communication technology and is widely applied at home and abroad, and the deployment density of the 5G signal is far higher than that of a Bluetooth base station and an LTE base station, so that the invention has good coverage and greater advantages in wireless communication. Therefore, the invention provides a higher synchronization precision by utilizing the characteristics of low delay and high speed of the 5G signal to synchronize equipment, a new wireless positioning mode can be obtained by combining the existing 5G technology with the sound signal, and the positioning technology has wide application prospect.
Compared with a public infrastructure 5G base station, the existing method for synchronizing by using the Bluetooth signals and the WIFI signals needs a consumer to additionally deploy the base station to bring higher cost, and in addition, the transmission performance of the Bluetooth signals and the WIFI signals still can be interfered more, so that the synchronization precision is influenced.
In summary, the problems of the prior art and the application are as follows:
(1) in important scenes such as the civil field, the existing positioning system is difficult to position under the condition of physical shielding of buildings and the like, especially in an indoor environment, signals cannot be covered, and the positioning effect is poor.
(2) In the existing synchronization method based on the Bluetooth signal and the WIFI signal, because the signal is difficult to avoid an easily interfered frequency band, the synchronization precision is reduced, and further the positioning precision is reduced, and a related information source base station does not have a large-scale construction foundation and must be additionally arranged, so that the high cost and the low coverage are caused.
(3) The existing sound positioning is difficult to popularize due to the fact that independent sound source base stations need to be deployed, and application is limited. In addition, the multi-base-station sound positioning accuracy is greatly influenced by synchronization, and the multi-base-station sound positioning accuracy needs to be improved by higher synchronization accuracy.
The difficulty of solving the technical and application problems is as follows:
at present, wireless communication technologies such as Bluetooth and WIFI for positioning and base station synchronous processing belong to non-infrastructure, and need to be additionally deployed by consumers according to requirements, so that scale popularization and application are difficult to realize by combining with sound positioning.
The significance of solving the technical problems is as follows:
and the wide-coverage and low-delay signal source is explored to synchronize the sound source base station equipment, so that the precision and the usability of sound positioning can be further improved. The high-precision characteristic of sound positioning is fully utilized, the 5G signal is utilized to further reduce the synchronous delay of the base station equipment, and the positioning precision can be effectively improved. The combination of the sound module and the 5G signal module is realized, the popularization and the use of sound source base station equipment can be increased, the high coverage rate and low cost positioning are realized, and the method has important significance for high-precision positioning and navigation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a sound positioning method and system based on 5G signal synchronization.
The invention provides a sound positioning method based on 5G signal synchronization, which comprises the steps of realizing simultaneous emission of a 5G signal and a sound signal at a base station end;
by using the downlink transmission of the 5G signals, a receiving end receives the 5G signals transmitted by each base station, and the time delay compensation is carried out through a synchronous signal block in the 5G signals, so that the signal synchronization between the base stations is realized; and then, by utilizing the characteristic of low-speed propagation of the sound signals, based on time delay compensation correction, ranging is carried out through arrival differences of the sound signals transmitted by the base stations, and positioning is carried out through the multi-base-station ranging results.
And adopt 5G basic station to realize the simultaneous transmission of 5G signal and sound signal, including 5G module and control core in the 5G basic station, increase and set up sound module, control core connects 5G module and sound module respectively.
Or, adopt sound source basic station based on microphone array to realize the simultaneous transmission of 5G signal and sound signal, including sound module and control core in the sound source basic station, increase and set up the 5G module, the control core connects 5G module and sound module respectively.
Furthermore, the receiving end performs signal synchronization between base stations through the synchronization signal block in the 5G signal, and the implementation mode is as follows,
the receiving end receives and obtains 5G signals sent by different base stations, demodulates and obtains a synchronization signal block transmitted by a downlink, simultaneously obtains a base station cell identification code and initial time delay to which the signals belong, completes identification and differentiation of multiple base stations, estimates the time difference of arrival of the 5G signals of each base station by using the extracted initial time delay, completes time delay compensation among the base stations, and realizes synchronization of the multiple base stations.
Moreover, the ranging through the arrival difference of the sound signals transmitted by each base station is realized by performing ranging through sound signal arrival time estimation or arrival time difference estimation.
The positioning by the multi-base station ranging result is realized by positioning by a triangular intersection method by using the ranging information of the multi-base station sound signal.
Another object of the present invention is to provide a base station apparatus for implementing the sound localization method based on 5G signal synchronization.
Another object of the present invention is to provide an information data processing terminal for implementing the sound localization method based on 5G signal synchronization.
Another object of the present invention is to provide a computer-readable storage medium, comprising instructions, which when run on a computer, cause the computer to perform the sound localization method based on 5G signal synchronization.
Another object of the present invention is to provide a sound localization system for implementing said 5G signal based synchronization, comprising the following modules provided on the base station equipment side,
the 5G signal module is used for realizing the transmission of 5G synchronous signals with identification marks by multiple base stations in a scheme based on the sound base stations;
the sound signal module is used for sound signal emission at the base station equipment side;
and the synchronous transmitting module is used for synchronizing the transmission of the sound signal and the 5G signal.
The following modules are provided on the positioning system side,
the synchronous processing module is used for receiving the 5G signal and identifying and synchronously processing the multiple base stations;
and the ranging and positioning module is used for receiving the sound signals transmitted by the multiple base stations and carrying out ranging and positioning processing.
The method innovatively uses 5G signals to synchronize the base station equipment, and has higher synchronization precision compared with the existing sound wave positioning method. The invention uses the 5G signal downlink transmission to synchronize the base station equipment, can effectively improve the synchronization precision while reducing the equipment cost, thereby further improving the ranging and positioning precision based on the sound signal. Specifically, the advantages and positive effects of the invention are as follows:
the invention uses 5G signals to accurately synchronize each base station, then carries out ranging estimation by receiving sound signals synchronously transmitted by each base station and the 5G signals to obtain a high-precision ranging result, and carries out positioning by combining the ranging results of multiple base stations. The method can obtain higher base station synchronization precision, and further reduce the influence of the base station synchronization on the sound signal arrival time ranging, thereby further improving the positioning precision. In addition, the positioning accuracy of the sound signals is influenced by the layout density of the base stations, and the sound signals are combined with the existing 5G signals, so that the sound signals have higher layout density and the positioning accuracy is ensured. The invention can be flexibly deployed, and the sound signal module is accessed in the scene of the existing dense 5G base station; in a scene with no coverage or few 5G base stations, the layout of the sound source base station containing the 5G module has the layout cost far lower than that of the 5G base station.
Compared with the prior art, the invention has the advantages that:
(1) the invention improves the synchronization precision of multiple base stations. The base station synchronization and the base station differentiation are carried out based on the 5G signals with low time delay and high transmission rate, and the synchronization precision of multiple base stations can be effectively improved due to the fact that the speed of the 5G signals is far higher than that of sound signals and the low time delay and high transmission rate of the 5G signals.
(2) The invention improves the positioning accuracy of multiple base stations. The method for synchronizing the base stations based on the 5G signals improves the synchronization precision of the multiple base stations, and further improves the positioning precision of the multiple base stations. In addition, high positioning accuracy can be obtained by adopting the sound positioning of the multiple base stations, so that the positioning accuracy of the multiple base stations can be effectively improved by sound positioning based on 5G signal synchronization.
(3) The invention reduces the layout cost of the indoor base station and improves the feasibility of application. The invention can be flexibly deployed, can perform sound positioning based on the wide-coverage 5G base station, can also perform synchronous transmission of 5G signals based on the sound source base station, has extremely low layout cost of the sound source base station, and effectively reduces the peripheral cost of indoor positioning based on the existing 5G base station.
Drawings
Fig. 1 is a flowchart of a sound localization method and system based on 5G signal synchronization according to an embodiment of the present invention.
Fig. 2 is a key structure diagram of a base station side of the sound positioning method and system based on 5G signal synchronization according to the embodiment of the present invention.
Fig. 3 is a block diagram of key modules at the terminal side of the sound localization method and system based on 5G signal synchronization according to the embodiment of the present invention.
Fig. 4 is a positioning schematic diagram of a sound positioning method and system based on 5G signal synchronization according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention designs a sound positioning method based on 5G signal synchronization, which carries out distance measurement and positioning by synchronizing 5G signals and estimating the arrival time of the sound signals, and solves the problems of low coverage and insufficient synchronization precision of sound positioning.
Improving the estimation precision of the signal arrival time is a prerequisite for accurate ranging and positioning navigation, and the accuracy of synchronization between devices is important to improve the estimation precision of the signal arrival time. The invention carries out synchronous processing on the base station through the 5G signal with low time delay and high speed, and carries out high-precision distance measurement by utilizing the sound signal, thereby obtaining a high-precision distance measurement positioning result.
The embodiment of the invention provides a sound positioning method based on 5G signal synchronization, which is realized as follows:
1) the simultaneous transmission of the 5G signal and the sound signal is realized;
in specific implementation, the 5G signal and the sound signal can be transmitted simultaneously by setting hardware at the base station side. The following modules are arranged on the base station side,
the 5G module is used for transmitting a 5G signal at the base station side, wherein the transmitted signal contains information for identifying and distinguishing the base station, so that different base stations can have different identification marks, namely base station cell identification codes;
the sound module is used for sound signal emission at the base station equipment side;
and the control core is used for synchronizing the transmitting time of the 5G module and the sound module, and the embodiment adopts an ARM control core. In specific implementation, the control core is not limited to be realized by adopting an ARM, and the system control of the invention is still within the protection range by replacing the ARM with other controllers.
The control core is respectively connected with the 5G module and the sound module.
In particular, in order to support the positioning based on the multi-base-station ranging result, three or more base stations are usually required to transmit 5G signals and sound signals simultaneously. Each base station can be realized by adopting one of the following modes according to the situation:
adopt 5G basic station to realize the simultaneous transmission of 5G signal and sound signal, including 5G module and control core in the 5G basic station, increase and set up sound module, 5G module and sound module are connected respectively to the control core.
Adopt sound source base station based on microphone array to realize the simultaneous transmission of 5G signal and sound signal, including sound module and control core in the sound source base station, increase and set up the 5G module, 5G module and sound module are connected respectively to the control core.
The following steps are carried out at the base station side:
1.1) the 5G module modulates the 5G synchronous signal block;
1.2) the 5G module and the sound module can simultaneously transmit signals through an ARM (advanced RISC machine) core control core.
2) Then, by using the downlink transmission of the 5G signals, a receiving end receives the 5G signals transmitted by each base station, and the signals between the base stations are synchronized through a synchronization signal block (SS/PBCH block) in the 5G signals;
and receiving the 5G signals sent by different base stations through a receiving end, transmitting synchronous signals by using a 5G downlink, identifying and distinguishing multiple base stations, and synchronizing the multiple base stations by using the extracted time delay information. In specific implementation, a synchronization signal block (or referred to as a synchronization module) in a 5G signal standard format specified by 3GPP is generally adopted to support the implementation of multi-base station synchronization.
Specifically, the receiving end receives and obtains 5G signals sent by different base stations, demodulates and obtains a synchronization signal block transmitted by a downlink, simultaneously obtains a base station cell identification code and an initial time delay to which the signals belong, completes identification and differentiation of multiple base stations by using the base station cell identification code, and extracts the initial time delay of the 5G signals of different base stations (BS1, BS2, … and BSn)
The time difference of arrival from each base station to the receiving end is estimated, and the time difference of each base station is obtained by taking one base station (taking BS1 as an example) as a reference,
the time delay compensation is carried out on the sound signals of all base stations by using the arrival time difference among the base stations, the synchronization of the plurality of base stations is realized, and the sound signal time delay acquisition of all the base stations is recorded as
The arrival time delay of the compensated sound signal is,
the steps can be summarized as the following sub-steps:
2.1) receiving a 5G signal and realizing signal demodulation and multi-base station identification;
2.2) carrying out synchronous processing on the 5G signals of the multiple base stations to obtain time delay compensation among the base stations;
3) based on the arrival time delay of the sound signal, the characteristic of low-speed propagation of the sound signal is utilized, the distance measurement is carried out through time of arrival estimation (TOA) or time difference of arrival estimation (TDOA), and the positioning is carried out through the multi-base station distance measurement result.
In specific implementation, due to the low-speed characteristic of the voice signal, the receiving end receives the voice signals transmitted by multiple base stations after completing synchronization, and performs ranging by using the arrival time or arrival time difference estimation of the voice signals, where the common ranging methods include TOA (time of arrival, signal arrival time), TDOA (time difference of arrival, signal arrival time difference); positioning is carried out by using the ranging information of the sound signals of the multiple base stations and using methods such as triangular intersection and the like.
The method can be realized by the following substeps:
3.1) receiving the sound signal and realizing signal demodulation;
3.2) carrying out ranging estimation on the sound signals of the multiple base stations;
3.3) carrying out positioning processing by utilizing the distance estimation results of the plurality of base stations.
In specific implementation, the automatic operation of the process can be realized by adopting a software mode.
The process of positioning by using accurate time delay information not only comprises distance measurement, but also can complete angle measurement at a receiving end through multiple antennas so as to position by using effective information of distance measurement and angle measurement. The angle measurement mainly obtains accurate time delay information of each antenna through the antenna array, converts the time delay information among the antennas into phase information, and carries out angle estimation by utilizing the phase relation. The main protection of the present invention is the steps before positioning, and the specific implementation of the distance measurement and positioning in step 3) can be referred to the prior art, which is not described in detail herein.
Referring to fig. 2 and 4, the sound localization system based on 5G signal synchronization provided by the embodiment includes the following modules,
at a base station device side:
the 5G module is used for realizing the transmission of 5G signals with different identification marks in a scheme based on a sound source base station;
the sound module is used for sound signal emission at the base station equipment side;
and the control core is used for synchronizing the emission time of the 5G module and the sound module.
The control core is respectively connected with the 5G module and the sound module.
The 5G module modulates the 5G synchronous signal block;
the 5G module and the sound module can simultaneously transmit signals through an ARM (advanced RISC machine) core control core.
In specific implementation, each base station in the system can implement hardware improvement by adopting one of the following two ways according to specific situations:
1) based on the 5G base station with wide indoor and outdoor coverage, the voice module is fused, and the existing 5G base station is utilized to carry out voice positioning based on 5G signal synchronization.
2) The sound source base station fusion 5G signal module based on the microphone array has extremely low layout cost compared with a 5G base station of a hundred-thousand-element order because the cost of the sound source base station is of a hundred-element order, so that the layout can be increased in an indoor space as required.
As shown in fig. 4, 1-4 are base stations of the present invention, and 5 is an intelligent terminal (not limited to a mobile phone, etc.).
(II) at a receiving end side (including but not limited to a cloud end and a mobile terminal):
the synchronous processing module is used for receiving the 5G signal and identifying and synchronously processing the multiple base stations;
and the ranging and positioning module is used for receiving the sound signals transmitted by the multiple base stations and carrying out ranging and positioning processing according to the result obtained by the synchronous processing module.
When the method is implemented, the method can be realized by adopting a computer software technology, can also be realized in a modularized mode, and more specifically can be realized by the following modules:
the 5G signal receiving and demodulating module is used for receiving the 5G signal and realizing signal demodulation and multi-base station identification;
the multi-base station synchronization module is used for carrying out synchronization processing on the 5G signals of the multi-base stations to obtain time delay compensation among the base stations;
the sound signal receiving and demodulating module is used for receiving the sound signals arriving after receiving and demodulating the signals;
the distance measurement module is used for carrying out distance measurement estimation on the sound signals of the multiple base stations;
and the multi-base station cooperative positioning module is used for positioning by using the distance estimation results of the plurality of base stations.
As shown in fig. 1, based on the sound localization system based on 5G signal synchronization provided by the embodiment of the present invention, the working process of positioning specifically includes the following steps:
(1) referring to fig. 2 at the base station side, the 5G module and the sound module may be configured in an existing 5G base station or a low-cost sound source base station, and synchronous transmission of the 5G signal and the sound signal is realized through a control core;
(2) the processing is then performed on the terminal side, see fig. 3, the processing steps comprising:
firstly, because the transmission rate of the low-delay 5G signal is far higher than that of the sound signal, the 5G signal reaches a receiving end firstly, the 5G signal is received and demodulated through a 5G signal receiving and demodulating module, the 5G signal is demodulated to obtain the physical identification ID of the base station, and the base station identification and the base station distinguishing are carried out;
secondly, in a multi-base station synchronization module, a synchronization signal block in the 5G signal obtained by the 5G signal receiving and demodulating module is used for obtaining the signal arrival time delay, and time delay compensation is carried out to realize multi-base station synchronization;
thirdly, receiving the sound signal at a sound signal receiving and demodulating module;
in the distance measurement module, correcting the arrival time or arrival time difference of the sound signal based on the time delay compensation obtained by the multi-base station synchronization module, and measuring the distance based on the arrival time or arrival time difference;
and fifthly, at the multi-base-station cooperative positioning module, combining the ranging results of the multiple base stations obtained by the ranging module, and completing the multi-base-station cooperative positioning based on the triangulation principle.
As shown in fig. 2, the key module at the base station side of the embodiment of the present invention is shown, and all the key modules related to the present invention are included in the protection scope. Fig. 3 is a key processing module at the receiving end according to an embodiment of the present invention.
As shown in fig. 4, which is a positioning schematic diagram according to an embodiment of the present invention, in the embodiment, base stations 1 to 4 have a synchronous transmission function of 5G signals and voice signals, and the number of the base stations is not limited. The terminal 5 is not limited to a smart phone, and all smart terminals related to positioning by combining 5G signals and sound signals are within a protection range.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A sound positioning method based on 5G signal synchronization is characterized in that: the method comprises the steps of realizing simultaneous transmission of 5G signals and sound signals at a base station end;
by using the downlink transmission of the 5G signals, a receiving end receives the 5G signals transmitted by each base station, and the time delay compensation is carried out through a synchronous signal block in the 5G signals, so that the signal synchronization between the base stations is realized; and then, by utilizing the characteristic of low-speed propagation of the sound signals, based on time delay compensation correction, ranging is carried out through arrival differences of the sound signals transmitted by the base stations, and positioning is carried out through the multi-base-station ranging results.
2. The sound localization method based on 5G signal synchronization of claim 1, wherein: adopt 5G basic station to realize the simultaneous transmission of 5G signal and sound signal, including 5G module and control core in the 5G basic station, increase and set up sound module, 5G module and sound module are connected respectively to the control core.
3. The sound localization method based on 5G signal synchronization of claim 1, wherein: adopt sound source base station based on microphone array to realize the simultaneous transmission of 5G signal and sound signal, including sound module and control core in the sound source base station, increase and set up the 5G module, 5G module and sound module are connected respectively to the control core.
4. A sound localization method based on 5G signal synchronization according to claim 1 or 2 or 3, characterized in that: the receiving end carries out signal synchronization between base stations through a synchronization signal block in the 5G signal, and the implementation mode is as follows,
the receiving end receives and obtains 5G signals sent by different base stations, demodulates and obtains a synchronization signal block transmitted by a downlink, simultaneously obtains a base station cell identification code and initial time delay to which the signals belong, completes identification and differentiation of multiple base stations, estimates the time difference of arrival of the 5G signals of each base station by using the extracted initial time delay, completes time delay compensation among the base stations, and realizes synchronization of the multiple base stations.
5. A sound localization method based on 5G signal synchronization according to claim 1 or 2 or 3, characterized in that: the distance measurement through the arrival difference of the sound signals transmitted by each base station is realized by estimating the arrival time or the arrival time difference of the sound signals to perform distance measurement.
6. A sound localization method based on 5G signal synchronization according to claim 1 or 2 or 3, characterized in that: the positioning through the multi-base-station ranging result is realized by utilizing the ranging information of the multi-base-station sound signals and utilizing a triangular intersection method to position.
7. A base station device for implementing the sound positioning method based on 5G signal synchronization of any claim 1-6.
8. An information data processing terminal for implementing the sound localization method based on 5G signal synchronization according to any one of claims 1-6.
9. A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the sound localization method based on 5G signal synchronization according to any one of claims 1-6.
10. A sound positioning system for realizing 5G signal synchronization according to any one of claims 1-6, wherein:
the following modules are provided on the base station apparatus side,
the 5G signal module is used for realizing the transmission of 5G signals at the base station side, and the transmitted signals contain information for identifying and distinguishing the base stations, so that the 5G signals sent by different base stations have different base station cell identification codes;
the sound signal module is used for sound signal emission at the base station equipment side;
and the synchronous transmitting module is used for synchronizing the transmission of the sound signal and the 5G signal.
The following modules are provided on the positioning system side,
the synchronous processing module is used for receiving the 5G signal and identifying and synchronously processing the multiple base stations;
and the ranging and positioning module is used for receiving the sound signals transmitted by the multiple base stations and carrying out ranging and positioning processing.
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| CN202011504695.9A CN112710986B (en) | 2020-12-18 | 2020-12-18 | Sound positioning method and system based on 5G signal synchronization |
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