CN112710986B - Sound positioning method and system based on 5G signal synchronization - Google Patents

Abstract

The present invention provides a sound positioning method and system based on 5G signal synchronization, including the simultaneous transmission of 5G signals and sound signals at the base station; using the downlink transmission of 5G signals, the receiving end receives the 5G signals transmitted by each base station, Time delay compensation is performed through the synchronization signal block in the 5G signal to realize signal synchronization between base stations; then, using the characteristics of low-speed propagation of the sound signal, based on the delay compensation correction, the distance is measured through the arrival difference of the sound signal transmitted by each base station, and through Multi-base station ranging results for positioning. When the present invention is implemented, the simultaneous transmission of two signals can be realized through hardware design, and the time synchronization between base station equipment can be performed by using the high-speed propagation characteristics of 5G signals, and the ultra-low-speed sound signals can be received compared with 5G signals, and the synchronized sound signals Perform distance estimation and positioning. This method innovatively uses 5G signals to synchronize base station equipment, and has higher synchronization accuracy than existing acoustic wave positioning methods.

Description

Sound positioning method and system based on 5G signal synchronization

Technical Field

The present invention belongs to the field of wireless positioning and navigation technology, and in particular, relates to a sound positioning method and system based on 5G signal synchronization.

Background Art

Existing satellite-based wireless positioning systems, such as the United States' Global Positioning System (GPS), my country's Beidou positioning system, Russia's GLONASS system, and Europe's Galileo system, have been widely used around the world due to their important advantages of wide coverage. However, in important scenarios such as the civil field, which has great development potential, it is difficult for the positioning system to form positioning when it is physically blocked by buildings, especially in indoor environments, where such signals cannot be covered and the positioning effect is poor. Existing indoor wireless positioning methods and systems mainly use electromagnetic waves. Since the propagation speed of electromagnetic waves is close to the speed of light, they are easily affected by complex channels indoors. In addition, the existing electromagnetic wave signal positioning method requires the deployment of additional base stations, and the cost of a single base station is high, making it more difficult to promote and popularize. The use of sound signals, due to its advantages of low frequency, low-speed transmission, low energy consumption, and low cost, has a transmission speed much lower than that of electromagnetic wave signals, and the acoustic characteristics are obviously not easy to eliminate, so it has been proven to have higher positioning accuracy indoors, but in actual applications, the synchronization between sound source base stations based on microphone arrays needs to achieve higher accuracy.

The present invention notes that 5G signal is a new wireless communication technology that has been widely used at home and abroad, and the 5G deployment density is much higher than that of Bluetooth base stations and LTE base stations, with good coverage breadth and greater advantages in wireless communication. Therefore, the present invention proposes to use the low latency and high rate characteristics of 5G signals to synchronize devices with higher synchronization accuracy. By combining the existing 5G technology with sound signals, a new wireless positioning method can be obtained. This positioning technology has broad application prospects.

The existing methods of synchronization using Bluetooth signals and WIFI signals require consumers to deploy additional base stations, which brings higher costs compared to public infrastructure 5G base stations. In addition, the transmission performance of Bluetooth signals and WIFI signals will still be subject to much interference, which will affect the synchronization accuracy.

In summary, the problems existing in existing technologies and applications are:

(1) Existing positioning systems have difficulty in positioning in important scenarios such as the civil field when they are physically blocked by buildings, especially in indoor environments where signals cannot be covered and positioning effects are poor.

(2) The existing synchronization methods based on Bluetooth signals and WIFI signals have reduced synchronization accuracy due to the difficulty of signals avoiding interference-prone frequency bands, which in turn reduces positioning accuracy. In addition, the relevant signal source base stations do not have a large-scale construction foundation and must be deployed additionally, resulting in high costs and low coverage.

(3) Existing sound positioning is difficult to promote because it requires the deployment of independent sound source base stations, which limits its application. In addition, the accuracy of multi-base station sound positioning is greatly affected by synchronization, and higher synchronization accuracy is required to improve the accuracy of multi-base station sound positioning.

Difficulty in solving the above technical and application problems:

The wireless communication technologies Bluetooth and WIFI currently used for positioning and base station synchronization processing are non-infrastructure and need to be deployed additionally by consumers based on demand. They are difficult to combine with sound positioning to achieve large-scale promotion and application.

The significance of solving the above technical problems:

Exploring wide-coverage, low-latency signal sources for synchronizing sound source base station equipment will further improve the accuracy and availability of sound positioning. Taking full advantage of the high-precision characteristics of sound positioning and using 5G signals to further reduce the delay of base station equipment synchronization can effectively improve positioning accuracy. The combination of sound modules and 5G signal modules can increase the promotion and use of sound source base station equipment, achieve high coverage and low-cost positioning, and is of great significance to high-precision positioning and navigation.

Summary of the invention

In response to the problems existing in the prior art, the present invention provides a sound positioning method and system based on 5G signal synchronization.

The present invention provides a sound positioning method based on 5G signal synchronization, including realizing simultaneous transmission of 5G signals and sound signals at a base station end;

Using the downlink transmission of 5G signals, the receiving end receives the 5G signals transmitted by each base station, and performs delay compensation through the synchronization signal block in the 5G signal to achieve signal synchronization between base stations. Then, the low-speed propagation characteristics of sound signals are utilized to perform ranging based on delay compensation correction, and the arrival differences of sound signals transmitted by each base station are used for ranging, and positioning is performed through the ranging results of multiple base stations.

Moreover, a 5G base station is used to realize the simultaneous transmission of 5G signals and sound signals. The 5G base station includes a 5G module and a control core, and a sound module is additionally provided. The control core is respectively connected to the 5G module and the sound module.

Alternatively, a sound source base station based on a microphone array is used to realize the simultaneous transmission of 5G signals and sound signals. The sound source base station includes a sound module and a control core, and a 5G module is additionally provided. The control core is respectively connected to the 5G module and the sound module.

Moreover, the receiving end synchronizes the signals between base stations through the synchronization signal block in the 5G signal, which is implemented as follows:

The receiving end receives 5G signals sent by different base stations, demodulates to obtain the synchronization signal block transmitted in the downlink, and simultaneously obtains the base station cell identification code and initial delay to which the signal belongs, completes the identification and distinction of multiple base stations, and uses the extracted initial delay to estimate the time difference of the arrival of 5G signals at each base station, completes the delay compensation between base stations, and realizes synchronization of multiple base stations.

Furthermore, the distance measurement based on the arrival difference of the sound signals transmitted by each base station is implemented by performing the distance measurement based on the arrival time estimation or the arrival time difference estimation of the sound signals.

Furthermore, the positioning is implemented by using the ranging results of multiple base stations, using ranging information of sound signals of multiple base stations and using a triangulation method for positioning.

Another object of the present invention is to provide a base station device for implementing the sound positioning method based on 5G signal synchronization.

Another object of the present invention is to provide an information data processing terminal for implementing the sound positioning method based on 5G signal synchronization.

Another object of the present invention is to provide a computer-readable storage medium, comprising instructions, which, when executed on a computer, enables the computer to execute the sound positioning method based on 5G signal synchronization.

Another object of the present invention is to provide a sound positioning system based on 5G signal synchronization, including setting the following modules on the base station device side:

5G signal module, used to realize the 5G synchronous signal transmission with identification marks of multiple base stations in the solution based on sound base stations;

Sound signal module, used for transmitting sound signals on the base station equipment side;

Synchronous transmission module, used to synchronize the transmission of sound signals and 5G signals.

Set the following modules on the positioning system side:

A synchronization processing module, used to receive 5G signals and identify and synchronize multiple base stations;

The ranging and positioning module is used to receive the sound signals transmitted by multiple base stations and perform ranging and positioning processing.

This method innovatively uses 5G signals to synchronize base station equipment, which has higher synchronization accuracy than existing acoustic wave positioning methods. The present invention uses 5G signal downlink transmission to synchronize base station equipment, which can effectively improve synchronization accuracy while reducing equipment costs, thereby further improving the ranging and positioning accuracy based on sound signals. Specifically, the advantages and positive effects of the present invention are:

The present invention uses 5G signals to accurately synchronize each base station, and then obtains high-precision ranging results by receiving sound signals transmitted synchronously by each base station and the 5G signal for ranging estimation, and performs positioning by combining the ranging results of multiple base stations. This method can obtain higher base station synchronization accuracy, further reduce the influence of base station synchronization on the ranging of sound signal arrival time, and thus further improve the positioning accuracy. In addition, the positioning accuracy of the sound signal is affected by the deployment density of the base station, and combined with the existing 5G signal, it has a higher deployment density to ensure positioning accuracy. Moreover, the present invention can be flexibly deployed, and the sound signal module can be connected in the scenario where there are dense 5G base stations; in the scenario where 5G base stations are not covered or the number is very small, the deployment cost of the sound source base station containing the 5G module is far lower than that of the 5G base station.

Compared with the prior art, the advantages of the present invention further include:

(1) The present invention improves the synchronization accuracy of multiple base stations. The synchronization and differentiation of base stations is performed based on the low-latency, high-transmission-rate 5G signal. Since the 5G signal speed is much faster than the sound signal, and the low latency and high transmission rate of the 5G signal can effectively improve the synchronization accuracy of multiple base stations.

(2) The present invention improves the positioning accuracy of multiple base stations. The method of base station synchronization based on 5G signals improves the synchronization accuracy of multiple base stations, thereby improving the positioning accuracy of multiple base stations. In addition, the use of sound positioning of multiple base stations can achieve higher positioning accuracy, so sound positioning based on 5G signal synchronization can effectively improve the positioning accuracy of multiple base stations.

(3) The present invention reduces the cost of indoor base station deployment and improves the feasibility of application. The present invention can be flexibly deployed. It can perform sound positioning based on a wide-coverage 5G base station, or it can perform synchronous transmission of 5G signals based on a sound source base station. The extremely low deployment cost of the sound source base station and the existing 5G base station foundation effectively reduce the peripheral cost of indoor positioning.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a sound positioning method and system based on 5G signal synchronization provided in an embodiment of the present invention.

FIG2 is a key structural diagram of the base station side of a sound positioning method and system based on 5G signal synchronization provided in an embodiment of the present invention.

FIG3 is a diagram showing the key module composition of a terminal side of a sound positioning method and system based on 5G signal synchronization provided in an embodiment of the present invention.

FIG4 is a positioning principle diagram of a sound positioning method and system based on 5G signal synchronization provided in an embodiment of the present invention.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

The present invention designs a sound positioning method based on 5G signal synchronization, which performs ranging and positioning through 5G signal synchronization and estimates the arrival time of the sound signal, thereby solving the problems of low coverage and insufficient synchronization accuracy of sound positioning.

Improving the estimation accuracy of signal arrival time is a prerequisite for accurate ranging and positioning navigation. To improve the estimation accuracy of signal arrival time, the synchronization accuracy between devices is crucial. The present invention synchronizes the base station through low-latency, high-rate 5G signals and uses sound signals for high-precision ranging, which can obtain high-precision ranging and positioning results.

The embodiment of the present invention proposes a sound positioning method based on 5G signal synchronization, which is implemented as follows:

1) Realize the simultaneous transmission of 5G signals and sound signals;

In specific implementation, the 5G signal and the sound signal can be transmitted simultaneously on the base station side through hardware settings. The following modules are set on the base station side:

5G module, used for 5G signal transmission on the base station side. The transmission signal contains information for base station identification and distinction, so that different base stations can have different identification marks, that is, base station cell identification codes;

The sound module is used for transmitting sound signals on the base station equipment side;

The control core is used to synchronize the transmission time of the 5G module and the sound module. The embodiment adopts an ARM control core. In specific implementation, the control core is not limited to being implemented using ARM. Replacing ARM with other controllers to control the system of the present invention is still within the scope of protection.

The control core is connected to the 5G module and the sound module respectively.

In specific implementation, in order to support positioning based on the ranging results of multiple base stations, three or more base stations are usually required to transmit 5G signals and sound signals at the same time. Each base station can use one of the following methods according to the situation:

A 5G base station is used to realize the simultaneous transmission of 5G signals and sound signals. The 5G base station includes a 5G module and a control core. A sound module is additionally provided, and the control core is respectively connected to the 5G module and the sound module.

A sound source base station based on a microphone array is used to realize the simultaneous transmission of 5G signals and sound signals. The sound source base station includes a sound module and a control core. A 5G module is additionally provided, and the control core is respectively connected to the 5G module and the sound module.

Perform the following steps on the base station side:

1.1) The 5G module modulates the 5G synchronization signal block;

1.2) Through the ARM (Advanced RISC Machine) core control, the 5G module and the sound module can transmit signals at the same time.

2) Then, using the downlink transmission of 5G signals, the receiving end receives the 5G signals transmitted by each base station and synchronizes the signals between base stations through the synchronization signal block (SS/PBCH block) in the 5G signal;

The receiving end receives 5G signals sent by different base stations, uses the 5G downlink to transmit synchronization signals, identifies and distinguishes multiple base stations, and uses the extracted delay information to synchronize multiple base stations. In specific implementation, the synchronization signal block (or synchronization module) in the 5G signal standard format specified by 3GPP is generally used to support the synchronization of multiple base stations.

进行各基站到接收端的到达时间差估计,以其中一个基站(以BS1为例)作为参考得到各基站的时间差为，Specifically, the receiving end receives 5G signals sent by different base stations, demodulates the synchronization signal block of the downlink transmission, and obtains the base station cell identification code and initial delay to which the signal belongs. The base station cell identification code is used to identify and distinguish multiple base stations, and the initial delay of the 5G signals of different base stations (BS1, BS2, ..., BSn) is extracted.

Estimate the arrival time difference from each base station to the receiving end, and take one of the base stations (take BS1 as an example) as a reference to obtain the time difference of each base station:

则补偿后声音信号的到达时延为，

The arrival time difference between base stations is used to compensate the delay of the sound signal of each base station to achieve multi-base station synchronization. The sound signal delay of each base station is obtained as

Then the arrival delay of the sound signal after compensation is,

The above steps can be summarized into the following sub-steps:

2.1) Receive 5G signals and implement signal demodulation and multi-base station identification;

2.2) Synchronize the 5G signals of multiple base stations to obtain delay compensation between base stations;

3) Taking advantage of the low-speed propagation characteristics of sound signals, ranging is performed based on the arrival delay of sound signals through arrival time estimation (TOA) or arrival time difference estimation (TDOA), and positioning is performed through the ranging results of multiple base stations.

In specific implementation, due to the low-speed characteristics of sound signals, the receiving end receives sound signals transmitted by multiple base stations after completing synchronization, and uses the arrival time or arrival time difference of the sound signals to estimate the distance. Common ranging methods include TOA (time of arrival) and TDOA (time difference of arrival). The ranging information of sound signals from multiple base stations is used to perform positioning using methods such as triangulation.

It can be divided into the following sub-steps:

3.1) Receive the sound signal that arrives and demodulate it;

3.2) Estimating the distance between the sound signals of multiple base stations;

3.3) Use the distance estimation results of multiple base stations for positioning processing.

During specific implementation, software can be used to realize automatic operation of the process.

The process of positioning using accurate time delay information not only includes distance measurement, but also angle measurement can be completed by multiple antennas at the receiving end, and then positioning can be performed using effective information of ranging and angle measurement. Angle measurement mainly obtains accurate time delay information of each antenna through the antenna array, converts the time delay information between antennas into phase information, and uses the phase relationship to estimate the angle. The present invention mainly protects the steps before positioning, until accurate time delay is obtained. The specific ranging and positioning implementation of step 3) can be referred to the prior art, and the present invention will not repeat it.

2 and 4 , the sound positioning system based on 5G signal synchronization provided in the embodiment includes the following modules:

(I) On the base station equipment side:

5G module, used to realize 5G signal transmission with different identification marks in the solution based on the sound source base station;

The sound module is used for transmitting sound signals on the base station equipment side;

Control core, used to synchronize the transmission time of 5G module and sound module.

The control core is connected to the 5G module and the sound module respectively.

The 5G module modulates the 5G synchronization signal block;

Through the ARM (Advanced RISC Machine) core control, the 5G module and the sound module can transmit signals at the same time.

In specific implementation, each base station in the system can adopt one of the following two methods to improve the hardware according to the specific situation:

1) Based on the 5G base station with wide indoor and outdoor coverage, the sound module is integrated and the existing 5G base station is used to perform sound positioning based on 5G signal synchronization.

2) The sound source base station based on the microphone array is integrated with the 5G signal module. Since the cost of the sound source base station is in the hundreds of yuan level, it has a very low deployment cost compared to the 5G base station of one hundred thousand yuan level, so it can be deployed more in the indoor space as needed.

As shown in FIG. 4 , 1-4 are base stations of the present invention, and 5 is a smart terminal (not limited to mobile phones and other devices).

(ii) On the receiving end (including but not limited to the cloud and mobile terminals):

A synchronization processing module, used to receive 5G signals and identify and synchronize multiple base stations;

The ranging and positioning module is used to receive the sound signals transmitted by multiple base stations and perform ranging and positioning processing according to the results obtained by the synchronization processing module.

When it is implemented, it can be realized by computer software technology or by modularization. More specifically, it can be implemented by the following modules:

5G signal receiving and demodulating module, used to receive 5G signals and implement signal demodulation and multi-base station identification;

Multi-base station synchronization module, used to synchronize 5G signals of multiple base stations and obtain delay compensation between base stations;

The sound signal receiving and demodulating module is used to receive the sound signal arriving later and realize signal demodulation;

The ranging module estimates the distance of the sound signals of multiple base stations;

The multi-base station collaborative positioning module uses the distance estimation results of multiple base stations to perform positioning processing.

As shown in FIG1 , based on the sound positioning system based on 5G signal synchronization provided by an embodiment of the present invention, the specific working process of implementing positioning includes the following steps:

(1) On the base station side, see Figure 2, where the 5G module and the sound module can be configured in an existing 5G base station or a low-cost sound source base station, and the synchronous transmission of the 5G signal and the sound signal is achieved through the control core;

(2) Then, the processing is performed on the terminal side. Referring to FIG. 3 , the processing steps include:

① Since the transmission rate of low-latency 5G signals is much higher than that of sound signals, the 5G signals will reach the receiving end first, and the 5G signal reception and demodulation module will realize the reception and demodulation of the 5G signals. The 5G signals will be demodulated to obtain the physical identification ID of the base station, and the base station will be identified and distinguished;

② In the multi-base station synchronization module, the synchronization signal block in the 5G signal obtained by the 5G signal receiving and demodulating module is used to obtain the signal arrival delay and perform delay compensation to achieve multi-base station synchronization;

③ In the sound signal receiving and demodulating module, the sound signal is received;

④ In the ranging module, the arrival time or arrival time difference of the sound signal is corrected based on the delay compensation obtained by the multi-base station synchronization module, and the ranging is performed based on the arrival time or arrival time difference;

⑤ In the multi-base station collaborative positioning module, the joint ranging module obtains the ranging results of multiple base stations and completes the multi-base station collaborative positioning based on the principle of triangulation.

As shown in Figure 2, the key modules of the base station side of the embodiment of the present invention are shown, and all the key modules of the present invention are included in the protection scope. Figure 3 is the key processing module of the receiving end of the embodiment of the present invention.

As shown in Figure 4, it is a positioning principle diagram of an embodiment of the present invention. In this embodiment, base stations 1 to 4 have the function of synchronously transmitting 5G signals and sound signals, and the number of base stations is not limited. Terminal 5 is not limited to smart phones. All smart terminals that involve positioning in combination with 5G signals and sound signals are within the protection range.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A sound positioning method based on 5G signal synchronization, characterized in that: it includes: realizing the simultaneous transmission of 5G signals and sound signals at the base station side, and the implementation method is to set a 5G signal module on the base station equipment side to realize the 5G signal transmission on the base station side, and the transmission signal contains information for base station identification and distinction, so that the 5G signals sent by different base stations have different base station cell identification codes; Using the downlink transmission of 5G signals, the receiving end receives the 5G signals transmitted by each base station, and performs delay compensation through the synchronization signal block in the 5G signal to achieve signal synchronization between base stations. Then, using the characteristics of low-speed propagation of sound signals, the arrival time or arrival time difference of the sound signal is corrected based on delay compensation, and ranging is performed through the arrival difference of the sound signals transmitted by each base station, and positioning is performed through the ranging results of multiple base stations. When the receiving end performs signal synchronization between base stations through the synchronization signal block in the 5G signal, the implementation method is as follows: The receiving end receives 5G signals sent by different base stations, demodulates to obtain the synchronization signal block transmitted in the downlink, and simultaneously obtains the base station cell identification code and initial delay to which the signal belongs, completes the identification and distinction of multiple base stations, and uses the extracted initial delay to estimate the time difference of the arrival of 5G signals at each base station, completes the delay compensation between base stations, and realizes synchronization of multiple base stations. 2. The sound positioning method based on 5G signal synchronization as described in claim 1 is characterized in that: a 5G base station is used to realize the simultaneous transmission of 5G signals and sound signals, the 5G base station includes a 5G module and a control core, a sound module is additionally set, and the control core is respectively connected to the 5G module and the sound module. 3. The sound positioning method based on 5G signal synchronization as described in claim 1 is characterized in that: a sound source base station based on a microphone array is used to realize the simultaneous transmission of 5G signals and sound signals, the sound source base station includes a sound module and a control core, a 5G module is additionally set, and the control core is respectively connected to the 5G module and the sound module. 4. The sound positioning method based on 5G signal synchronization as described in claim 1, 2 or 3, characterized in that: the receiving end performs signal synchronization between base stations through the synchronization signal block in the 5G signal, and the implementation method includes the following sub-steps: 1) Receive 5G signals and implement signal demodulation and multi-base station identification; 2) Synchronize the 5G signals of multiple base stations to obtain delay compensation between base stations. 5. The sound positioning method based on 5G signal synchronization as described in claim 1, 2 or 3 is characterized in that: the ranging is implemented by the arrival difference of the sound signals transmitted by each base station by estimating the arrival time of the sound signal or the arrival time difference. 6. The sound positioning method based on 5G signal synchronization as described in claim 1, 2 or 3 is characterized in that: the positioning is implemented by using the ranging information of multi-base station sound signals and using a triangulation intersection method for positioning. 7. A base station device that implements the sound positioning method based on 5G signal synchronization as described in any one of claims 1 to 6. 8. An information data processing terminal that implements the sound positioning method based on 5G signal synchronization as described in any one of claims 1 to 6. 9. A computer-readable storage medium comprising instructions, which, when executed on a computer, enables the computer to execute the sound positioning method based on 5G signal synchronization as described in any one of claims 1 to 6. 10. A system for implementing the sound positioning method based on 5G signal synchronization according to any one of claims 1 to 6, characterized in that: Set the following modules on the base station equipment side: 5G signal module, used to realize the transmission of 5G signals with different identification marks on the base station side. The transmitted signal contains information for base station identification and distinction, so that the 5G signals sent by different base stations have different base station cell identification codes; Sound signal module, used for transmitting sound signals on the base station equipment side; Synchronous transmission module, used to synchronize the transmission of sound signals and 5G signals; Set the following modules on the positioning system side: 5G signal receiving and demodulating module, used to receive 5G signals and implement signal demodulation and multi-base station identification; Multi-base station synchronization module, used to synchronize 5G signals of multiple base stations and obtain delay compensation between base stations; The sound signal receiving and demodulating module is used to receive the sound signal arriving later and realize signal demodulation; The ranging module estimates the distance of the sound signals of multiple base stations; The multi-base station collaborative positioning module uses the distance estimation results of multiple base stations to perform positioning processing.

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