CN114966656A - Positioning method and device based on millimeter wave equipment - Google Patents

Abstract

The invention provides a positioning method and device based on millimeter wave equipment. The method includes the following steps: acquiring the number of targets to be measured and echo signals, and constructing a spectrum signal model based on the number of targets to be measured and echo signals; The spectral signal model calculates the sampling error value of the target to be measured and the phase difference between adjacent antennas; based on the sampling error value, the distance value from the target to be measured to the millimeter wave device is calculated, and the angle of arrival of the target to be measured is calculated based on the phase difference; According to the distance value and the angle of arrival, the positioning result of the target to be measured is generated. The invention is based on millimeter wave equipment, utilizes the advantages of short wavelength and high resolution of millimeter wave, and according to the situation of different target numbers, by establishing a quantitative analysis model of spectrum sampling points and signal frequency, the signal frequency is accurately calculated, thereby Complete high-precision distance measurement; improve the measurement accuracy of the signal wave arrival angle during the calculation of the signal frequency, thereby achieving high-precision target positioning.

Description

A positioning method and device based on millimeter wave equipment

technical field

The present invention relates to the field of wireless sensing technologies, and in particular, to a positioning method and device based on a millimeter wave device.

Background technique

Accurate object location technology is especially important in everyday applications, including security surveillance, virtual reality, and smart homes. At the same time, some industrial applications also require high-resolution positioning, such as robotic arms, conveyor belts, and subway train control systems. Combining these applications, many target positioning technologies based on different devices have been born, including positioning based on wearable sensors and positioning based on visual signals. However, these positioning technologies all have certain defects. Sensor-based positioning requires the target to carry specific equipment, which is not convenient to use in scenarios such as security monitoring. Positioning based on visual signals is easy to threaten the privacy of users, and is not suitable for family scenes and important work units; in addition, the camera is greatly affected by lighting conditions, and in the case of extreme lighting conditions, it will have a great impact on the measurement results. big distraction.

Recently, positioning technology based on wireless signals has gradually attracted everyone's attention. Wireless signals mainly include Wi-Fi signals, RFID and millimeter wave signals. In recent years, in addition to its common communication functions, researchers have begun to explore the use of reflection, scattering and other phenomena of wireless signals to obtain the activity information contained in them, and to realize the perception of the movement state of the target. The wavelength of mmWave signals is usually in the millimeter level. Due to the strong penetrating power, large bandwidth, high signal resolution and ability to penetrate smoke, the millimeter wave signal is less affected by the environment. The use of electromagnetic wave signals to sense personnel activities can effectively protect the privacy of personnel; in addition, electromagnetic waves can use the reflected signals of personnel to realize activity perception, which can achieve positioning and tracking without the need for the target to carry specific equipment, and has a wider range of applications.

However, due to the influence of the bandwidth and sampling rate of the device, the existing positioning work based on wireless signals can only achieve centimeter accuracy, and it is difficult to achieve higher-precision positioning for ubiquitous targets. In the case of limited hardware conditions, improving the resolution of the signal also faces the following challenges:

(1) The resolution of ranging is limited. Based on the analysis theory of signal processing, the ranging resolution of the signal is inversely proportional to the bandwidth. At present, common commercial millimeter-wave radars usually have a bandwidth of about 4 GHz, and the calculated distance resolution is usually about 4 cm. Due to hardware limitations, it is not practical to increase the resolution of the distance by increasing the bandwidth of the signal. The current resolution is still difficult to reach the millimeter level.

(2) The angular resolution is limited. The existing calculation method of the angle of arrival of the signal is based on the phase difference between the antennas in the antenna array, which is easily affected by phase noise.

(3) Multi-target positioning. Multiple targets may appear in the monitoring area at the same time, and the reflected signals may overlap with each other, which affects the accuracy of target positioning.

SUMMARY OF THE INVENTION

The invention provides a positioning method and device based on millimeter wave equipment, which are used to solve the defects of low distance resolution and poor positioning accuracy of the millimeter wave equipment in the prior art, and realize high-precision positioning of the target to be measured.

The present invention provides a positioning method based on a millimeter wave device, the method comprising:

Acquire the number of targets to be measured and echo signals, and build a spectrum signal model based on the number of targets to be tested and the echo signals;

Calculate the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectral signal model;

Based on the sampling error value, calculate the distance value from the target to be measured to the millimeter wave device, and calculate the angle of arrival of the target to be measured based on the phase difference;

According to the distance value and the angle of arrival, a positioning result of the target to be detected is generated.

According to a positioning method based on a millimeter wave device provided by the present invention, the construction of a spectrum signal model based on the number of the targets to be measured and the echo signals specifically includes:

extracting the target frequency band signal in the echo signal, and discretely sampling the target frequency band signal to obtain the discrete target frequency band signal;

Performing discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and obtaining a peak sampling point corresponding to the discrete target frequency band signal based on the processing result;

Several sampling point data within a preset distance of the peak sampling point are selected, and a spectrum signal model is established in combination with the processing results.

According to a positioning method based on a millimeter wave device provided by the present invention, when the number of the target to be measured is single, the discrete target frequency band signal is expressed as:

Among them, n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n=0,1,...,N-1; e is the base of the natural logarithm, and j is the imaginary unit;

是信号的幅度，A₀和θ₀均为实数；

为信号的归一化频率，范围为[0,1]，δ是采样误差，δ为

范围内的实数，π为圆周率，w[n]为高斯白噪声。

is the amplitude of the signal, A ₀ and θ ₀ are real numbers;

is the normalized frequency of the signal, in the range [0,1], δ is the sampling error, and δ is

A real number in the range, π is pi, and w[n] is white Gaussian noise.

According to a positioning method based on a millimeter wave device provided by the present invention, the discrete Fourier transform of the discrete target frequency band signal is performed to obtain a processing result, specifically:

The discrete Fourier transform is performed on the representation r[n] of the discrete target frequency band signal, and the processing result is as follows:

Wherein, m= _kp -N+1, _kp -N+2,..., _kp ; W[ _kp -m] is the discrete Fourier transform result of w[n]; _kp is the peak sampling point.

According to a positioning method based on a millimeter wave device provided by the present invention, the selection of several sampling point data within a preset distance of the peak sampling point, and combining the processing results, establish a spectrum signal model, specifically:

和归一化频率

Select three points R[k _p -1], R[k _p ], R[k _p +1] near the peak sampling point, establish a spectrum signal model, and solve the model to obtain the complex amplitude of the discrete intermediate frequency signal

and normalized frequency

Wherein, the distance of the target to be measured is calculated based on the normalized frequency:

F_s是所述毫米波设备的采样率；

F _s is the sampling rate of the millimeter wave device;

When the number of the target to be measured is two, the representation of the discrete target frequency band signal is:

和

是未知的复数信号幅度，

和

是信号的归一化频率分量，w[n]为高斯白噪声；Among them, n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n=0,1,...,N-1;

and

is the unknown complex signal amplitude,

and

is the normalized frequency component of the signal, w[n] is Gaussian white noise;

Discrete Fourier transform is performed on the discrete target frequency band signal t[n] to obtain an operation result T[k]; two peak sampling points k _p1 and k _p2 are obtained according to the operation result;

Select a plurality of sampling point data between the two peak sampling points k _p1 and k _p2 , establish the spectral signal model in combination with the operation result T[k], and use the model to determine the unknown parameters A ₁ , A ₂ , θ ₁ , θ ₂ , δ ₁ , δ ₂ to solve;

Based on the two normalized frequencies f ₁ and f ₂ , the distances of the objects to be measured are calculated respectively.

According to a positioning method based on a millimeter wave device provided by the present invention, the phase difference between adjacent antennas is calculated based on the spectrum signal model, which specifically includes:

obtaining the complex signal amplitude in the discrete target frequency band signal model;

According to the complex signal amplitude, the phase difference between adjacent receiving antennas in the millimeter wave device is extracted.

The present invention also provides a positioning device based on a millimeter wave device, the device comprising:

a model building module for acquiring the number of targets to be tested and echo signals, and building a spectrum signal model based on the number of targets to be tested and the echo signals;

a first calculation module, configured to calculate the sampling error value of the target to be measured and the phase difference of adjacent antennas based on the spectrum signal model;

a second calculation module, configured to calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference;

A result generating module, configured to generate a positioning result of the target to be measured according to the distance value and the angle of arrival.

The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, when the processor executes the program, the processor implements the millimeter wave-based method described in any of the above The positioning method of the device.

The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the positioning method based on any one of the above-mentioned millimeter wave devices.

The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the positioning method based on any one of the above-mentioned millimeter wave devices.

The positioning method and device based on millimeter-wave equipment provided by the present invention are based on millimeter-wave equipment and take advantage of the advantages of short wavelength and high resolution of millimeter-wave. The quantitative analysis model of frequency can accurately calculate the signal frequency, so as to complete the high-precision distance measurement; in the process of calculating the signal frequency, the measurement accuracy of the signal arrival angle is improved, thereby achieving high-precision target positioning.

Description of drawings

In order to explain the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the accompanying 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 the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is one of the schematic flow charts of the positioning method based on millimeter wave equipment provided by the present invention;

2 is the second schematic flowchart of the positioning method based on a millimeter wave device provided by the present invention;

3 is a third schematic flowchart of a positioning method based on a millimeter wave device provided by the present invention;

4 is a fourth schematic flowchart of a positioning method based on a millimeter wave device provided by the present invention;

Fig. 5 is the spectrum sampling error schematic diagram provided by the present invention;

6 is a CDF diagram of the positioning error using different methods provided by the present invention;

Fig. 7 is the CDF diagram of AoA calculation error using different methods provided by the present invention;

8 is a schematic structural diagram of a positioning device based on a millimeter wave device provided by the present invention;

FIG. 9 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The positioning method based on the millimeter wave device of the present invention will be described below with reference to FIG. 1 to FIG. 4 .

FIG. 1 is one of the schematic flowcharts of a positioning method based on a millimeter radar wave device provided by an embodiment of the present invention.

As shown in FIGS. 1 and 4 , a positioning method based on a millimeter wave device provided by an embodiment of the present invention includes the following steps:

Step 110: Acquire the number of targets to be tested and echo signals, and build a spectrum signal model based on the number of targets to be tested and echo signals. Specifically, the millimeter wave device transmits a detection signal to the target to be measured, and then receives the echo signal reflected from the target to be measured. In actual use, the millimeter-wave radar achieves high-precision target positioning by transmitting a chirp signal and receiving the reflected signal of the target. The millimeter-wave device extracts the intermediate frequency signal from the echo signal, and then discretely samples the intermediate frequency signal to obtain IF discrete signal. According to theoretical analysis, the frequency of the intermediate frequency discrete signal read by the millimeter wave device is proportional to the distance from the target to the device. Therefore, as long as the frequency of the intermediate frequency signal is obtained, the distance from the target to the device can be calculated, thereby realizing the positioning of the target.

In the present invention, for different numbers of detection targets, the millimeter wave device performs different processing on the echo signals, and constructs a spectrum signal model for calculating the sampling error and the phase difference.

Step 120: Calculate the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectral signal model.

A common method for extracting the frequency of a signal is to perform discrete Fourier transform on the target frequency band signal to obtain the frequency spectrum of the signal, and the peaks in the frequency spectrum represent the frequency components contained in the signal. Thus, the spectral resolution of the FMCW signal is:

Δd=c/2B,

where B is the bandwidth of the signal. So the range resolution of mmWave devices is inversely proportional to the bandwidth.

The maximum bandwidth of common commercial mmWave devices is 4GHz. Considering the problem of bandwidth loss in practical application scenarios, the distance resolution is usually about 4cm, so millimeter-wave devices cannot achieve high-precision positioning.

An important reason for the ranging error is the sampling error of the spectrum. Due to frequency sampling, there is a difference between the observed signal frequency and the actual signal frequency, which results in a frequency error δ, which causes an error in the ranging result.

The present invention accounts for sampling errors that are ignored in the prior art.

Step 130: Calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference.

The frequency estimation of the intermediate frequency discrete signal is the key to realizing the accurate ranging of the target. The present invention obtains a more accurate frequency calculation value by sampling the error value, thereby obtaining a more accurate distance value, and the distance value refers to the target to be measured. Distance to mmWave device.

Step 140: Generate a positioning result of the target to be measured according to the distance value and the angle of arrival.

Further, as shown in Figure 2, building a spectrum signal model based on the number of targets to be measured and echo signals, specifically including the following steps:

Step 210: Extract the target frequency band signal in the echo signal, and perform discrete sampling on the target frequency band signal to obtain the discrete target frequency band signal. The intermediate frequency discrete signal of the present invention is the target frequency band signal.

Specifically, when there is only a single target to be measured in the environment, theoretically, there is only one frequency component in the intermediate frequency signal extracted by the millimeter wave device, and the discrete target frequency band signal can be expressed as:

Among them, n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n=0,1,...,N-1; e is the base of the natural logarithm, and j is the imaginary unit;

是信号的幅度，A₀和θ₀均为实数；

为信号的归一化频率，范围为[0,1]，δ是采样误差，δ为

范围内的实数，π为圆周率，w[n]为高斯白噪声。

is the amplitude of the signal, A ₀ and θ ₀ are real numbers;

is the normalized frequency of the signal, in the range [0,1], δ is the sampling error, and δ is

A real number in the range, π is pi, and w[n] is white Gaussian noise.

As shown in Figures 5 and 6, traditional frequency estimation schemes usually only estimate k _p and ignore δ. In the present invention, a more accurate frequency estimation result is obtained by designing a spectrum peak reconstruction algorithm.

Step 220: Perform discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and obtain peak sampling points corresponding to the discrete target frequency band signal based on the processing result.

Specifically, by performing DFT on r[n], the peak sampling point k _p in the spectrum can be obtained. In the original signal r[n], there are also three real unknowns: A ₀ , θ ₀ and δ. The DFT operation result of r[n] is as follows:

Wherein, m= _kp -N+1, _kp -N+2,..., _kp ; W[ _kp -m] is the discrete Fourier transform result of w[n]; _kp is the peak sampling point.

Step 230: Select data of several sampling points within a preset distance of the peak sampling point, and combine the processing results to establish a spectrum signal model.

Further, select three points near the peak sampling point:

和归一化频率

R[k _p -1], R[k _p ], R[k _p +1], establish a spectral signal model, and solve the model to obtain the complex amplitude of the discrete intermediate frequency signal

and normalized frequency

Among them, the distance of the target to be measured is calculated based on the normalized frequency:

F_s是毫米波设备的采样率。

F _s is the sampling rate of mmWave devices.

Specifically, since the operation result of the DFT is a complex number, the real part and the imaginary part of both sides of the above formula should be equal respectively. Therefore, each DFT sample point can provide 2 real equations.

To solve for 3 unknown real numbers, at least 2 sample points of data are required. In theory, using more sampling points for estimation will result in more accurate estimation results. However, sampling points with lower amplitudes are susceptible to noise and have larger errors. According to the spectrum calculation formula, the sampling points closer to the peak point k _p usually have higher amplitudes. Therefore, three points R[k _p -1], R[k _p ], R[k _p +1] near the spectral peak point are used to establish the spectral reconstruction nonlinear equation system, that is, the spectral signal model in the present invention .

和归一化频率

然后，根据信号的频率计算目标的距离：Finally, use the common nonlinear equation solving algorithm Levenberg-Marquardt to solve the unknown parameters to obtain the complex amplitude of the signal

and normalized frequency

Then, calculate the distance to the target based on the frequency of the signal:

where F _s is the sampling rate of the mmWave device.

Compared with the traditional ranging method, more accurate frequency information is obtained, and thus higher precision distance information is obtained.

Further, the present invention determines the number of targets to be measured, and processes the target frequency band signals respectively according to whether the number is single or multiple.

When the number of targets to be measured is two, the representation of the discrete target frequency band signal is:

和

是未知的复数信号幅度，

和

是信号的归一化频率分量，w[n]为高斯白噪声；Among them, n is the discrete time point of the discrete target frequency band signal, N is the number of sampling points of the signal, n=0,1,...,N-1;

and

is the unknown complex signal amplitude,

and

is the normalized frequency component of the signal, w[n] is Gaussian white noise;

Discrete Fourier transform is performed on the discrete target frequency band signal t[n] to obtain the operation result T[k]; two peak sampling points k _p1 and k _p2 are obtained according to the operation result;

Select a plurality of sampling point data between the _two peak sampling points k _p1 and k _p2 , and combine the operation result T[ _k ] to establish the spectrum signal model, and the unknown parameters A1, A2, _θ1 , _θ2 , δ ₁ ,δ ₂ solve;

Based on the two normalized frequencies f ₁ and f ₂ , the distances of the objects to be measured are calculated respectively.

In practical application scenarios, multiple targets may appear at the same time, and there will be multiple frequency components in the signal at the same time. Aliasing may occur between different frequency components, affecting the estimation of the parameters of each component. To deal with these complex situations, a multi-frequency component estimation scheme is proposed.

For ease of understanding, first consider a signal with two frequency components:

和

是未知的复数信号幅度，

和

是信号的归一化频率分量，N为信号的采样点数，w[n]为高斯白噪声。in,

and

is the unknown complex signal amplitude,

and

is the normalized frequency component of the signal, N is the number of sampling points of the signal, and w[n] is Gaussian white noise.

According to the derivation content of single-target distance measurement, the DFT operation result T[k] of t[n] is calculated, and the frequency components k _p1 , k _p2 of the signal are obtained. In the two-frequency component signal, there are 6 unknown parameters: A ₁ , A ₂ , θ ₁ , θ ₂ , δ ₁ , δ ₂ .

In a single frequency component signal, the information of the 3 DFT sample points is used to calculate the unknown parameters. In the two-frequency component signal, it is advisable to set k _p1 ≤k _p2 , then use the sampling information from T[k _p1 -1] to T[k _p2 +1] to solve the unknown parameters. The number of sampling points in this part is not less than 3, which is enough to solve the 6 unknown parameters of the two components.

个采样点的信息。If the signal contains more frequency components, solve it in a nonlinear system of equations using the above method. In order to solve a system of equations containing u frequency components, i.e. 3u unknown parameters, at least 3u nonlinear equations are required, i.e.

information about sampling points.

As shown in Figure 3, in step 120, the phase difference between adjacent antennas is calculated based on the spectrum signal model, which specifically includes the following steps:

Step 310, acquiring the complex signal amplitude in the discrete target frequency band signal model;

Step 320: Extract the phase difference of adjacent linear receiving antennas in the millimeter wave device according to the complex signal amplitude.

Specifically, in order to obtain the two-dimensional coordinates of the target, it is also necessary to know the angle of arrival (AoA) of the signal. AoA is solved using linear receive antenna arrays of mmWave devices.

The spacing between _antennas in a linear array is do. Considering the distance d>>d ₀ from the target to the device, when the reflected signal reaches each antenna, it can be approximately considered to be parallel. The phase difference of adjacent antennas can be expressed as:

where λ is the wavelength of the signal and θ is the AoA of the signal. According to the above formula, AoA can be solved according to the phase difference of different antennas.

As shown in Figures 3 and 7, in practical applications, due to the influence of random noise and multi-target reflection, there is usually a large error in solving AoA directly by using the phase difference. It is observed that the initial phase of each frequency component can be extracted by DFT. In the single-target signal modeling, ignoring the influence of frequency deviation δ and Gaussian white noise w[n], the phase of the DFT sampling point is as follows:

where k _p is the peak point of the DFT, and θ ₀ is the initial phase of the corresponding frequency component. According to the above formula, if the influence of the frequency deviation δ is ignored, the initial phase of each antenna can be extracted according to the sampling point information of the DFT.

But in most cases, the frequency deviation δ≠0. At this time, the phase corresponding to the peak point in the DFT spectrum is as follows:

angle(R[k _p ])=θ ₀ +angle(F(δ)),

in

Due to the influence of F(δ), the phase of the DFT peak point no longer corresponds to the initial phase of the antenna, so using the phase of the DFT peak point to calculate the AoA will generate a large systematic error.

因此，各频率分量的初始相位已经被所解出。因此，可以直接利用频谱重建所获得的参数信息，直接得到各频率分量的初始相位，并利用各接收天线的求解结果，得到更为准确的AoA，实现了AoA的去畸变测量。In order to reduce the generation of systematic errors and improve the accuracy of AoA calculation, it is necessary to accurately calculate the initial phase θ ₀ corresponding to each frequency component. In the previous introduction, while solving the parameter δ of each frequency component, its complex amplitude is also obtained.

Therefore, the initial phase of each frequency component has been solved. Therefore, the parameter information obtained by spectrum reconstruction can be directly used to directly obtain the initial phase of each frequency component, and the solution result of each receiving antenna can be used to obtain a more accurate AoA, which realizes the AoA de-distortion measurement.

The positioning apparatus based on a millimeter wave device provided by the present invention is described below, and the positioning apparatus based on a millimeter wave device described below and the positioning method based on a millimeter wave device described above may refer to each other correspondingly.

The invention is based on millimeter wave equipment, utilizes the advantages of short wavelength and high resolution of millimeter wave, and designs and realizes a spectrum peak reconstruction algorithm by establishing a quantitative analysis model of spectrum sampling points and signal frequencies for different target numbers. , so as to complete the high-precision distance measurement; and improve the measurement accuracy of the signal arrival angle through the signal amplitude information, thereby realizing a high-precision target positioning system.

As shown in FIG. 8 , a positioning apparatus based on a millimeter wave device provided by an embodiment of the present invention includes the following modules: a model building module 810 , a first calculation module 820 , a second calculation module 830 , and a result generation module 840 .

Specifically, the model building module 810 is configured to acquire the number of the objects to be tested and the echo signals, and build a spectrum signal model based on the number of the objects to be tested and the echo signals. The first calculation module 820 is configured to calculate the sampling error value of the target to be measured and the phase difference between adjacent antennas based on the spectral signal model. The second calculation module 830 is configured to calculate the distance value from the target to be measured to the millimeter wave device based on the sampling error value, and calculate the angle of arrival of the target to be measured based on the phase difference. The result generating module 840 is configured to generate the positioning result of the target to be measured according to the distance value and the angle of arrival.

FIG. 9 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 9 , the electronic device may include: a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930, and a communication bus 940, The processor 910 , the communication interface 920 , and the memory 930 communicate with each other through the communication bus 940 . The processor 910 can call the logic instructions in the memory 930 to execute a positioning method based on a millimeter wave device, the method includes the following steps: obtaining the number of the objects to be measured and the echo signals, and based on the number of the objects to be measured and echo signals to construct a spectrum signal model; based on the spectrum signal model, calculate the sampling error value of the target to be tested and the phase difference between adjacent antennas; , calculate the angle of arrival of the target to be measured; generate the positioning result of the target to be measured according to the distance value and the angle of arrival.

In addition, the above-mentioned logic instructions in the memory 930 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

In another aspect, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can Execute a positioning method based on a millimeter wave device provided by the above methods, the method includes the following steps: acquiring the number of targets to be measured and echo signals, and based on the number of targets to be tested and echo signals Constructing a spectrum signal Model; calculate the sampling error value of the target to be tested and the phase difference between adjacent antennas based on the spectrum signal model; Arrival angle: According to the distance value and the arrival angle, the positioning result of the target to be measured is generated.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored, and the computer program is implemented when executed by a processor to perform a millimeter-wave device-based positioning provided by the above methods The method includes the following steps: obtaining the number of the objects to be measured and echo signals, and constructing a spectrum signal model based on the number of objects to be tested and the echo signals; calculating the sampling error value and Phase difference between adjacent antennas; based on the sampling error value, calculate the distance value from the target to be measured to the millimeter wave device, and calculate the angle of arrival of the target to be measured based on the phase difference; generate the target to be measured according to the distance value and the angle of arrival positioning results.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A positioning method based on millimeter wave equipment is characterized by comprising the following steps:

acquiring the number of targets to be detected and echo signals, and constructing a frequency spectrum signal model based on the number of the targets to be detected and the echo signals;

calculating a sampling error value of the target to be detected and a phase difference of adjacent antennas based on the frequency spectrum signal model;

calculating the distance value from the target to be detected to the millimeter wave equipment based on the sampling error value, and calculating the angle of arrival of the target to be detected based on the phase difference;

and generating a positioning result of the target to be detected according to the distance value and the wave arrival angle.

2. The positioning method based on the millimeter wave device according to claim 1, wherein the constructing a spectrum signal model based on the number of the targets to be measured and the echo signals specifically comprises:

extracting a target frequency band signal in the echo signal, and performing discrete sampling on the target frequency band signal to obtain a discrete target frequency band signal;

performing discrete Fourier transform on the discrete target frequency band signal to obtain a processing result, and acquiring a peak sampling point corresponding to the discrete target frequency band signal based on the processing result;

and selecting a plurality of sampling point data within a preset distance of the peak sampling point, and establishing a frequency spectrum signal model by combining the processing result.

3. The millimeter wave device based positioning method according to claim 2,

when the number of the targets to be detected is single, the discrete target frequency band signal is expressed as:

wherein N is a discrete time point of a discrete target frequency band signal, N is a sampling point number of the signal, and N is 0,1, …, N-1; e is the base number of the natural logarithm, and j is the unit of an imaginary number;

is the amplitude of the signal, A ₀ And theta ₀ Are all real numbers;

is the normalized frequency of the signal, in the range of [0,1 ]]Delta is the sampling error, delta is

Real numbers in the range, pi is the circumferential ratio, w [ n ]]Is gaussian white noise.

4. The millimeter wave device-based positioning method according to claim 3, wherein the discrete target frequency band signal is subjected to discrete Fourier transform to obtain a processing result, specifically:

performing discrete Fourier transform on the representation r [ n ] of the discrete target frequency band signal, wherein the processing result is as follows:

wherein m ═ k _p -N+1,k _p -N+2,…,k _p ；W[k _p -m]Is w [ n ]]The result of the discrete fourier transform of (a); k is a radical of _p Is a peak sampling point;

selecting a plurality of sampling point data within a preset distance of the peak sampling point, and establishing a frequency spectrum signal model by combining the processing result, wherein the specific steps are as follows:

selecting three points R [ k ] _p -1]、R[k _p ]、R[k _p +1]Establishing a spectrum signal model, and solving the model to obtain the complex amplitude of the discrete intermediate frequency signal

And normalized frequency

Calculating the distance of the target to be measured based on the normalized frequency:

F _s is the sampling rate of the millimeter wave device.

5. The millimeter wave device based positioning method according to claim 2,

when the number of the targets to be detected is two, the discrete target frequency band signal is represented as:

wherein N is a discrete time point of a discrete target frequency band signal, N is a sampling point number of the signal, and N is 0,1, …, N-1;

and

is the amplitude of the complex signal that is unknown,

and

is the normalized frequency component of the signal, w n]Is white gaussian noise;

for the discrete target frequency band signal t [ n ]]Performing discrete Fourier transform to obtain operation result T [ k ]](ii) a Obtaining two peak sampling points k according to the operation result _p1 、k _p2 ；

At the two peak sampling points k _p1 、k _p2 Selecting a plurality of sampling point data and combining the operation result T [ k ]]Establishing the spectrum signal model, and carrying out model pair on unknown parameters A ₁ ,A ₂ ,θ ₁ ,θ ₂ ,δ ₁ ,δ ₂ Solving;

based on two normalized frequencies f ₁ 、f ₂ And respectively calculating the distance of the target to be measured.

6. The millimeter wave device-based positioning method according to claim 5, wherein calculating the phase difference between adjacent antennas based on the spectrum signal model specifically comprises:

obtaining the complex signal amplitude in the discrete target frequency band signal model;

and extracting the phase difference of adjacent receiving antennas in the linear antenna array of the millimeter wave equipment according to the amplitude of the complex signal.

7. A positioning apparatus based on millimeter wave devices, the apparatus comprising:

the model building module is used for obtaining the number of the targets to be tested and echo signals and building a frequency spectrum signal model based on the number of the targets to be tested and the echo signals;

the first calculation module is used for calculating a sampling error value of the target to be detected and a phase difference of adjacent antennas based on the spectrum signal model;

the second calculation module is used for calculating a distance value from the target to be detected to the millimeter wave equipment based on the sampling error value and calculating a reaching angle of the target to be detected based on the phase difference;

and the result generation module is used for generating a positioning result of the target to be detected according to the distance value and the arrival angle.

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements a positioning method based on millimeter wave devices according to any of claims 1 to 6 when executing the program.

9. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the millimeter wave device-based positioning method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements a millimeter wave device based positioning method according to any of claims 1 to 6.

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