Method and apparatus for determining positioning parameter, device and storage medium

1 . A method for determining a positioning parameter, comprising:

determining Time of Flight (ToF) spectrum data of a positioning signal according to the positioning signal sent via multi-channels by a terminal to be positioned;

correcting an ideal spatial manifold matrix according to a preset antenna array deviation function, so as to obtain a corrected spatial manifold matrix, wherein each element in the ideal spatial manifold matrix or the corrected spatial manifold matrix represents a response of each array element in an antenna array to the positioning signal in a preset corresponding angle range, and the preset antenna array deviation function represents a deviation between a response of a real antenna array to a signal and a response of an ideal antenna array to the signal; and

determining the positioning parameter of a Line Of Sight (LOS) of the positioning signal according to the ToF spectrum data and the corrected spatial manifold matrix, wherein the LOS is a shortest path from the terminal to be positioned to the antenna array.

2 . The method as claimed in claim 1 , wherein a process of constructing the preset antenna array deviation function comprises:

acquiring an amplitude measurement value set of direction-dependent amplitude responses and a phase measurement value set of phase deviations, wherein the amplitude measurement value set of direction-dependent amplitude responses is a set of direction-dependent amplitude responses that a simulated real signal arrives at each array element of the antenna array, and the phase measurement value set of phase deviations is a set of phase deviations that the simulated real signal arrives at each array element of the antenna array;

constructing an amplitude pattern function according to the amplitude measurement value set, and constructing a phase deviation function according to the phase measurement value set; and

determining the preset antenna array deviation function according to the amplitude pattern function and the phase deviation function.

3 . The method as claimed in claim 1 , wherein the ideal spatial manifold matrix comprises a coarse ideal spatial manifold matrix and a fine ideal spatial manifold matrix; each element in the coarse ideal spatial manifold matrix represents a response of each array element in the antenna array to the positioning signal in a first preset corresponding angle range; each element in the fine ideal spatial manifold matrix represents a response of each array element in the antenna array to the positioning signal in a second preset corresponding angle range; the first preset corresponding angle range is greater than the second preset corresponding angle range.

4 . The method as claimed in claim 3 , wherein the positioning parameter comprises an Angle of Arrival (AoA) and a ToF; and determining the positioning parameter of the LOS of the positioning signal according to the ToF spectrum data and the corrected spatial manifold matrix comprises:

correcting the coarse ideal spatial manifold matrix according to the preset antenna array deviation function, so as to obtain a corrected coarse spatial manifold matrix;

determining the fine ideal spatial manifold matrix and the ToF corresponding to the LOS according to the corrected coarse spatial manifold matrix and the ToF spectrum data;

correcting the fine ideal spatial manifold matrix according to the preset antenna array deviation function, so as to obtain a corrected fine spatial manifold matrix; and

determining by a preset angle function, the AoA of the LOS according to the corrected fine spatial manifold matrix and the ToF corresponding to the LOS.

5 . The method as claimed in claim 4 , wherein determining the fine ideal spatial manifold matrix according to the corrected coarse spatial manifold matrix and the ToF spectrum data comprises:

determining, according to the corrected coarse spatial manifold matrix and the ToF spectrum data, a ToF of each path of the positioning signal, a reference AoA of each path of the positioning signal, and an attenuation coefficient of each path of the positioning signal;

determining an LOS from all paths according to the attenuation coefficient of each path and the ToF of each path;

dividing according to a reference AoA corresponding to the LOS, so as to obtain a second preset corresponding angle range; and

determining the fine ideal spatial manifold matrix according to the second preset corresponding angle range.

6 . The method as claimed in claim 5 , wherein determining the ToF corresponding to the LOS according to the corrected coarse spatial manifold matrix and the ToF spectrum data comprises:

determining the ToF corresponding to the LOS according to the ToF of each path and the attenuation coefficient of each path.

7 . The method as claimed in claim 5 , wherein determining, according to the corrected coarse spatial manifold matrix and the ToF spectrum data, the ToF of each path of the positioning signal, the reference AoA of each path of the positioning signal, and the attenuation coefficient of each path of the positioning signal comprises:

determining two-dimensional positioning parameter spectrum data according to the corrected coarse spatial manifold matrix and the ToF spectrum data; and

performing spectrum peak extraction according to the two-dimensional positioning parameter spectrum data, so as to obtain the ToF of each path of the positioning signal, the reference AoA of each path of the positioning signal, and the attenuation coefficient of each path of the positioning signal.

8 . The method as claimed in claim 1 , wherein determining the ToF spectrum data of the positioning signal according to the positioning signal sent via multi-channels by the terminal to be positioned comprises:

performing Fourier transform on the positioning signal sent via multi-channels by the terminal to be positioned, so as to obtain multi-channel frequency-domain signals;

performing channel estimation on the multi-channel frequency-domain signals, so as to obtain a Channel Frequency Response (CFR) matrix; and

acquiring the ToF spectrum data based on the CFR matrix.

9 . The method as claimed in claim 8 , wherein acquiring the ToF spectrum data based on the CFR matrix comprises:

acquiring a channel calibration coefficient, and correcting the CFR matrix according to the channel calibration coefficient, so as to obtain a corrected CFR matrix; and

acquiring the ToF spectrum data according to the corrected CFR matrix.

10 . The method as claimed in claim 9 , wherein performing channel estimation on the multi-channel frequency-domain signal comprises:

acquiring a positioning sequence of each sub-band occupied by the positioning signal;

constructing a positioning sequence matrix by using the positioning sequence of each sub-band; and

using each element in the positioning sequence matrix as a main diagonal element, so as to obtain a diagonal matrix for channel estimation; and

acquiring the channel calibration coefficient comprises: measuring a channel amplitude-phase response matrix as the channel calibration coefficient.

11 . A computer device, comprising a memory and a processor, wherein the memory stores a computer program; and the processor, when executing the computer program, implements following actions:

determining Time of Flight (ToF) spectrum data of a positioning signal according to the positioning signal sent via multi-channels by a terminal to be positioned;

correcting an ideal spatial manifold matrix according to a preset antenna array deviation function, so as to obtain a corrected spatial manifold matrix, wherein each element in the ideal spatial manifold matrix or the corrected spatial manifold matrix represents a response of each array element in an antenna array to the positioning signal in a preset corresponding angle range, and the preset antenna array deviation function represents a deviation between a response of a real antenna array to a signal and a response of an ideal antenna array to the signal; and

determining a positioning parameter of a Line Of Sight (LOS) of the positioning signal according to the ToF spectrum data and the corrected spatial manifold matrix, wherein the LOS is a shortest path from the terminal to be positioned to the antenna array.

12 . The computer device as claimed in claim 11 , wherein a process of constructing the preset antenna array deviation function comprises:

acquiring an amplitude measurement value set of direction-dependent amplitude responses and a phase measurement value set of phase deviations, wherein the amplitude measurement value set of direction-dependent amplitude responses is a set of direction-dependent amplitude responses that a simulated real signal arrives at each array element of the antenna array, and the phase measurement value set of phase deviations is a set of phase deviations that the simulated real signal arrives at each array element of the antenna array;

constructing an amplitude pattern function according to the amplitude measurement value set, and constructing a phase deviation function according to the phase measurement value set; and

determining the preset antenna array deviation function according to the amplitude pattern function and the phase deviation function.

13 . The computer device as claimed in claim 11 , wherein the ideal spatial manifold matrix comprises a coarse ideal spatial manifold matrix and a fine ideal spatial manifold matrix; each element in the coarse ideal spatial manifold matrix represents a response of each array element in the antenna array to the positioning signal in a first preset corresponding angle range; each element in the fine ideal spatial manifold matrix represents a response of each array element in the antenna array to the positioning signal in a second preset corresponding angle range; the first preset corresponding angle range is greater than the second preset corresponding angle range.

14 . The computer device as claimed in claim 13 , wherein the positioning parameter comprises an Angle of Arrival (AA) and a ToF; and determining the positioning parameter of the LOS of the positioning signal according to the ToF spectrum data and the corrected spatial manifold matrix comprises:

correcting the coarse ideal spatial manifold matrix according to the preset antenna array deviation function, so as to obtain a corrected coarse spatial manifold matrix;

determining the fine ideal spatial manifold matrix and the ToF corresponding to the LOS according to the corrected coarse spatial manifold matrix and the ToF spectrum data;

correcting the fine ideal spatial manifold matrix according to the preset antenna array deviation function, so as to obtain a corrected fine spatial manifold matrix; and

determining by a preset angle function, the AoA of the LOS according to the corrected fine spatial manifold matrix and the ToF corresponding to the LOS.

15 . The computer device as claimed in claim 14 , wherein determining the fine ideal spatial manifold matrix according to the corrected coarse spatial manifold matrix and the ToF spectrum data comprises:

determining, according to the corrected coarse spatial manifold matrix and the ToF spectrum data, a ToF of each path of the positioning signal, a reference AoA of each path of the positioning signal, and an attenuation coefficient of each path of the positioning signal;

determining an LOS from all paths according to the attenuation coefficient of each path and the ToF of each path;

dividing according to a reference AoA corresponding to the LOS, so as to obtain a second preset corresponding angle range; and

determining the fine ideal spatial manifold matrix according to the second preset corresponding angle range.

16 . The computer device as claimed in claim 15 , wherein determining the ToF corresponding to the LOS according to the corrected coarse spatial manifold matrix and the ToF spectrum data comprises:

determining the ToF corresponding to the LOS according to the ToF of each path and the attenuation coefficient of each path.

17 . The computer device as claimed in claim 15 , wherein determining, according to the corrected coarse spatial manifold matrix and the ToF spectrum data, the ToF of each path of the positioning signal, the reference AoA of each path of the positioning signal, and the attenuation coefficient of each path of the positioning signal comprises:

determining two-dimensional positioning parameter spectrum data according to the corrected coarse spatial manifold matrix and the ToF spectrum data; and

performing spectrum peak extraction according to the two-dimensional positioning parameter spectrum data, so as to obtain the ToF of each path of the positioning signal, the reference AoA of each path of the positioning signal, and the attenuation coefficient of each path of the positioning signal.

18 . The computer device as claimed in claim 11 , wherein determining the ToF spectrum data of the positioning signal according to the positioning signal sent via multi-channels by the terminal to be positioned comprises:

performing Fourier transform on the positioning signal sent via multi-channels by the terminal to be positioned, so as to obtain a multi-channel frequency-domain signal;

performing channel estimation on the multi-channel frequency-domain signal, so as to obtain a Channel Frequency Response (CFR) matrix; and

acquiring the ToF spectrum data based on the CFR matrix.

19 . The computer device as claimed in claim 18 , wherein acquiring the ToF spectrum data based on the CFR matrix comprises:

acquiring a channel calibration coefficient, and correcting the CFR matrix according to the channel calibration coefficient, so as to obtain a corrected CFR matrix; and

acquiring the ToF spectrum data according to the corrected CFR matrix.

20 . A non-transitory computer-readable storage medium, having a computer program stored thereon, wherein following actions are implemented when the computer program is executed by a processor:

determining Time of Flight (ToF) spectrum data of a positioning signal according to the positioning signal sent via multi-channels by a terminal to be positioned;

correcting an ideal spatial manifold matrix according to a preset antenna array deviation function, so as to obtain a corrected spatial manifold matrix, wherein each element in the ideal spatial manifold matrix or the corrected spatial manifold matrix represents a response of each array element in an antenna array to the positioning signal in a preset corresponding angle range, and the preset antenna array deviation function represents a deviation between a response of a real antenna array to a signal and a response of an ideal antenna array to the signal; and

determining a positioning parameter of a Line Of Sight (LOS) of the positioning signal according to the ToF spectrum data and the corrected spatial manifold matrix, wherein the LOS is a shortest path from the terminal to be positioned to the antenna array.