Positioning method, device, system, chip and storage medium

Abstract

A positioning method, device, system, chip and storage medium, wherein a network device is externally connected to N antennas, the network device has N receiving channels, and the N antennas correspond to the N receiving channels one by one. The method includes: the network device receives positioning signals sent by a terminal device through the N antennas respectively (S301); determines the TOA information and / or RSSI information of the positioning signals on the N receiving channels respectively (S302); sends the TOA information and / or RSSI information of the positioning signals on the N receiving channels respectively to a service anchor point (S303); the service anchor point uses the TOA information and / or RSSI information to locate the terminal device (S304). The method reduces costs, adapts to most indoor scenarios, and breaks through the application limitations of methods based on multi-station joint positioning.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a positioning method, device, system, chip and storage medium. Background Art

[0002] Currently, positioning technology based on the Global Positioning System has been widely used. However, for indoor scenes, due to occlusion and other reasons, the GPS satellite signal is very weak, resulting in poor positioning performance. The fourth generation (4G) mobile communication system / fifth generation (5G) mobile communication system has greatly promoted the popularization of indoor base stations and provided a rich infrastructure for high-precision indoor positioning.

[0003] At present, the positioning methods of indoor base stations are all based on multi-base station scenarios. For example, based on the positioning technology of angle of arrival (AOA), first, multiple base stations respectively receive the radio wave signals emitted by the terminal device to obtain the angle information of the radio wave signals, and then estimate the position of the terminal device through the intersection method. These positioning methods based on multi-base station scenarios have the following characteristics: the more base stations there are, the more conducive to the implementation of the positioning solution. However, due to cost and other issues, in most indoor scenarios, it is not possible to guarantee the simultaneous provision of multiple base stations within the same coverage area, resulting in limited application of methods based on multi-station joint positioning. Summary of the invention

[0004] The present application provides a positioning method, device, system, chip and storage medium, which can reduce costs on one hand and adapt to most indoor scenes on the other hand, breaking through the application limitations of the method based on multi-station joint positioning.

[0005] In the first aspect, the present application provides a positioning method, which is applied to a network device, wherein the network device is externally connected to N antennas, and the network device has N receiving channels, wherein the N antennas correspond one to one with the N receiving channels, and N is an integer greater than or equal to 3, and the method comprises: receiving positioning signals sent by the terminal device through the N antennas respectively. Determine the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively. Send the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively to the service anchor point. Among them, the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively is used to locate the terminal device. That is, in the present application, there is no need to use multiple network devices, but N antennas are externally connected to the network device, based on which the positioning of the terminal device can be achieved. On the one hand, the effect of reducing costs is achieved, and on the other hand, it is also adapted to most indoor scenarios, breaking through the application limitations of the method based on multi-station joint positioning.

[0006] Optionally, the network device further includes N transmission channels, and the N transmission channels correspond to the N receiving channels one by one. Before determining the TOA information of the positioning signal on the N receiving channels respectively, the method further includes: transmitting a first synchronization signal through a first transmission channel, and the first transmission channel is any transmission channel among the N transmission channels. Receive the first synchronization signal through a first receiving channel group, and the first receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmission channel. Determine the TOA information of the first synchronization signal on the first receiving channel group, and send the TOA information of the first synchronization signal on the first receiving channel group to the service anchor point, and the TOA information of the first synchronization signal on the first receiving channel group is used to achieve time synchronization between the first receiving channel groups. Transmit a second synchronization signal through a second transmission channel, and the second transmission channel is any transmission channel among the N transmission channels except the first transmission channel. Receive the second synchronization signal through a second receiving channel group, and the second receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmission channel. Determine the TOA information of the second synchronization signal on the second receiving channel group, and send the TOA information of the second synchronization signal on the second receiving channel group to the service anchor point, and the TOA information of the second synchronization signal on the second receiving channel group is used to achieve time synchronization between the second receiving channel groups. The time synchronization between the receiving channels can be achieved in the above manner, and the TOA information obtained based on this is more accurate, thereby improving the positioning accuracy of the terminal device.

[0007] The following will provide a positioning method performed by the service anchor point side, as well as a network device, a service anchor point, a chip, a storage medium and a computer program product. The effects thereof can refer to the effects corresponding to the above positioning method, which will not be described in detail below.

[0008] In a second aspect, the present application provides a positioning method, which is applied to a service anchor point, and the method includes: receiving TOA information and / or RSSI information of a positioning signal sent by a network device on N receiving channels. According to the TOA information and / or RSSI information of the positioning signal on the N receiving channels, the terminal device is positioned. Among them, the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the positioning signal is received by the network device through the N antennas and sent by the terminal device.

[0009] Optionally, positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels respectively includes: determining the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively according to the TOA information of the positioning signal on the N receiving channels respectively to position the terminal device. Alternatively, circular positioning of the terminal device is performed according to the RSSI information of the positioning signal on the N receiving channels respectively.

[0010] Optionally, positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels respectively includes: determining the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively according to the TOA information of the positioning signal on the N receiving channels respectively, so as to position the terminal device and obtain the first positioning information. Performing circular positioning on the terminal device according to the RSSI information of the positioning signal on the N receiving channels respectively, so as to obtain the second positioning information. Determining the final positioning information of the terminal device according to the first positioning information and the second positioning information.

[0011] Optionally, it also includes: receiving TOA information of a first synchronization signal sent by a network device on a first receiving channel group, wherein the network device also includes N transmitting channels, the N transmitting channels correspond to the N receiving channels one by one, the first synchronization information is sent by the network device through the first transmitting channel, the first transmitting channel is any transmitting channel among the N transmitting channels, and the first receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel. According to the TOA information of the first synchronization signal on the first receiving channel group, time synchronization is performed between the first receiving channel groups. Receiving TOA information of a second synchronization signal sent by the network device on a second receiving channel group, wherein the second synchronization information is sent by the network device through a second transmitting channel, the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel, and the second receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel. According to the TOA information of the second synchronization signal on the second receiving channel group, time synchronization is performed between the second receiving channel groups.

[0012] In a third aspect, the present application provides a positioning method, which is applied to a network device, the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the method includes: receiving positioning signals sent by the terminal device through the N antennas respectively. Determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on the N receiving channels respectively. According to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively, the terminal device is positioned.

[0013] Optionally, the network device further includes N transmission channels, and the N transmission channels correspond to the N receiving channels one by one. Before determining the TOA information of the positioning signal on the N receiving channels respectively, the method further includes: transmitting a first synchronization signal through a first transmission channel, and the first transmission channel is any transmission channel among the N transmission channels. Receive the first synchronization signal through a first receiving channel group, and the first receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmission channel. Determine the TOA information of the first synchronization signal on the first receiving channel group, and perform time synchronization between the first receiving channel groups according to the TOA information of the first synchronization signal on the first receiving channel group. Transmit a second synchronization signal through a second transmission channel, and the second transmission channel is any transmission channel among the N transmission channels except the first transmission channel. Receive a second synchronization signal through a second receiving channel group, and the second receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmission channel. Determine the TOA information of the second synchronization signal on the second receiving channel group, and perform time synchronization between the second receiving channel groups according to the TOA information of the second synchronization signal on the second receiving channel group.

[0014] Optionally, positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels respectively includes: determining the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively according to the TOA information of the positioning signal on the N receiving channels respectively to position the terminal device. Alternatively, circular positioning of the terminal device is performed according to the RSSI information of the positioning signal on the N receiving channels respectively.

[0015] Optionally, positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels respectively includes: determining the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively according to the TOA information of the positioning signal on the N receiving channels respectively, so as to position the terminal device and obtain the first positioning information. Performing circular positioning on the terminal device according to the RSSI information of the positioning signal on the N receiving channels respectively, so as to obtain the second positioning information. Determining the final positioning information of the terminal device according to the first positioning information and the second positioning information.

[0016] In a fourth aspect, the present application provides a network device, the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the network device includes:

[0017] The first receiving module is used to receive positioning signals sent by the terminal device through N antennas respectively.

[0018] The first determination module is used to determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on N receiving channels respectively.

[0019] The first sending module is used to send TOA information and / or RSSI information of the positioning signal on N receiving channels to the service anchor point.

[0020] The TOA information and / or RSSI information of the positioning signal on N receiving channels are used to locate the terminal device.

[0021] In a fifth aspect, the present application provides a service anchor point, including:

[0022] The first receiving module is used to receive TOA information and / or RSSI information of the positioning signal sent by the network device on N receiving channels respectively.

[0023] The positioning module is used to locate the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels.

[0024] Among them, the network device is connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the positioning signal is sent by the terminal device and received by the network device through the N antennas.

[0025] In a sixth aspect, the present application provides a network device, the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the network device includes:

[0026] The first receiving module is used to receive positioning signals sent by the terminal device through N antennas respectively.

[0027] The first determination module is used to determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on N receiving channels respectively.

[0028] The positioning module is used to locate the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels.

[0029] In a seventh aspect, the present application provides a network device, comprising: a memory and a processor. The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as described in the first aspect or the optional manner of the first aspect.

[0030] In an eighth aspect, the present application provides a service anchor point, including: a memory and a processor. The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as described in the second aspect or the optional manner of the second aspect.

[0031] In a ninth aspect, the present application provides a positioning system, comprising: a network device as described in the seventh aspect and N antennas externally connected to the network device, where N is an integer greater than or equal to 3.

[0032] In a tenth aspect, the present application provides a network device, comprising: a memory and a processor. The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as described in the third aspect or the optional manner of the third aspect.

[0033] In a twelfth aspect, the present application provides a chip, which is used to implement the positioning method described in any of the above aspects.

[0034] In a thirteenth aspect, the present application provides a computer storage medium, comprising: computer executable instructions, where the computer executable instructions are used to implement the positioning method described in any of the above aspects.

[0035] In a fourteenth aspect, the present application provides a computer program product, comprising: computer executable instructions, where the computer executable instructions are used to implement the positioning method described in any of the above aspects.

[0036] In the fifteenth aspect, the present application provides a positioning method, including a network device that can receive the positioning signal sent by the terminal device through N antennas, and delay each positioning signal to ensure that the network device can distinguish the N positioning signals after combining the N positioning signals. Finally, the positioning signal after the combining process is transmitted to the PRRU, and the PRRU determines the TOA information of the N positioning signals respectively. And transmit the TOA information to the RHUB, the RHUB transmits the TOA information to the BBU, and the BBU transmits the TOA information to the SVA, and the SVA determines the TDOA information between the N positioning signals based on the TOA information to locate the terminal device.

[0037] In the sixteenth aspect, the present application provides a positioning method, including: N radio frequency channels respectively process the positioning signals received from the corresponding receiving channels, and perform subcarrier or RB level frequency shift on the processed positioning signals to ensure that the network device can distinguish the N positioning signals after combining the N positioning signals. Then, the positioning signal after the frequency shift is processed at the intermediate frequency, and the processed positioning signal is transmitted to the RHUB, the RHUB combines the N positioning signals, and transmits the combined positioning signals to the BBU, the BBU first separates the combined positioning signals in the frequency domain to obtain N positioning signals, samples the above-mentioned super-resolution algorithm to determine the TOA information of the N positioning signals, and transmits the TOA information to the SVA, the SVA determines the TDOA information between the N positioning signals based on the TOA information to locate the terminal device.

[0038] In summary, the present application provides a positioning method, device, system, chip and storage medium. The network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, and the network device receives the positioning signal sent by the terminal device through the N antennas. Determine the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively. Send the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively to the service anchor point. The service anchor point is used to locate the terminal device based on the TOA information and / or RSSI information. Alternatively, the network device is used to locate the terminal device based on the TOA information and / or RSSI information. On the one hand, the effect of reducing costs is achieved, and on the other hand, it is also adapted to most indoor scenarios, breaking through the application limitations of the method based on multi-station joint positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 An application scenario diagram of the technical solution of the present application provided for an embodiment of the present application;

[0040] Figure 2 An application scenario diagram of the technical solution of the present application provided for another embodiment of the present application;

[0041] Figure 3 An interactive flow chart of a positioning method provided in one embodiment of the present application;

[0042] Figure 4 A schematic diagram of a positioning terminal device provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a positioning method provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a positioning terminal device provided in another embodiment of the present application;

[0045] Figure 7 A flow chart of a method for implementing time synchronization between receiving channels provided in an embodiment of the present application;

[0046] Figure 8 An interactive flow chart of a positioning method provided by another embodiment of the present application;

[0047] Fig. 9 A flow chart of a method for achieving time synchronization between receiving channels provided by another embodiment of the present application;

[0048] Fig.10 A schematic diagram of a positioning method based on time orthogonality provided in an embodiment of the present application;

[0049] Fig.11 A schematic diagram of a positioning method based on frequency orthogonality provided in an embodiment of the present application;

[0050] Fig.12 A schematic diagram of a network device provided in one embodiment of the present application;

[0051] Fig.13 A schematic diagram of a service anchor point provided in an embodiment of the present application;

[0052] Fig.14 A schematic diagram of a network device provided in another embodiment of the present application;

[0053] Fig.15 A schematic diagram of a network device provided in one embodiment of the present application;

[0054] Fig.16 A schematic diagram of a service anchor point provided in an embodiment of the present application;

[0055] Fig.17 A schematic diagram of a positioning system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0056] As mentioned above, indoor base station positioning methods are all based on multi-base station scenarios. However, due to cost and other issues, in most indoor scenarios, multiple base stations cannot be provided simultaneously within the same coverage area, resulting in limited application of methods based on multi-station joint positioning. In order to solve the above technical problems, the present application provides a positioning method, device, system, chip and storage medium.

[0057] For example, Figure 1 The application scenario diagram of the technical solution of the present application provided in one embodiment of the present application is as follows: Figure 1 As shown, the network device 11 can be connected to N antennas 12, where N is an integer greater than or equal to 3. Figure 1Taking the network device 11 with four external antennas as an example, the technical solution of the present application further involves network elements: terminal device 13 and service anchor (SVA) 14. Among them, the terminal device 13 can communicate with the network device 11 through N antennas 12, and the network device 11 and SVA 14 can use wireless communication to transmit data. It should be noted that Figure 1 Taking a terminal device 13 accessing a network device 11 as an example, in fact, a terminal device 13 can also access multiple network devices, and this application does not limit this. In addition, the name of the service anchor point 14 is not limited to SVA, as long as the device has similar functions to SVA can be used as a service anchor point.

[0058] For example, Figure 2 An application scenario diagram of the technical solution of the present application provided for another embodiment of the present application, such as Figure 2 As shown, the network device 21 can be connected to N antennas 22, where N is an integer greater than or equal to 3. Figure 2 Taking the example of a network device 21 connected to four antennas, the technical solution of the present application further relates to a network element: a terminal device 23. The terminal device 23 can communicate with the network device 21 through N antennas 22. It should be noted that: Figure 2 Taking a terminal device 23 accessing a network device 21 as an example, in fact, a terminal device 23 can also access multiple network devices, and this application does not impose any restrictions on this.

[0059] The network device involved in the present application can be a base station (Base Transceiver Station, BTS) in Global System of Mobilecommunication (GSM) or Code Division Multiple Access (CDMA), a base station (NodeB, NB) in Wideband Code Division Multiple Access (WCDMA), an evolved base station (evolved NodeB, eNB) in Long Term Evolution (LTE) or enhanced Long Term Evolution (evolved Long Term Evolution, eLTE), or a next generation evolved base station (next generation-evolved NodeB, ng-eNB), an access point (Access Point, AP) or a relay station in a wireless local area network (WLAN), or a gNB in ​​a 5G new radio (New Radio, NR), etc., without limitation here.

[0060] In addition, the terminal device involved in the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. The terminal device can communicate with at least one core network via a radio access network (Radio Access Network, RAN). The terminal device may be a mobile terminal, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal, for example, a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device, which exchanges voice and / or data with a radio access network. The terminal device may also be referred to as a subscriber unit (Subscriber Unit), a subscriber station (Subscriber Station), a mobile station (Mobile Station), a mobile station (Mobile Station), a remote station (Remote Station), an access point (Access Point), a remote terminal (Remote Terminal), an access terminal (Access Terminal), a user terminal (User Terminal), a user agent (User Agent) or a user equipment (User Equipment), which is not limited here.

[0061] The antenna involved in this application can be an omnidirectional antenna, a directional antenna or an array antenna, etc., which is not limited here.

[0062] Figure 3 An interactive flow chart of a positioning method provided in an embodiment of the present application, the network elements involved in the method include: a network device, a terminal device and a service anchor point, exemplarily, in combination with Figure 1 In the scenario diagram shown, the network device is connected to N antennas, and the network device has N receiving channels. The N antennas correspond to the N receiving channels one by one, and N is an integer greater than or equal to 3. Figure 3 As shown, the method comprises the following steps:

[0063] Step S301: The network device receives the positioning signal sent by the terminal device through N antennas respectively.

[0064] Step S302: The network device determines the arrival time (TOA) information and / or received signal strength indicator (RSSI) information of the positioning signal on N receiving channels respectively.

[0065] Step S303: The network device sends the TOA information and / or RSSI information of the positioning signal on N receiving channels to the service anchor point.

[0066] Step S304: The service anchor point locates the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels.

[0067] Among them, the positioning signal sent by the terminal device is used to realize the positioning of the terminal device.

[0068] The first case: the network device can determine the TOA information of the positioning signal on N receiving channels.

[0069] The second case: the network device can determine the RSSI information of the positioning signal on N receiving channels.

[0070] The third case: the network device can determine the TOA information and RSSI information of the positioning signal on N receiving channels.

[0071] Exemplarily, the network device can determine the TOA information of the positioning signal on N receiving channels through a super-resolution algorithm. The super-resolution algorithm is also called a super-resolution TOA estimation algorithm, and the algorithm process is as follows: for any one of the N receiving channels, the network device receives the positioning signal on the receiving channel, and takes the nth snapshot of the positioning signal to obtain Sig_Rx0(n), which can be transformed to the frequency domain through Fast Fourier Transform (FFT) to obtain the frequency domain receiving signal Sig_freq_domain_Rx0(n), and conjugate and complex multiply Sig_freq_domain_Rx0(n) with the local reference signal Sig_Ref(n) to obtain the frequency domain channel response H_Rx0(n):

[0072] That is, H_Rx0(n)=Sig_freq_domain_Rx0(n)*conj(Sig_Ref(n)), where conj() represents a conjugate operation.

[0073] The network device can construct the covariance matrix R through formula (1).

[0074]

[0075] Where P is the number of snapshots of the positioning signal received by the network device on any of the above receiving channels. H represents the conjugate transpose of H_Rx0(n).

[0076] Furthermore, the network device performs EVD eigenvalue decomposition on R to obtain eigenvalues ​​and eigenvectors corresponding to each eigenvalue. Let the steering vector v(τ) = [1, e -j2πΔfτ , …e -j2π(L-1)Δfτ ] T , the network device calculates the MUSIC pseudo-spectrum using formula (2):

[0077]

[0078] Among them, the i-th element in v(τ) is e -j2πiΔfτ , i = 1, 2…L-1. Δf is the subcarrier spacing, τ is the sampling time of the timing signal; L is the dimension of the covariance matrix R, LP is the number of signal sources, For the eigenvector q k The result of the conjugate transpose of . Further, the network device can perform a first peak search on S(τ) and select the first peak value greater than a preset threshold as the TOA of the positioning signal on any of the above receiving channels. It should be noted that the present application does not limit the method for determining the TOA of the positioning signal on the receiving channel.

[0079] After the network device obtains the TOA information of the positioning signal on the N receiving channels, the TOA information of the positioning signal on the N receiving channels can be sent to the service anchor point. The service anchor point can determine the time difference of arrival (TDOA) information of the positioning signal between the N receiving channels based on the TOA information of the positioning signal on the N receiving channels to locate the terminal device.

[0080] For example, assume that the network device is connected to four antennas, namely antenna 0, antenna 1, antenna 2 and antenna 3, and their respective coordinates are (x0, y0), (x1, y1), (x2, y2), (x3, y3). The service anchor point uses hyperbola positioning, which requires the coordinate positions of at least three antennas. The following calculates the position of the terminal device based on the positions of antenna 1, antenna 2 and antenna 3. Figure 4 A schematic diagram of a positioning terminal device provided in an embodiment of the present application, such as Figure 4 As shown, assuming that the position coordinates corresponding to the terminal device are (x, y), the distances between the terminal device and antenna 1, antenna 2, and antenna 3 are d1, d2, and d3 respectively, and the TOA of the positioning signal on the receiving channels corresponding to antenna 1, antenna 2, and antenna 3 are t1, t2, and t3 respectively.

[0081] Then the following equation can be constructed:

[0082]

[0083]

[0084] Wherein, c represents the speed of light, d21 represents the distance between antenna 1 and antenna 2, and d32 represents the distance between antenna 2 and antenna 3. The coordinates (x, y) of the terminal device can be obtained by the above equation.

[0085] Exemplarily, the network equipment may include: a Pico Remote Radio Unit (PRRU), a Remote Radio Unit HUB (RHUB), and a Building Baseband Unit (BBU). Specifically, Figure 5 A schematic diagram of a positioning method provided by an embodiment of the present application is shown in FIG. Figure 5As shown, the four receiving channels are respectively connected to the four RF channels in the PRRU, the four RF channels respectively process the positioning signals received from the corresponding receiving channels, and perform intermediate frequency processing on the processed positioning signals, and then use the above-mentioned super-resolution algorithm to determine the TOA information of the positioning signal on the N receiving channels, and transmit the TOA information to the RHUB, the RHUB transparently transmits the TOA information to the BBU, and the BBU transparently transmits the TOA information to the SVA, and the SVA determines the TDOA information of the positioning signal between the N receiving channels according to the TOA information to locate the terminal device.

[0086] Exemplarily, the network device can determine the RSSI information of the positioning signal on N receiving channels. After the network device obtains the RSSI information of the positioning signal on the N receiving channels, the RSSI information of the positioning signal on the N receiving channels can be sent to the service anchor point. The service anchor point can locate the terminal device by circular positioning according to the RSSI information of the positioning signal on the N receiving channels. The specific implementation process is as follows: Assume that the network device is connected to four antennas, namely antenna 0, antenna 1, antenna 2 and antenna 3, and their respective coordinates are (x0, y0), (x1, y1), (x2, y2), (x3, y3). The service anchor point needs at least 3 antenna coordinates to determine the position of the terminal device. The position of the terminal device is calculated according to the positions of antenna 0, antenna 1 and antenna 2, where the receiving channels corresponding to antenna 0, antenna 1 and antenna 2 are receiving channel 0, receiving channel 1 and receiving channel 2 respectively. Assume that the RSSI information of the positioning signal on receiving channel 0, receiving channel 1 and receiving channel 2 are RSSI_0, RSSI_1 and RSSI_2 respectively. The service anchor point can calculate the distance d0 from antenna 0 to the terminal device based on RSSI_0, calculate the distance d1 from antenna 1 to the terminal device based on RSSI_1, and calculate the distance d2 from antenna 2 to the terminal device based on RSSI_2. The methods for calculating distances d0, d1, and d2 are the same. Taking the calculation of d0 as an example, the service anchor point can calculate d0 using formula (3):

[0087]

[0088] The unit of d0 is meter, the unit of RSSI_0 is dBm; RSSI_REF is the RSSI value corresponding to the positioning signal at a specific reference distance of 10m; AGC_offset is the link gain compensation factor of receiving channel 0; COEF_ATT is the environmental attenuation factor.

[0089] After the service anchor obtains d0, d1, and d2, the service anchor can determine the location of the terminal device using a circle positioning algorithm. Figure 6A schematic diagram of a positioning terminal device provided in another embodiment of the present application is shown in FIG. Figure 6 As shown, the service anchor point can solve the following equations to obtain the coordinates (x, y) of the terminal device:

[0090] (x0-x) 2 +(y0-y) 2 =(d0) 2

[0091] (x1-x) 2 +(y1-y) 2 =(d1) 2

[0092] (x2-x) 2 +(y2-y) 2 =(d2) 2

[0093] For the third case above, the service anchor point can determine the arrival time difference TDOA information of the positioning signal between the N receiving channels based on the TOA information of the positioning signal on the N receiving channels, so as to locate the terminal device and obtain the first positioning information. And according to the RSSI information of the positioning signal on the N receiving channels, the terminal device can be circularly positioned to obtain the second positioning information. Finally, the final positioning information of the terminal device is determined based on the first positioning information and the second positioning information. For example: the service anchor point calculates the average value of the first positioning information and the second positioning information to obtain the final positioning information. Alternatively, the service anchor point uses the first positioning information or the second positioning information as the final positioning information.

[0094] In summary, the present application provides a positioning method, wherein the network device is externally connected to N antennas, the network device has N receiving channels, and the network device receives the positioning signal sent by the terminal device through the N antennas respectively; the network device determines the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on the N receiving channels respectively; the network device sends the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively to the service anchor point; the service anchor point locates the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively. That is, in the present application, there is no need to use multiple network devices, but N antennas are externally connected to the network device, based on which the positioning of the terminal device can be achieved. On the one hand, the effect of reducing costs is achieved, and on the other hand, it is also adapted to most indoor scenarios, breaking through the application limitations of the method based on multi-station joint positioning.

[0095] The network device also includes N transmitting channels, which correspond one-to-one to the N receiving channels. Accordingly, the N transmitting channels also correspond one-to-one to the N antennas. Before determining the TOA information of the positioning signal on the N receiving channels, the network device can also achieve time synchronization between the receiving channels.

[0096] For example, Figure 7 A flow chart of a method for implementing time synchronization between receiving channels provided in an embodiment of the present application, wherein the method involves network elements including: network equipment and service anchor points. Figure 7 As shown, the method comprises the following steps:

[0097] Step S701: The network device transmits a first synchronization signal through a first transmission channel.

[0098] The first transmitting channel is any transmitting channel among the N transmitting channels.

[0099] Step S702: The network device receives a first synchronization signal through a first receiving channel group.

[0100] The first receiving channel group includes other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel.

[0101] Step S703: The network device determines TOA information of the first synchronization signal on the first receiving channel group.

[0102] The TOA information of the first synchronization signal on the first receiving channel group is used to achieve time synchronization between the first receiving channel groups.

[0103] Step S704: The network device sends TOA information of the first synchronization signal on the first receiving channel group to the service anchor point.

[0104] Step S705: The service anchor point performs time synchronization between the first receiving channel groups according to the TOA information of the first synchronization signal on the first receiving channel group.

[0105] Step S706: The network device transmits a second synchronization signal through a second transmission channel.

[0106] The second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel.

[0107] Step S707: The network device receives a second synchronization signal through a second receiving channel group.

[0108] The second receiving channel group includes the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel.

[0109] Step S708: The network device determines TOA information of the second synchronization signal on the second receiving channel group.

[0110] Step S709: The network device sends TOA information of the second synchronization signal on the second receiving channel group to the service anchor point.

[0111] The TOA information of the second synchronization signal on the second receiving channel group is used to achieve time synchronization between the second receiving channel groups.

[0112] Step S710: The service anchor point performs time synchronization between the second receiving channel groups according to the TOA information of the second synchronization signal on the second receiving channel group.

[0113] Optionally, before step S701, the service anchor point may send an indication message to the network device to instruct the network device to implement time synchronization between receiving channels.

[0114] The following is an example of the above time synchronization solution:

[0115] Assume that the network device sends a first synchronization signal through transmission channel 0, and the first synchronization signal is used to achieve time synchronization between receiving channels 1, 2, and 3. The network device can use the above-mentioned super-resolution algorithm to determine the TOA information of the first synchronization signal on receiving channel 1, 2, and 3, assuming that they are TOA01, TOA02, and TOA03 respectively. The network device sends TOA01, TOA02, and TOA03 to the service anchor point. The service anchor point calculates the time synchronization compensation amounts Δt12, Δt23, and Δt13 between receiving channels 1, 2, and 3 in the following manner.

[0116] TOA01=Tx_0+T01+Rx_1 (4)

[0117] TOA02=Tx_0+T02+Rx_2 (5)

[0118] TOA03=Tx_0+T03+Rx_3 (6)

[0119] Among them, Tx_0 represents the sending time of the first synchronization signal in transmission channel 0. T01, T02, and T03 represent the time corresponding to the distance from antenna 0 to antenna 1, antenna 2, and antenna 3 converted by radio wave propagation. For example: assuming that the distance from antenna 0 to antenna 1, antenna 2, and antenna 3 is 12 meters, 15 meters, and 21 meters respectively, the time corresponding to the distance between antennas is:

[0120] T01=12 / 3e8=40ns

[0121] T02=15 / 3e8=50ns.

[0122] T03=21 / 3e8=70ns.

[0123] According to formulas (4), (5), and (6), the time synchronization compensation amounts Δt12, Δt23, and Δt13 between receiving channel 1, receiving channel 2, and receiving channel 3 can be calculated.

[0124] Δt12=Rx_1-Rx_2

[0125] =(TOA01-Tx_0-T01)-(TOA02-Tx_0-T02)

[0126] =(TOA01-TOA02)-(T01-T02)

[0127] Δt23=Rx_2-Rx_3

[0128] =(TOA02-Tx_0-T02)-(TOA03-Tx_0-T03)

[0129] =(TOA02-TOA03)-(T02-T03)

[0130] Δt13=Rx_1-Rx_3

[0131] =(TOA01-Tx_0-T01)-(TOA03-Tx_0-T03)

[0132] =(TOA01-TOA03)-(T01-T03)

[0133] Wherein, Δt12 represents the time synchronization compensation amount between receiving channel 1 and receiving channel 2.

[0134] Δt23 represents the time synchronization compensation amount between receiving channels 3 and 3.

[0135] Δt13 represents the time synchronization compensation between receiving channel 1 and receiving channel 3.

[0136] Assume that TOA01=110ns, TOA02=120ns, TOA03=130ns.

[0137] The final calculated time synchronization compensation is as follows:

[0138] Δt12=Rx_1-Rx_2

[0139] =(TOA01-Tx_0-T01)-(TOA02-Tx_0-T02)

[0140] =(TOA01-TOA02)-(T01-T02)

[0141] =(110-120)-(40-50)

[0142] =-20(ns)

[0143] Δt23=Rx_2-Rx_3

[0144] =(TOA02-Tx_0-T02)-(TOA03-Tx_0-T03)

[0145] =(TOA02-TOA03)-(T02-T03)

[0146] =(120-130)-(50-70)

[0147] =-30(ns)

[0148] Δt13=Rx_1-Rx_3

[0149] =(TOA01-Tx_0-T01)-(TOA03-Tx_0-T03)

[0150] =(TOA01-TOA03)-(T01-T03)

[0151] =(110-130)-(40-70)

[0152] =-50(ns)

[0153] Based on this, the service anchor point synchronizes the time of receiving channel 1, receiving channel 2, and receiving channel 3 according to the above time synchronization compensation amount. For example, based on the time of receiving channel 2, the time of receiving channel 1 is compensated by -20 (ns). The time of receiving channel 3 is compensated by 30 (ns).

[0154] Further, it is assumed that the network device sends a second synchronization signal through the transmission channel 1, and the second synchronization signal is used to achieve time synchronization between the receiving channels 0, 2, and 3. The network device can use the above-mentioned super-resolution algorithm to determine the TOA information of the second synchronization signal on the receiving channels 0, 2, and 3, assuming that they are TOA00, TOA02, and TOA03 respectively. The network device sends TOA00, TOA02, and TOA03 to the service anchor point. The service anchor point calculates the time synchronization compensation amounts Δt02, Δt23, and Δt03 between the receiving channels 0, 2, and 3 in the following manner. The method for calculating the time synchronization compensation amounts Δt02, Δt23, and Δt03 is the same as the method for calculating Δt12, Δt23, and Δt13, and will not be repeated here. Assuming that the time of the receiving channel 2 is still used as the reference, the time compensation of the receiving channel 0 is Δt02, thereby achieving time synchronization between the receiving channels 0, 1, 2, and 3.

[0155] It should be noted that, when the present application adopts the above-mentioned time synchronization method, the TOA of the positioning signal on the receiving channels corresponding to each antenna 1 and antenna is the TOA of the positioning signal on these receiving channels after time synchronization.

[0156] In summary, the above method can achieve time synchronization between receiving channels, and the TOA information obtained based on this is more accurate, thereby improving the positioning accuracy of the terminal device.

[0157] Figure 8 An interactive flow chart of a positioning method provided in another embodiment of the present application, the network elements involved in the method include: a network device, a terminal device, and exemplarily, in combination with Figure 1 In the scenario diagram shown, the network device is connected to N antennas, and the network device has N receiving channels. The N antennas correspond to the N receiving channels one by one, and N is an integer greater than or equal to 7. Figure 8 As shown, the method comprises the following steps:

[0158] Step S801: The network device receives the positioning signal sent by the terminal device through N antennas respectively.

[0159] Step S802: The network device determines the arrival time TOA information and / or received signal strength indication RSSI information of the positioning signal on N receiving channels respectively.

[0160] Step S803: The network device locates the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels.

[0161] Exemplarily, the network device determines the arrival time difference TDOA information of the positioning signal between the N receiving channels according to the TOA information of the positioning signal on the N receiving channels respectively, so as to locate the terminal device.

[0162] or,

[0163] The network device performs circular positioning of the terminal device based on the RSSI information of the positioning signal on N receiving channels.

[0164] or,

[0165] The network device determines the arrival time difference TDOA information of the positioning signal on the N receiving channels according to the TOA information of the positioning signal on the N receiving channels, so as to locate the terminal device and obtain the first positioning information. The network device performs circular positioning on the terminal device according to the RSSI information of the positioning information on the N receiving channels, so as to obtain the second positioning information. The final positioning information of the terminal device is determined according to the first positioning information and the second positioning information.

[0166] The embodiments of the present application Figure 3 The difference between the corresponding embodiments is that Figure 3 The action of the service anchor point in this embodiment is implemented by the network device, and the other contents are the same as Figure 3 The contents in the corresponding embodiments are the same, and can be referred to for details. Figure 3 The corresponding embodiments will not be described in detail here.

[0167] The network device also includes N transmitting channels, which correspond one-to-one to the N receiving channels. Accordingly, the N transmitting channels also correspond one-to-one to the N antennas. Before determining the TOA information of the positioning signal on the N receiving channels, the network device can also achieve time synchronization between the receiving channels.

[0168] For example, Fig. 9 A flowchart of a method for implementing time synchronization between receiving channels provided in another embodiment of the present application, wherein the method involves network elements including: network devices. Fig. 9 As shown, the method comprises the following steps:

[0169] Step S901: The network device transmits a first synchronization signal through a first transmission channel.

[0170] The first transmitting channel is any transmitting channel among the N transmitting channels.

[0171] Step S902: The network device receives a first synchronization signal through a first receiving channel group.

[0172] The first receiving channel group includes other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel.

[0173] Step S903: the network device determines TOA information of the first synchronization signal on the first receiving channel group, and performs time synchronization between the first receiving channel groups according to the TOA information of the first synchronization signal on the first receiving channel group.

[0174] Step S904: the network device transmits a second synchronization signal through a second transmission channel.

[0175] The second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel.

[0176] Step S905: The network device receives a second synchronization signal through a second receiving channel group.

[0177] The second receiving channel group includes the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel.

[0178] Step S906: the network device determines the TOA information of the second synchronization signal on the second receiving channel group, and performs time synchronization between the second receiving channel groups according to the TOA information of the second synchronization signal on the second receiving channel group.

[0179] The embodiments of the present application Figure 7 The difference between the corresponding embodiments is that Figure 7 The action of the service anchor point in this embodiment is implemented by the network device, and the other contents are the same as Figure 7 The contents in the corresponding embodiments are the same, and can be referred to for details. Figure 7 The corresponding embodiments will not be described in detail here.

[0180] It should be noted that, in the above embodiment, the network device is externally connected to N antennas to form multi-dimensional distributed reception, that is, spatial orthogonality of the positioning signal on N receiving channels is achieved, based on which the terminal device is positioned. In fact, the network device can also achieve orthogonality of the positioning signal in the time dimension, frequency dimension, antenna polarization dimension or amplitude and phase dimension to achieve the positioning of the terminal device.

[0181] For example: Fig.10 A schematic diagram of a positioning method based on time orthogonality provided in an embodiment of the present application, such as Fig.10As shown, the network device can receive the positioning signal sent by the terminal device through antennas 0-3, and delay each positioning signal to ensure that the network device can distinguish the four positioning signals after combining the four positioning signals. Finally, the positioning signal after the combination processing is transmitted to the PRRU, and the PRRU determines the TOA information of the four positioning signals. And transmit the TOA information to the RHUB, the RHUB transparently transmits the TOA information to the BBU, and the BBU transparently transmits the TOA information to the SVA. The SVA determines the TDOA information between the four positioning signals based on the TOA information to locate the terminal device.

[0182] The function of the SVA may also be implemented by a module or unit in the network device.

[0183] Assuming that the delay corresponding to the positioning signal transmitted by antenna 0 is D0, the delay corresponding to the positioning signal transmitted by antenna 1 is D1, the delay corresponding to the positioning signal transmitted by antenna 2 is D2, and the delay corresponding to the positioning signal transmitted by antenna 3 is D3, the maximum delay extension of the system is τ max . When the network device performs delay processing on each positioning signal, the following conditions must be met:

[0184] D0-D1>τ max

[0185] D1-D2>τ max

[0186] D2-D3>τ max

[0187] It is worth mentioning that how to determine the TOA information of the four positioning signals and how to locate the terminal device based on the TOA information of the four positioning signals can be referred to Figure 3 , Figure 8 The corresponding embodiments are not described in detail.

[0188] Another example: Fig.11 A schematic diagram of a positioning method based on frequency orthogonality provided in an embodiment of the present application, such as Fig.11As shown, the four receiving channels are respectively connected to the four radio frequency channels in the PRRU, and the four radio frequency channels process the positioning signals received from the corresponding receiving channels respectively, and perform subcarrier or resource block (RB) level frequency shifting on the processed positioning signals to ensure that the network equipment can distinguish the four positioning signals after combining the four positioning signals. Then, the positioning signals after frequency shifting are processed at the intermediate frequency, and the processed positioning signals are transmitted to the RHUB, which combines the four positioning signals and transmits the combined positioning signals to the BBU. The BBU first separates the combined positioning signals in the frequency domain to obtain the four positioning signals, samples the above-mentioned super-resolution algorithm to determine the TOA information of the four positioning signals, and transmits the TOA information to the SVA. The SVA determines the TDOA information between the four positioning signals based on the TOA information to locate the terminal device.

[0189] Fig.12 A schematic diagram of a network device provided in an embodiment of the present application, wherein the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, and N is an integer greater than or equal to 3, such as Fig.12 As shown, the network device includes:

[0190] The first receiving module 1201 is used to receive positioning signals sent by terminal equipment through N antennas respectively.

[0191] The first determination module 1202 is used to determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on N receiving channels respectively.

[0192] The first sending module 1203 is used to send the TOA information and / or RSSI information of the positioning signal on N receiving channels to the service anchor point. The TOA information and / or RSSI information of the positioning signal on N receiving channels is used to locate the terminal device.

[0193] Optionally, the network device also includes N transmission channels, the N transmission channels correspond one-to-one to the N receiving channels, and also includes: a first transmission module 1204, used to transmit a first synchronization signal through a first transmission channel, and the first transmission channel is any one of the N transmission channels.

[0194] The second receiving module 1205 is used to receive the first synchronization signal through a first receiving channel group, where the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel.

[0195] The second determining module 1206 is configured to determine TOA information of the first synchronization signal on the first receiving channel group.

[0196] The second sending module 1207 is used to send TOA information of the first synchronization signal on the first receiving channel group to the service anchor point, where the TOA information of the first synchronization signal on the first receiving channel group is used to achieve time synchronization between the first receiving channel groups.

[0197] The second transmitting module 1208 is used to transmit a second synchronization signal through a second transmitting channel, where the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel.

[0198] The third receiving module 1209 is used to receive the second synchronization signal through a second receiving channel group, where the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel.

[0199] The third determination module 1210 is configured to determine TOA information of the second synchronization signal on the second receiving channel group.

[0200] The third sending module 1211 is used to send TOA information of the second synchronization signal on the second receiving channel group to the service anchor point, and the TOA information of the second synchronization signal on the second receiving channel group is used to achieve time synchronization between the second receiving channel groups.

[0201] The network device provided in this application can be used to execute the positioning method executed by the above-mentioned network device side. Its content and effects can be referred to the method embodiment part, which will not be repeated here.

[0202] Fig.13 A schematic diagram of a service anchor point provided in an embodiment of the present application is shown in FIG. Fig.13 As shown, the service anchor includes:

[0203] The first receiving module 1301 is used to receive TOA information and / or RSSI information of the positioning signal sent by the network device on N receiving channels respectively.

[0204] The positioning module 1302 is used to locate the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels. The network device is connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the positioning signal is sent by the network device through the N antennas.

[0205] Optionally, the positioning module 1302 is specifically used to: determine the arrival time difference TDOA information of the positioning signal between the N receiving channels according to the TOA information of the positioning signal on the N receiving channels, so as to locate the terminal device. Alternatively, perform circular positioning of the terminal device according to the RSSI information of the positioning signal on the N receiving channels.

[0206] Optionally, the positioning module 1302 is specifically used to: determine the arrival time difference TDOA information of the positioning signal between the N receiving channels according to the TOA information of the positioning signal on the N receiving channels, so as to locate the terminal device and obtain the first positioning information. Perform circular positioning on the terminal device according to the RSSI information of the positioning signal on the N receiving channels, so as to obtain the second positioning information. Determine the final positioning information of the terminal device according to the first positioning information and the second positioning information.

[0207] Optionally, the service anchor point also includes: a second receiving module 1303, used to receive TOA information of the first synchronization signal sent by the network device on the first receiving channel group, wherein the network device also includes N transmission channels, the N transmission channels correspond one-to-one to the N receiving channels, the first synchronization information is sent by the network device through the first transmission channel, the first transmission channel is any one of the N transmission channels, and the first receiving channel group is the other N-1 receiving channels of the N receiving channels except the receiving channel corresponding to the first transmission channel.

[0208] The first synchronization module 1304 is used to perform time synchronization between the first receiving channel groups according to the TOA information of the first synchronization signal on the first receiving channel group.

[0209] The third receiving module 1305 is used to receive TOA information of a second synchronization signal sent by the network device on a second receiving channel group, wherein the second synchronization information is sent by the network device through a second transmission channel, the second transmission channel is any transmission channel among the N transmission channels except the first transmission channel, and the second receiving channel group is the other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmission channel.

[0210] The second synchronization module 1306 is used to perform time synchronization between the second receiving channel groups according to the TOA information of the second synchronization signal on the second receiving channel group.

[0211] The service anchor point provided in this application can be used to execute the positioning method executed by the above-mentioned service anchor point side. Its content and effect can be referred to the method embodiment part, which will not be repeated here.

[0212] Fig.14A schematic diagram of a network device provided in another embodiment of the present application, wherein the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, and N is an integer greater than or equal to 3, such as Fig.14 As shown, the network device includes:

[0213] The first receiving module 1401 is used to receive positioning signals sent by terminal equipment through N antennas respectively.

[0214] The first determination module 1402 is used to determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on N receiving channels respectively.

[0215] The positioning module 1403 is used to locate the terminal device according to the TOA information and / or RSSI information of the positioning signal on N receiving channels.

[0216] Optionally, the network device further includes N transmitting channels, the N transmitting channels correspond one-to-one to the N receiving channels, and the network device further includes:

[0217] The first transmitting module 1404 is used to transmit a first synchronization signal through a first transmitting channel, where the first transmitting channel is any one of the N transmitting channels.

[0218] The second receiving module 1405 is used to receive the first synchronization signal through a first receiving channel group, where the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel.

[0219] The second determining module 1406 is configured to determine TOA information of the first synchronization signal on the first receiving channel group.

[0220] The first synchronization module 1407 is used to perform time synchronization between the first receiving channel groups according to the TOA information of the first synchronization signal on the first receiving channel group.

[0221] The second transmitting module 1408 is used to transmit a second synchronization signal through a second transmitting channel, where the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel.

[0222] The third receiving module 1409 is used to receive the second synchronization signal through a second receiving channel group, where the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel.

[0223] The third determination module 1410 is configured to determine TOA information of the second synchronization signal on the second receiving channel group.

[0224] The second synchronization module 1411 is used to perform time synchronization between the second receiving channel groups according to the TOA information of the second synchronization signal on the second receiving channel groups.

[0225] Optionally, the positioning module 1403 is specifically used to: determine the arrival time difference TDOA information of the positioning signal between the N receiving channels according to the TOA information of the positioning signal on the N receiving channels, so as to locate the terminal device. Alternatively, perform circular positioning of the terminal device according to the RSSI information of the positioning signal on the N receiving channels.

[0226] Optionally, the positioning module 1403 is specifically used to: determine the arrival time difference TDOA information of the positioning signal between the N receiving channels according to the TOA information of the positioning signal on the N receiving channels, so as to locate the terminal device and obtain the first positioning information. Perform circular positioning on the terminal device according to the RSSI information of the positioning signal on the N receiving channels, so as to obtain the second positioning information. Determine the final positioning information of the terminal device according to the first positioning information and the second positioning information.

[0227] The network device provided in this application can be used to execute the positioning method executed by the above-mentioned network device side. Its content and effects can be referred to the method embodiment part, which will not be repeated here.

[0228] Fig.15 A schematic diagram of a network device provided in an embodiment of the present application is shown in FIG. Fig.15 As shown, the network device includes: a memory 1501 and a processor 1502. The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method performed by the network device. The content and effect can be referred to in the method embodiment part, which will not be repeated here. Optionally, the network device also includes a transceiver 1503 for realizing data transmission between other devices.

[0229] Exemplarily, the processor 1502 may be a processing unit in the above-mentioned PRRU for determining TOA information and / or RSSI information.

[0230] The network device provided in this application can be used to execute the positioning method executed by the above-mentioned network device side. Its content and effects can be referred to the method embodiment part, which will not be repeated here.

[0231] Fig.16 A schematic diagram of a service anchor point provided in an embodiment of the present application is shown in FIG. Fig.16As shown, the service anchor point includes: a memory 1601 and a processor 1602. The memory is used to store computer instructions so that the processor 1602 executes the computer instructions to implement the positioning method performed by the service anchor point. The content and effect thereof can be referred to the method embodiment part, which will not be described in detail. Optionally, the service anchor point also includes a transceiver 1603 for realizing data transmission between other devices.

[0232] The network device provided in the present application can be used to execute the positioning method executed by the above-mentioned service anchor point side. Its content and effects can be referred to the method embodiment part, which will not be repeated here.

[0233] Fig.17 A schematic diagram of a positioning system provided in an embodiment of the present application is shown in FIG. Fig.17 As shown, the positioning system includes: the above-mentioned network device 1701 and N antennas externally connected to the network device 1702, where N is an integer greater than or equal to 3. Optionally, the system also includes the above-mentioned service anchor point.

[0234] The network device in the positioning system provided in the present application, or the network device and the service anchor point can be used to execute the above positioning method. Its content and effect can be referred to the method embodiment part, which will not be described in detail.

[0235] The present application provides a chip, which is used to implement a positioning method performed by a network device. The content and effect thereof can be referred to in the method embodiment part, which will not be described in detail.

[0236] The present application provides a computer storage medium, including: computer executable instructions, the computer executable instructions are used to implement the positioning method executed by the terminal device. The content and effect thereof can be referred to the method embodiment part, which will not be described in detail.

Claims

1. A positioning method, characterized in that: The method is applied to a network device, the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the method includes: Receiving positioning signals sent by the terminal equipment through the N antennas respectively; Determine arrival time TOA information and / or received signal strength indication RSSI information of the positioning signal on the N receiving channels respectively; Sending the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively to the service anchor point; The TOA information and / or RSSI information of the positioning signal on the N receiving channels are used to locate the terminal device; The network device further includes N transmitting channels, and the N transmitting channels correspond to the N receiving channels one by one. Before determining the TOA information of the positioning signal on the N receiving channels respectively, the method further includes: Transmitting a first synchronization signal through a first transmitting channel, where the first transmitting channel is any one transmitting channel among the N transmitting channels; receiving the first synchronization signal through a first receiving channel group, where the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel; Determine TOA information of the first synchronization signal on the first receiving channel group, and send the TOA information of the first synchronization signal on the first receiving channel group to the service anchor point, where the TOA information of the first synchronization signal on the first receiving channel group is used to achieve time synchronization between the first receiving channel groups; Transmitting a second synchronization signal through a second transmitting channel, where the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel; receiving the second synchronization signal through a second receiving channel group, where the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel; Determine the TOA information of the second synchronization signal on the second receiving channel group, and send the TOA information of the second synchronization signal on the second receiving channel group to the service anchor point, wherein the TOA information of the second synchronization signal on the second receiving channel group is used to achieve time synchronization between the second receiving channel groups.

2. A positioning method, characterized in that: The method is applied to a service anchor point, and the method includes: Receiving TOA information and / or RSSI information of positioning signals sent by the network device on N receiving channels respectively; Positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively; The network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, the positioning signal is received by the network device through the N antennas, and the positioning signal is sent by the terminal device; The method further comprises: Receive TOA information of a first synchronization signal sent by the network device on a first receiving channel group, wherein the network device further includes N transmitting channels, the N transmitting channels correspond one-to-one to the N receiving channels, the first synchronization signal is sent by the network device through the first transmitting channel, the first transmitting channel is any one of the N transmitting channels, and the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel; Performing time synchronization between the first receiving channel groups according to TOA information of the first synchronization signal on the first receiving channel group; Receiving TOA information of a second synchronization signal sent by the network device on a second receiving channel group, wherein the second synchronization signal is sent by the network device through a second transmitting channel, the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel, and the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel; Time synchronization between the second receiving channel groups is performed according to TOA information of the second synchronization signal on the second receiving channel group.

3. The method according to claim 2, characterized in that Positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively includes: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device; or, The terminal device is circularly positioned according to the RSSI information of the positioning signal on the N receiving channels.

4. The method according to claim 2, characterized in that: Positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively includes: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device and obtain the first positioning information; According to RSSI information of the positioning signal on the N receiving channels, circular positioning is performed on the terminal device to obtain second positioning information; The final positioning information of the terminal device is determined according to the first positioning information and the second positioning information.

5. A positioning method, characterized in that: The method is applied to a network device, the network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the method includes: Receiving positioning signals sent by the terminal equipment through the N antennas respectively; Determine arrival time TOA information and / or received signal strength indication RSSI information of the positioning signal on the N receiving channels respectively; Positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively; The network device further includes N transmitting channels, and the N transmitting channels correspond to the N receiving channels one by one. Before determining the TOA information of the positioning signal on the N receiving channels respectively, the method further includes: Transmitting a first synchronization signal through a first transmitting channel, where the first transmitting channel is any one transmitting channel among the N transmitting channels; receiving the first synchronization signal through a first receiving channel group, where the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel; Determine TOA information of the first synchronization signal on the first receiving channel group, and perform time synchronization between the first receiving channel groups according to the TOA information of the first synchronization signal on the first receiving channel group; Transmitting a second synchronization signal through a second transmitting channel, where the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel; receiving the second synchronization signal through a second receiving channel group, where the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel; Determine TOA information of the second synchronization signal on the second receiving channel group, and perform time synchronization between the second receiving channel groups according to the TOA information of the second synchronization signal on the second receiving channel group.

6. The method according to claim 5, characterized in that Positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively includes: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device; or, The terminal device is circularly positioned according to the RSSI information of the positioning signal on the N receiving channels.

7. The method according to claim 5, characterized in that Positioning the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively includes: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device and obtain the first positioning information; According to RSSI information of the positioning signal on the N receiving channels, circular positioning is performed on the terminal device to obtain second positioning information; The final positioning information of the terminal device is determined according to the first positioning information and the second positioning information.

8. A network device, characterized in that: The network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the network device includes: A first receiving module, used to receive positioning signals sent by the terminal device through the N antennas respectively; A first determination module is used to determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on the N receiving channels respectively; A first sending module, configured to send the TOA information and / or RSSI information of the positioning signal on the N receiving channels to a service anchor point; The TOA information and / or RSSI information of the positioning signal on the N receiving channels are used to locate the terminal device; The network device further includes N transmitting channels, and the N transmitting channels correspond to the N receiving channels one by one. The network device further includes: A first transmitting module, configured to transmit a first synchronization signal through a first transmitting channel, where the first transmitting channel is any one of the N transmitting channels; A second receiving module, configured to receive the first synchronization signal through a first receiving channel group, where the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel; A second determining module, configured to determine TOA information of the first synchronization signal on the first receiving channel group; A second sending module, used for sending TOA information of the first synchronization signal on the first receiving channel group to the service anchor point, where the TOA information of the first synchronization signal on the first receiving channel group is used to achieve time synchronization between the first receiving channel groups; A second transmitting module, configured to transmit a second synchronization signal through a second transmitting channel, where the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel; A third receiving module, configured to receive the second synchronization signal through a second receiving channel group, where the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel; A third determination module, configured to determine TOA information of the second synchronization signal on the second receiving channel group; The third sending module is used to send TOA information of the second synchronization signal on the second receiving channel group to the service anchor point, and the TOA information of the second synchronization signal on the second receiving channel group is used to achieve time synchronization between the second receiving channel groups.

9. A service anchor point, characterized in that: include: A first receiving module is used to receive TOA information and / or RSSI information of a positioning signal sent by a network device on N receiving channels respectively; A positioning module, used to locate the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively; The network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, the positioning signal is received by the network device through the N antennas, and the positioning signal is sent by the terminal device; The service anchor point further includes: A second receiving module is used to receive TOA information of a first synchronization signal sent by the network device on a first receiving channel group, wherein the network device further includes N transmitting channels, the N transmitting channels correspond to the N receiving channels one by one, the first synchronization signal is sent by the network device through the first transmitting channel, the first transmitting channel is any one of the N transmitting channels, and the first receiving channel group is other N-1 receiving channels of the N receiving channels except the receiving channel corresponding to the first transmitting channel; A first synchronization module, configured to perform time synchronization between the first receiving channel groups according to TOA information of the first synchronization signal on the first receiving channel group; A third receiving module is used to receive TOA information of a second synchronization signal sent by the network device on a second receiving channel group, wherein the second synchronization signal is sent by the network device through a second transmitting channel, the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel, and the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel; The second synchronization module is used to perform time synchronization between the second receiving channel groups according to TOA information of the second synchronization signal on the second receiving channel group.

10. The service anchor point according to claim 9, characterized in that: The positioning module is specifically used for: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device; or, The terminal device is circularly positioned according to the RSSI information of the positioning signal on the N receiving channels.

11. The service anchor point according to claim 9, characterized in that: The positioning module is specifically used for: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device and obtain the first positioning information; According to RSSI information of the positioning signal on the N receiving channels, circular positioning is performed on the terminal device to obtain second positioning information; The final positioning information of the terminal device is determined according to the first positioning information and the second positioning information.

12. A network device, characterized in that: The network device is externally connected to N antennas, the network device has N receiving channels, the N antennas correspond to the N receiving channels one by one, N is an integer greater than or equal to 3, and the network device includes: A first receiving module, used to receive positioning signals sent by the terminal device through the N antennas respectively; A first determination module is used to determine the arrival time TOA information and / or the received signal strength indication RSSI information of the positioning signal on the N receiving channels respectively; A positioning module, used to locate the terminal device according to the TOA information and / or RSSI information of the positioning signal on the N receiving channels respectively; The network device further includes N transmitting channels, and the N transmitting channels correspond to the N receiving channels one by one. The network device further includes: A first transmitting module, configured to transmit a first synchronization signal through a first transmitting channel, where the first transmitting channel is any one of the N transmitting channels; A second receiving module, configured to receive the first synchronization signal through a first receiving channel group, where the first receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the first transmitting channel; A second determining module, configured to determine TOA information of the first synchronization signal on the first receiving channel group; A first synchronization module, configured to perform time synchronization between the first receiving channel groups according to TOA information of the first synchronization signal on the first receiving channel group; A second transmitting module, configured to transmit a second synchronization signal through a second transmitting channel, where the second transmitting channel is any transmitting channel among the N transmitting channels except the first transmitting channel; A third receiving module, configured to receive the second synchronization signal through a second receiving channel group, where the second receiving channel group is other N-1 receiving channels among the N receiving channels except the receiving channel corresponding to the second transmitting channel; A third determination module, configured to determine TOA information of the second synchronization signal on the second receiving channel group; The second synchronization module is used to perform time synchronization between the second receiving channel groups according to TOA information of the second synchronization signal on the second receiving channel group.

13. The network device according to claim 12, characterized in that: The positioning module is specifically used for: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device; or, The terminal device is circularly positioned according to the RSSI information of the positioning signal on the N receiving channels.

14. The network device according to claim 12, characterized in that: The positioning module is specifically used for: Determine, according to the TOA information of the positioning signal on the N receiving channels respectively, the arrival time difference TDOA information of the positioning signal between the N receiving channels respectively, so as to locate the terminal device and obtain the first positioning information; According to RSSI information of the positioning signal on the N receiving channels, circular positioning is performed on the terminal device to obtain second positioning information; The final positioning information of the terminal device is determined according to the first positioning information and the second positioning information.

15. A network device, characterized in that: include: Memory and processor; The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as claimed in claim 1.

16. A service anchor point, characterized in that: include: Memory and processor; The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as described in any one of claims 2 to 4.

17. A positioning system, characterized in that: include: The network device as claimed in claim 15 and N antennas externally connected to the network device, wherein N is an integer greater than or equal to 3.

18. The system according to claim 17, characterized in that It also includes service anchors; The service anchor point includes a memory and a processor, wherein the memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as described in any one of claims 2 to 4.

19. A network device, characterized in that: include: Memory and processor; The memory is used to store computer instructions so that the processor executes the computer instructions to implement the positioning method as described in any one of claims 5-7.

20. A positioning system, characterized in that: include: The network device as claimed in claim 19 and N antennas externally connected to the network device, wherein N is an integer greater than or equal to 3.

21. A chip, characterized in that: The chip is used to implement the positioning method as described in any one of claims 1-7.

22. A computer storage medium, characterized in that include: Computer executable instructions, the computer executable instructions are used to implement the positioning method as described in any one of claims 1-7.

Images