A positioning method, device, communication equipment and storage medium

Abstract

The embodiments of the present invention provide a positioning method, apparatus, communication equipment and storage medium, which can determine the location of the target MR without deploying additional auxiliary positioning equipment on the track line, and without consuming manpower to perform road testing of coverage quality, thereby effectively helping operators to digitize and automatically monitor the quality of the track line network, helping them to improve efficiency and reduce operation and maintenance costs. In addition, in the positioning solution provided by the embodiments of the present invention, the positioning process does not rely much on the engineering parameter fields in the target MR, which can reduce the cumulative error of the positioning result and improve the accuracy and robustness of the positioning result.

Description

Technical Field

[0001] The present invention relates to the field of communications, and in particular to a positioning method, device, communication equipment and storage medium. Background Art

[0002] With the continuous construction of high-speed rail lines, people are increasingly inclined to choose high-speed rail as a way of travel that takes into account both speed and economic cost, so the number of high-speed rail communication users is increasing. In order to provide high-speed rail communication users with a better communication experience, operators are paying more and more attention to the network coverage quality of high-speed rail lines. The traditional signal quality assessment solution requires manual testing of test terminals along the high-speed rail line. This solution has at least the following two defects: on the one hand, in order to ensure the timeliness of the test results, regular road tests are required, which has high labor costs; on the other hand, the results collected by the test terminal are only a sample of many terminals in the high-speed rail line, which has the problem of inaccurate test results and weak characterization of other high-speed rail terminals.

[0003] Thanks to the rapid development of big data, operators have turned their attention to digital operation and maintenance based on big data platforms. Operators have begun to consider identifying the MR of high-speed rail communication users, that is, high-speed rail MR, from the massive MR (Measurement Report) data collected, and then locating these high-speed rail MRs to determine the location of the reporting terminal when the high-speed rail MR reports. In this way, the network coverage quality at the location reported by the high-speed rail MR can be determined through the measurement data in the high-speed rail MR. Therefore, how to accurately locate the high-speed rail MR has become a problem that needs to be solved urgently. Summary of the invention

[0004] The positioning method, device, communication equipment and storage medium provided by the embodiments of the present invention mainly solve the technical problem of how to locate the high-speed rail MR.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a positioning method, including:

[0006] According to the identifier of the serving cell carried by the target MR to be located, the track cell-grid area relationship table is queried to determine the target grid area corresponding to the serving cell. The track cell-grid area relationship table stores the mapping relationship between the track cell and the grid area. The grid area corresponding to a track cell includes at least two track grids within the coverage of the track cell.

[0007] Determine a candidate grid of the target MR from the target grid area according to a TA (Timing Advance) parameter in the target MR, the candidate grids including a first candidate grid and a second candidate grid;

[0008] The final positioning grid of the target MR is determined based on the adjacent MRs of the target MR and the candidate grids, and the position of the final positioning grid is used as the positioning of the target MR. The adjacent MR is the MR reported by the reporting terminal of the target MR within the adjacent unit time of the moment of reporting the target MR.

[0009] The embodiment of the present invention further provides a positioning device, including:

[0010] The area determination module is used to query the track cell-grid area relationship table according to the identification of the service cell carried by the target MR to be located to determine the target grid area corresponding to the service cell. The track cell-grid area relationship table stores the mapping relationship between the track cell and the grid area. The grid area corresponding to a track cell includes at least two track grids within the coverage range of the track cell.

[0011] A candidate determination module, used to determine a candidate grid of the target MR from the target grid area according to the TA parameter in the target MR, the candidate grids including a first candidate grid and a second candidate grid;

[0012] The final positioning module is used to determine the final positioning grid of the target MR based on the adjacent MRs of the target MR and the candidate grids, and use the position of the final positioning grid as the positioning of the target MR. The adjacent MR is the MR reported by the reporting terminal of the target MR within the adjacent unit time of the moment of reporting the target MR.

[0013] An embodiment of the present invention further provides a communication device, the communication device comprising a processor, a memory and a communication bus;

[0014] The communication bus is used to realize the connection and communication between the processor and the memory;

[0015] The processor is used to execute one or more programs stored in the memory to implement the steps of the above positioning method.

[0016] An embodiment of the present invention further provides a storage medium, characterized in that the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the above positioning method.

[0017] The beneficial effects of the present invention are:

[0018] The positioning method, device, communication equipment and storage medium provided by the embodiment of the present invention first obtain a track cell-grid area relationship table, in which a mapping relationship between track cells and grid areas is stored, and a grid area corresponding to a track cell includes at least two track grids within the coverage range of the track cell. When a target MR needs to be positioned, the track cell-grid area relationship table can be queried according to the identifier of the service cell carried by the target MR to be positioned to determine the target grid area corresponding to the service cell, and then the candidate grid of the target MR is determined from the target grid area according to the TA parameter in the target MR, and the candidate grid includes a first candidate grid and a second candidate grid; then the final positioning grid of the target MR is determined according to the adjacent MR of the target MR combined with the candidate grid, and the position of the final positioning grid is used as the positioning of the target MR. This positioning scheme provided by the embodiment of the present invention can determine the positioning of the target MR without deploying additional auxiliary positioning equipment on the track line, and does not need to consume manpower to perform road testing of coverage quality, thereby effectively helping operators to digitize and automatically monitor the quality of the track line network, helping them to improve efficiency and reduce operation and maintenance costs. In addition, in the positioning solution provided in the embodiment of the present invention, the positioning process does not rely much on the engineering parameter fields in the target MR, which can reduce the cumulative error of the positioning result and improve the accuracy and robustness of the positioning result.

[0019] Other features and corresponding beneficial effects of the present invention are described in the latter part of the specification, and it should be understood that at least part of the beneficial effects become obvious from the description in the specification of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flow chart of the positioning method provided in Embodiment 1 of the present invention;

[0021] Figure 2 A schematic diagram of a track cell shown in Embodiment 1 of the present invention;

[0022] Figure 3 A flow chart of the communication device in the first embodiment of the present invention determining a candidate grid for a target MR according to a TA parameter in the target MR;

[0023] Figure 4 A flow chart of determining a second candidate grid for the communication device shown in the first embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the distribution of candidate grids around a serving cell shown in the first embodiment of the present invention;

[0025] Figure 6A flow chart of a communication device determining a final positioning grid in the case provided in the first embodiment of the present invention;

[0026] Figure 7 A schematic diagram of determining a final positioning grid based on candidate grids in situation 1 shown in embodiment 1 of the present invention;

[0027] Figure 8 A schematic diagram of determining a final positioning grid based on candidate grids in the second situation shown in the first embodiment of the present invention;

[0028] Fig. 9 A flow chart of a communication device determining a final positioning grid in the second situation provided in the first embodiment of the present invention;

[0029] Fig.10 A flow chart of a communication device determining a final positioning grid under the third situation provided in the first embodiment of the present invention;

[0030] Fig.11 A schematic diagram of determining a final positioning grid based on candidate grids in the third situation shown in the first embodiment of the present invention;

[0031] Fig.12 A flow chart of a communication device determining a final positioning grid under the fourth situation provided in the first embodiment of the present invention;

[0032] Fig.13 A schematic diagram of determining a final positioning grid based on candidate grids in the fourth situation shown in the first embodiment of the present invention;

[0033] Fig.14 A flow chart of generating a track cell-grid area relationship table provided in the second embodiment of the present invention;

[0034] Fig.15 A flow chart of the positioning method provided in Embodiment 3 of the present invention;

[0035] Fig.16 A schematic diagram of constructing a high-speed rail fingerprint library in Embodiment 3 of the present invention;

[0036] Fig.17 A flow chart for determining a final positioning grid according to adjacent MR conditions provided in Embodiment 3 of the present invention;

[0037] Fig.18 A schematic diagram of the structure of a positioning device provided in Embodiment 4 of the present invention;

[0038] Fig.19 A schematic diagram of the hardware structure of the communication device provided in the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the following is a further detailed description of the embodiments of the present invention through specific implementation methods combined with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] Embodiment 1:

[0041] In order to determine the network coverage quality at the location reported by the high-speed rail MR through the measurement results of the high-speed rail MR reported by the terminal on the high-speed rail, thereby reducing the manpower cost of high-speed rail line network coverage quality monitoring and improving the accuracy of quality monitoring, this embodiment provides a positioning method for accurately positioning the high-speed rail MR. Figure 1 A flow chart showing the positioning method:

[0042] S102: According to the identifier of the serving cell carried by the target MR to be located, a track cell-grid area relationship table is queried to determine a target grid area corresponding to the serving cell.

[0043] In this embodiment, the track cell-grid area relationship table stores the mapping relationship between the track cell and the grid area. One track cell corresponds to one grid area, and one grid area may include at least two track grids within the coverage of the corresponding track cell. The meanings of the track cell and the track grid are introduced below:

[0044] The track in this embodiment refers to the track for rail trains to travel, such as common high-speed rail tracks, motor vehicle tracks, light rail tracks, subway tracks, tram tracks, maglev train tracks, etc. Therefore, the train in this embodiment is not limited to high-speed rail, but can also be motor vehicles, ordinary trains, light rails, subways, etc.

[0045] The so-called "railway cell" refers to a cell located near the train track, with coverage including the train track, which can provide services to the terminals in the train. Figure 2 ,exist Figure 2 In the example, the coverage of the first cell C1, the second cell C2, the third cell C3 and the fourth cell C4 all include part of the rail line area, so these four cells are all rail cells.

[0046] The so-called "track grid" refers to the grids obtained after the train track line is gridded according to certain specifications. For example, in some examples of the present embodiment, the track grid is a 10m×10m grid. For a certain track line, when there is no other track line intersecting or parallel to the track line, the track line can be set up with one track grid along the width direction, but if there are other track lines parallel to or intersecting the track line at the same time, 2-3 track grids may be set up at the same time in the width direction of the return line. It can be understood that the specifications of the track grid are not limited to 10m×10m, and the track grid can be smaller or larger. In addition, when the track is gridded, different specifications can also be used to grid the track line in different sections, and it is not even necessary to grid it according to a square. For example, rectangles and parallelograms are also feasible, but in comparison, gridding the track line according to a uniform specification and setting the track grid to a square is more convenient for the management of all track grids on the track line.

[0047] A track area is composed of at least two track grids. Usually, a track area can include multiple track grids at the same time, that is, multiple track grids constitute a track area. It is understandable that because the coverage of cells basically overlaps, a track area and an adjacent track area may also have some of the same track grids. In other words, a track grid may not be individually assigned to a track area, and it may exist in one or more track areas at the same time.

[0048] In some examples of this embodiment, the track cell-grid area relationship table can be manually set. For example, the operator determines which track grids the track area corresponding to the track cell is composed of based on the coverage of each track cell and the area of ​​each track grid, and establishes a mapping relationship between the track cell and the corresponding track area. Therefore, it should be understood that based on the track cell-grid area relationship table, it can be determined which track grids a track cell corresponds to. In some examples, the track cell-grid area relationship table can be managed in a table, such as an example of a track cell-grid area relationship table shown in Table 1:

[0049] Table 1

[0050]

[0051] Of course, in some other examples of this embodiment, the mapping relationship between the track cell ID and the grid area ID can also be stored in the track cell-grid area relationship table, and the mapping relationship between the grid area ID and the included track grid ID can be presented in other tables.

[0052] In addition, the track cell-grid area relationship table can also be managed in other forms other than tables, such as directly recording and managing in text form.

[0053] In some other examples of this embodiment, the track cell-grid area relationship table can also be automatically configured by the base station or other communication equipment on the network side. For example, in some examples of this embodiment, when determining the grid area corresponding to a track cell, the communication equipment can respectively determine the first distance between each track grid and the track cell, and then add the track grid whose first distance is less than the coverage radius of the track cell to the grid area of ​​the track cell. It should be noted that the coverage radius of the track cell here can be the rated radius of the distance on the engineering parameter of the track cell, or it can be the effective radius determined by the communication equipment according to the actual coverage of the track cell.

[0054] It should be understood that the MR reported by the terminal (hereinafter the terminal that reports the MR will be referred to as the "reporting terminal") to the communication device will include the identifier of the service cell of the reporting terminal at the reporting time. Therefore, when positioning a target MR, the communication device can query the track cell-grid area relationship table based on the identifier of the service cell carried in the target MR, thereby determining the target grid area corresponding to the service cell of the target MR.

[0055] S104: Determine a candidate grid of the target MR from the target grid area according to the TA parameter in the target MR.

[0056] After determining the target grid area, the communication device can determine the candidate grid corresponding to the target MR from each orbital grid in the target grid area according to the TA parameter in the target MR. For an MR, the candidate grid is the orbital grid that the reporting terminal may be in when the MR is reported.

[0057] It can be understood that the TA parameter represents the time it takes for the signal to reach the terminal from the service cell. Therefore, the TA parameter can actually represent the distance between the terminal and the service cell. The farther the terminal is from the service cell, the larger the value of the TA parameter, and vice versa. After converting the TA parameter in the target MR into the distance from the reporting terminal to the service cell when reporting the target MR, since the distance from each orbital grid in the target grid area to the corresponding orbital cell (that is, the service cell of the target MR) can be determined, the candidate grid of the target MR can be selected from the target grid area based on the distance corresponding to the TA parameter in the target MR and the distance from each orbital grid to the service cell. In this embodiment, the candidate grids corresponding to the target MR include at least two, namely the first candidate grid and the second candidate grid.

[0058] See below Figure 3The flowchart shown is for determining candidate grids for a target MR according to TA parameters in the target MR:

[0059] S302: Determine a third distance between the reporting terminal and the serving cell at the target MR reporting time according to the TA parameter in the target MR, and determine a fourth distance between each orbital grid and the serving cell according to the position of each orbital grid in the target grid area.

[0060] In order to distinguish the distance between the terminal and the serving cell at the target MR reporting time from other distances, so as to facilitate the description, the distance is referred to as the "third distance" here, recorded as D3, and the conversion formula between D3 and the TA parameter is as follows:

[0061] D3 = f(TA) = 78.4*TA;

[0062] The distance between each track grid and the service cell in the target grid area is called the "fourth distance", denoted as D4.

[0063] It is understandable that the location of each track cell is known. For example, the engineering parameters of the track cell will include the longitude, latitude, azimuth, altitude and other information of the track cell. Therefore, the location of the service cell can be determined based on the engineering parameters of the track cell. In addition, after the track line is gridded, the longitude and latitude information of each track grid must also be collected and recorded, so the location of each track grid in the target grid area is also known. For any track grid in the target grid area, the fourth distance between the track grid and the service cell can be determined based on the location of the track grid and the location of the service cell. For example, assuming the location of the service cell is P(X i ,Y i ), in the target grid area corresponding to the serving cell, there is a track grid with a position of G(X j ,Y j ), then the fourth distance D4 between the track grid and the serving cell ij The calculation formula is:

[0064]

[0065] Where R is the radius of the earth, which is a known parameter. It should be understood that the calculation of D4 ij There are many variations of the formula, not limited to the above expression.

[0066] S304: Determine the absolute differences between the third distance and each fourth distance respectively, and select a first candidate grid according to each absolute difference.

[0067] After determining the third distance and the fourth distance between each track grid and the serving cell in the target grid area, the absolute differences between the third distance and each fourth distance can be calculated respectively, and then the track grid corresponding to the smallest absolute difference is selected as the first candidate grid of the target MR.

[0068] It should be understood that if the absolute difference between the third distance and the fourth distance corresponding to a certain orbital grid is very small, it means that the distance between the orbital grid and the service cell is very close to the distance of the reporting terminal from the service cell when reporting the target MR, so the reporting terminal is more likely to be in the orbital grid when reporting the target MR, and therefore, the orbital grid can be selected as the first candidate grid for the target MR. It should be understood that when selecting the first candidate grid based on the absolute difference between the third distance and each fourth distance, the communication device can select the orbital grid corresponding to the one with the smallest absolute difference as the first candidate grid, but in some other examples of this embodiment, the communication device does not necessarily have to select the orbital grid corresponding to the smallest absolute difference. For example, if the smallest absolute difference is very close to the second smallest absolute difference, the communication device can also select the orbital grid corresponding to the second smallest absolute difference as the first candidate grid corresponding to the target MR.

[0069] S306: Selecting, from other track grids in the target grid area, one grid that is on a different side of the vertical line of the track line from the first candidate grid as a second candidate grid.

[0070] After determining the first candidate grid from the target grid area, it is also necessary to select the second candidate grid from the other track grids therein. It should be understood that after determining the first candidate grid and the second candidate grid, the communication device will determine the final positioning grid of the target MR based on the first candidate grid and the second candidate grid. Therefore, when selecting the candidate grid, it should be ensured as much as possible that the selected candidate grid has a high probability of becoming the final positioning grid. Therefore, in this embodiment, after selecting the first candidate grid, the communication device can select one of the other track grids in the target grid area that is on a different side of the vertical line of the track line from the first candidate grid as the second candidate grid. The so-called vertical line of the track line refers to the vertical line between the service cell and the track line. It can be understood that the vertical line of the track line can divide an entire area into two sides, and the first candidate grid must be located on one side, so the second candidate grid we select needs to be located on the other side, that is, the second candidate grid and the first candidate grid are on different sides of the vertical line of the track line. In this way, it can be ensured that the two candidate grids are located on both sides of the service cell on the track line, thereby improving the comprehensiveness of the coverage of the selected candidate grids and further improving the accuracy of the final positioning grid determination.

[0071] Combine the following Figure 4The flowchart shown introduces the process of the communication device determining the second candidate grid:

[0072] S402: Determine the nearest grid corresponding to the serving cell.

[0073] The nearest grid corresponding to the serving cell is the track grid closest to the serving cell in the target grid area. It can be understood that it can be selected when determining the fourth distance between each track grid in the target grid area and the serving cell. Here, the nearest grid corresponding to the serving cell is G min .

[0074] S404: Determine a fifth distance between the first candidate grid and the nearest grid.

[0075] Since the first candidate grid has been determined and the longitude and latitude information of each orbital grid is known, after determining the nearest grid corresponding to the first candidate grid and the service cell, the communication device can determine the distance between the first candidate grid and the nearest grid, which is referred to here as the "fifth distance" and is recorded as D5.

[0076] S406: Determine a sixth distance between the first candidate grid and other track grids in the target grid area.

[0077] After the communication device selects the first candidate grid, the distance between the other track grids in the target grid area and the first candidate grid can be calculated. For the calculation formula, refer to the formula for calculating the fourth distance between the service cell and the track grid, which will not be repeated here. In order to distinguish the distance between the first candidate grid and other track grids in the target grid area from other distances, the distance between the first candidate grid and other track grids in the target grid area is referred to as the "sixth distance", denoted as D6.

[0078] It is understandable that the communication device may determine the fifth distance and the sixth distance in the order described herein, first determining the fifth distance and then determining the sixth distance, or first determining the sixth distance and then determining the fifth distance. Alternatively, the communication device may determine the fifth distance and the sixth distance in parallel.

[0079] S408: Select one from each sixth distance whose value is greater than 1.5 times of the fifth distance, and use the corresponding track grid as the second candidate grid.

[0080] In some examples of this embodiment, after the communication device determines the fifth distance and the sixth distance, it can filter out the part with D6>1.5*D5 from each sixth distance, and then select one from these sixth distances, and use the orbital grid corresponding to the sixth distance as the second candidate grid. In some examples, the communication device can randomly select one from all sixth distances that meet the condition of D6>1.5*D5, and use the corresponding orbital grid as the second candidate grid. In some other examples of this embodiment, after the communication device selects all sixth distances that meet the condition of D6>1.5*D5, it can select the smallest one among these sixth distances, and use the corresponding orbital grid as the second candidate grid. Figure 5 The first candidate grid is shown The nearest grid G ​​corresponding to the serving cell C minm , and the second candidate grid The positional relationship between the three Figure 5 It can be seen from the figure that when the distance between a track grid and the first candidate grid (ie, the sixth distance) exceeds 1.5 times the fifth distance, the track grid cannot be located on the same side of the serving cell as the first candidate grid.

[0081] It can be understood that, in this example, the track grid that can participate in the election of the second candidate grid must satisfy the condition of D6>1.5*D5, but in some other examples of this embodiment, the "1.5" in the condition can be replaced by other values, such as any value from 1.4 to 2.2. For example, in some examples of this embodiment, the condition may be D6>1.6*D5.

[0082] S106: Determine a final positioning grid of the target MR based on the neighboring MRs of the target MR and the candidate grids, and use the position of the final positioning grid as the positioning of the target MR.

[0083] After determining the first candidate grid and the second candidate grid corresponding to the target MR, the communication device may determine the final positioning grid of the target MR according to the candidate grids and the neighboring MRs of the target MR.

[0084] The adjacent MR of the target MR refers to the MR reported by the reporting terminal of the target MR within the adjacent unit time of the time when the target MR is reported. If an MR and the target MR are reported by the same terminal, and assuming that the reporting time of the MR is t1 and the reporting time of the target MR is t0, if the value of |t1-t0| is less than or equal to one time unit, then the MR is the adjacent MR of the target MR. The so-called time unit can be configured by the operator, and the common values ​​are 5 seconds and 10 seconds, that is, each terminal that is doing business must report an MR every 5 seconds or 10 seconds.

[0085] The following describes several situations in which the communication device determines the final positioning grid of the target MR based on the candidate grids and the adjacent MRs of the target MR:

[0086] Case 1: Among the neighboring MRs, there is a first characteristic MR with the same reporting time as the target MR but a different serving cell location:

[0087] It is understandable that if the target MR and the adjacent MR of the reporting terminal report at the same time, but the serving cell locations are different, it means that the reporting terminal has switched serving cells when reporting the target MR and the adjacent MR. For this situation, this embodiment provides a solution for determining the final positioning grid of the target MR, see Figure 6 The flowchart shown:

[0088] S602: Determine a candidate grid corresponding to the first feature MR according to the TA parameter of the first feature MR.

[0089] It can be understood that the method of determining the candidate grid for the first feature MR is consistent with the method of determining the candidate grid for the target MR: first, the grid area corresponding to the first feature MR is determined by querying the track cell-grid area relationship table according to the identifier of the service cell carried by the first feature MR, and then two candidate grids are selected from the corresponding grid area according to the TA parameters carried in the first feature MR. As for the specific details of determining the candidate grid for the first feature MR, please refer to the above introduction, which will not be repeated here.

[0090] S604: Determine the distances between track grids in a candidate grid set, where the candidate grid set includes a candidate grid corresponding to the target MR and a candidate grid corresponding to the first feature MR.

[0091] It can be understood that the target MR has at least two candidate grids, and the first feature MR can also determine at least two candidate grids in the same way. Therefore, the candidate grids of the target MR and the first feature MR can together constitute a candidate grid set, which includes the candidate grid corresponding to the target MR and the candidate grid corresponding to the first feature MR. Therefore, it includes at least four candidate grids.

[0092] S606: Determine two track grids with the smallest distance between them, and determine the track grid to which the middle position of the two grids belongs as the final positioning grid of the target MR.

[0093] It should be understood that, since the target MR and the first feature MR are reported at the same time, theoretically there should be two candidate grids with overlapping positions in the candidate grid set, one of which is the candidate grid of the target MR and the other is the candidate grid of the first feature MR. There is no doubt that these two candidate grids are the same, that is, the orbital grid where the reporting terminal reports the target MR and the first feature MR, that is, the final positioning grid of the target MR.

[0094] Assume that the service cell of the target MR to be located is cell C1, there is a first characteristic MR in the adjacent MR, and the service cell to which the first characteristic MR belongs is cell C2 under a different communication device. For the target MR, two candidate grids can be obtained: and For the first feature MR, two candidate grids can be obtained and In theory, the candidate grid and should overlap, but due to calculation errors and system errors, and There will be some deviations, such as Figure 7 At this point, four candidate grids need to be calculated and Then the two candidate grids with the shortest distance are selected, and the positions of the two candidate grids are averaged to obtain the final positioning result. The orbit grid where the positioning position is located is the final positioning grid of the target MR, such as Figure 7 G f .

[0095] Case 2: There is a second characteristic MR in each adjacent MR that has a different reporting time from the target MR but belongs to the same serving cell:

[0096] The reporting time of the second feature MR is different from that of the target MR, but the service cell is the same, which means that the second feature MR and the target MR are reported successively by the reporting terminal in the same orbital cell. It may be that the second feature MR is reported first and then the target MR, or it may be that the target MR is reported first and then the second feature MR. The reporting time of the two MRs can be determined based on the parameters in the MR. It is assumed here that in an example, the reporting time of the second feature MR is t0, and the reporting time of the target MR is t1, and t0 is before t1, that is, the second feature MR is reported before the target MR.

[0097] It should be understood that since the target MR and the second characteristic MR belong to the same service cell, but the reporting time is different, and the reporting terminal has been moving with the train during the reporting of these two MRs, the distance between the reporting terminal and the service cell will change with the movement of the train, and the change in the distance between the reporting terminal and the service cell can be reflected by the size of the TA parameter in the target MR and the TA parameter in the second characteristic MR. It is assumed here that the TA parameter value in the target MR in the example is greater than the TA parameter value in the second characteristic MR, that is, the distance between the reporting terminal and the service cell when reporting the target MR is farther than when it reports the second characteristic MR.

[0098] For the second feature MR, the communication device can determine at least two candidate grids for it by referring to the above-mentioned method of determining the candidate grids. Therefore, the candidate grid set corresponding to the target MR and the second feature MR includes at least two candidate grids corresponding to the target MR and at least two candidate grids corresponding to the second feature MR. The position of each candidate grid in the candidate grid set can be determined, see Figure 8 The distribution diagram of candidate grids in the candidate grid set is shown:

[0099] Assume Candidate Grid and Corresponding to the target MR, and the candidate grid and This corresponds to the second feature MR.

[0100] Combination Figure 8 : Because the TA parameter in the second feature MR is smaller, the candidate grid corresponding to the second feature MR and Candidate grid corresponding to the target MR and At the same time, because the second feature MR is reported before the target MR, the reporting terminal may report the second feature MR at or After reporting the second feature MR, turn right ( Figure 8 Right in the middle) Movement to Report the target MR at or After reporting the second feature MR, turn left ( Figure 8 Left side of the movement to reach If the communication equipment can determine the moving direction of the train where the reporting terminal is located, it can determine the final positioning grid of the target MR. still

[0101] Combine the following Fig. 9A flow chart for determining the final positioning grid of the target MR is shown:

[0102] S902: Determine the movement direction of the train where the reporting terminal is located between the first candidate grid and the second candidate grid.

[0103] It is understandable that when the communication device determines the movement direction of the train where the reporting terminal is located between the first candidate grid and the second candidate grid, it can be obtained by querying the operation scheduling information of the train on the corresponding track line, or it can be obtained by calculation. For example, in the scheme of determining the train running direction by querying the train running scheduling information: the communication device can combine the reporting time of the target MR, determine the train number on the track line at that time, and the approximate position is in the target grid area, and then determine the running direction of the train. The scheme of obtaining the train running direction by calculation will be described in detail in the following examples. It is assumed here that in a certain example, the train is moving to the right.

[0104] S904: Determine the TA parameter and the rule of change with the reporting time according to the reporting time and TA parameter of the second characteristic MR and the reporting time and TA parameter of the target MR.

[0105] According to the reporting time of the second feature MR and the reporting time of the target MR, it can be determined which of the two MRs reports first. According to the TA parameter of the second feature MR and the TA parameter of the target MR, it can be determined that the distribution of the candidate grids corresponding to the second feature MR and the target MR around the serving cell. Figure 8 In the example given, the target MR is reported later and the second characteristic MR is reported first, but the TA parameter of the second characteristic MR is smaller than the TA parameter corresponding to the target MR. Therefore, as the train moves, the distance between the reporting terminal and the service cell should be getting farther and farther.

[0106] S906: Selecting a grid that meets the rule from the first candidate grid and the second candidate grid according to the moving direction as the final positioning grid of the target MR.

[0107] Since the train's direction of motion is rightward, and as the train moves, the distance between the reporting terminal and the serving cell becomes increasingly farther, the only condition that satisfies this rule is that the reporting terminal is or After reporting the second feature MR, it moves rightward to The target MR is reported at , so in this example, the final positioning grid corresponding to the target MR is

[0108] Case 3: There is no first characteristic MR in each adjacent MR that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each adjacent MR that has a different reporting time than the target MR but a same serving cell. At the same time, the neighboring cells reported in the target MR include non-co-site neighboring cells:

[0109] See also Fig.10 A flow chart for determining the final positioning grid of the target MR for situation three is shown:

[0110] S1002: Determine neighboring cells of the serving cell according to the target MR.

[0111] The MR reported by the terminal usually contains the serving cell and neighboring cell IDs, the reference signal receiving power (RSRP) of the serving cell and neighboring cells, TA parameters, user identification information, and reporting time, etc. Among them, the user identification information can be the International Mobile Subscriber Identification (IMSI), the International Mobile Equipment Identity (IMEI), and other information that can uniquely identify a user within a certain period of time. Therefore, the communication device can determine the neighboring cells of the serving cell, that is, the orbital cells adjacent to the serving cell, based on the target MR.

[0112] S1004: Calculate the average distance between the first candidate grid and each neighboring area and the average distance between the second candidate grid and each neighboring area.

[0113] For the communication device, the location of each track cell is known, and the location of each candidate grid corresponding to the target MR is also determined. Therefore, the communication device can calculate the distance from the first candidate grid to each neighboring cell. For example, Fig.11 Among them, the serving cell corresponding to the target MR is cell C1, and cell C1 is a neighboring cell of cells C2, C3, and C4. Therefore, the communication device can determine the distances from the first candidate grid to cells C2, C3, and C4, respectively, and then calculate the average of the three calculated distances to determine the average distance D between the first candidate grid and the neighboring cells. avg1 ; The second candidate grid is similar, and the mean distance D between the second candidate grid and its neighboring area can be obtained avg2 .

[0114] S1006: Select a corresponding candidate grid with a smaller distance mean as the final positioning grid of the target MR.

[0115] Subsequently, the communication device may select the smaller one from the two distance means, and use the candidate grid corresponding to the selected distance mean as the final positioning grid of the target MR. It can be understood that if a candidate grid has a smaller mean value than the three neighboring areas, it means that the candidate grid is closer to the three neighboring areas than the other candidate grid. Then, the possibility that the reporting terminal is in the candidate grid and the MR reported to the communication device carries the neighboring area identifiers of the three neighboring areas is greater than the possibility that the MR reported to the communication device in the other candidate grid carries the neighboring area identifiers of the three neighboring areas. Conversely, because the target MR reported by the reporting terminal carries the neighboring area identifiers of the three neighboring areas C2, C3 and C4, the reporting terminal should be closer to the three neighboring areas when reporting the target MR. Therefore, the candidate grid closer to the neighboring areas C2, C3 and C4 will be selected as the final positioning grid corresponding to the target MR.

[0116] Case 4: There is no first characteristic MR in each adjacent MR that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each adjacent MR that has a different reporting time than the target MR but a same serving cell, and the neighboring cells reported by the target MR only include co-sited neighboring cells:

[0117] See also Fig.12 A flow chart for determining the final positioning grid of the target MR for situation three is shown:

[0118] S1202: Select a reference MR from each adjacent MR.

[0119] In this embodiment, the reference MR is an MR that has been currently positioned among the adjacent MRs of the target MR, and therefore, the final positioning grid of the reference MR has been determined.

[0120] In some examples of this embodiment, the positioning of the selected reference MR is preferably obtained based on one of the three positioning schemes in the aforementioned situations 1 to 3, that is, the reference MR is preferably not an adjacent MR positioned based on the scheme of situation 4. Therefore, before the communication device selects a reference MR for the target MR, the communication device may first remove those adjacent MRs positioned based on the scheme of situation 4 from the adjacent MRs, and remove those adjacent MRs that have not yet completed positioning, and then select one of the remaining adjacent MRs whose reporting time is closest to the reporting time of the target MR as the reference MR.

[0121] In some other examples of this embodiment, the selected reference MR can only be the adjacent MR located based on the solution in the aforementioned case 1 or case 2.

[0122] S1204: Determine the first running speed of the train between the known position and the first candidate grid, and the second running speed of the train between the known position and the second candidate grid based on the reporting time of the reference MR, the known position and the positions of the first candidate grid and the second candidate grid, and the reporting time of the target MR.

[0123] After the reference MR is determined, the known position of the reference MR can be obtained. In this embodiment, the reference MR belongs to the track grid. See also Fig.13 : Combine the first candidate grid The position of the known location and the first candidate grid can be determined Here, this distance is called the "first running distance" and is recorded as S1. In addition, according to the reporting time of the reference MR The reporting time of the target MR (t c ) can determine the running time T (i.e. ), if the first candidate grid That is, the track grid where the reporting terminal is located when reporting the target MR, then the first running speed of the train should be V1=S1 / T.

[0124] Similarly, referring to the known position of MR, combined with the second candidate grid The position of the known location and the second candidate grid can be determined The distance between the reference MR and the target MR can be determined based on the time difference between the reporting time of the reference MR and the reporting time of the target MR. If the second candidate grid That is, the track grid where the reporting terminal is located when reporting the target MR, then the second running speed of the train should be V2=S2 / T.

[0125] S1206: Selecting a grid closer to the standard running speed of the train from the first running speed and the second running speed, and using the candidate grid corresponding to the running speed as the final positioning grid of the target MR.

[0126] When the train is running along the track line, except for the short periods of time when entering and leaving the station, it will basically maintain a uniform speed at other times, and the uniform running speed is the standard running speed of the train that can be queried. Therefore, after calculating the first running speed V1 and the second running speed V2, the communication equipment can select the one that is closer to the standard running speed of the train from the first running speed V1 and the second running speed V2, and use the candidate grid corresponding to the speed as the final positioning grid of the target MR.

[0127] The positioning method provided in this embodiment achieves high-precision positioning without the need for road testing by exploiting the signal characteristics, neighboring area characteristics, signal change characteristics, and running direction characteristics of the terminal when the train is running along the track line. This makes it possible to monitor the network coverage quality of the track line based on the MR reported by the communication terminals of high-speed trains, etc., thereby reducing the cost of network operation and maintenance and helping to improve production efficiency.

[0128] Embodiment 2:

[0129] In the first embodiment, it is introduced that the track cell-grid area relationship table can be manually configured by the operator, or automatically configured and generated by the base station or the communication equipment on the network side. In this embodiment, the solution of automatically generating the track cell-grid area relationship table is exemplified. Please refer to Fig.14 :

[0130] S1402: Collect multiple historical train MRs.

[0131] In this embodiment, all train MRs are used to construct the track cell-grid area relationship table. Non-train MRs will not be collected by the communication device and will not participate in the calculation. It can be understood that the number of historical train MRs collected is positively correlated with the accuracy of the constructed track cell-grid area relationship table. Therefore, in order to improve the accuracy and credibility of the track cell-grid area relationship table, as many historical train MRs as possible should be collected within the range that the processing capacity can bear. Although Fig.14 What is defined in the above is that a plurality of historical trains MR are collected, but those skilled in the art can understand that the so-called “plurality” here means a large number.

[0132] S1404: Classify the track cells to which each historical train MR belongs according to the identification of the service cell it carries.

[0133] Each historical train MR carries a serving cell identifier, and the communication device can classify these historical trains MR according to the serving cell identifiers, thereby obtaining historical trains MR belonging to different track cells.

[0134] S1406: For any one of the track cells, determine the second distance between each historical train MR and the track cell according to the TA parameter carried by the historical train MR therein.

[0135] Because the collected historical train MR may involve multiple track cells, one track cell is used as an example for illustration. It should be understood that the processing for other track cells is similar:

[0136] For a track cell, the communication device can obtain multiple historical train MRs corresponding to the track cell by classifying the historical train MRs. Subsequently, for any historical train MR corresponding to the track cell, the communication device can determine the distance between the corresponding reporting terminal and the track cell (that is, the reporting terminal service cell) when reporting the historical train MR according to the TA parameters carried therein. In order to distinguish this distance from other distances and facilitate subsequent introduction, this distance is referred to as the "second distance" here, recorded as D2.

[0137] S1408: Determine the coverage radius of the track cell according to the second distance between each historical train MR and the cell.

[0138] Assuming that one track cell corresponds to 100 historical train MRs, the communication device can obtain 100 second distances through the calculation in S1406. The one with the largest value among the 100 second distances (D2 max ) is the farthest distance covered by the track cell in the past, so theoretically, the coverage radius of the track cell can at least reach D2 max . However, considering that there may be some outliers in these 100 distances, therefore, in the actual process of determining the orbital cell, the communication device may select one of all the second distances that exceeds N% of the other second distances as the coverage radius of the orbital cell. In some examples of this embodiment, the value range of N may be 70 to 100. For example, in one example, the value of N is 95. After obtaining all the second distances corresponding to an orbital cell, the communication device may sort these second distances, and then select one that exceeds 95% of the other second distances as the coverage radius of the orbital cell.

[0139] S1410: Determine the first distance between each track grid and the track cell respectively.

[0140] After determining the coverage radius of a track cell, the communication device can determine the distance between each track grid after the track line is gridded and the track cell. In order to distinguish this distance from other distances, this distance is referred to as the "first distance" and is recorded as D1. It can be understood that, in general, the track lines are very long. For example, the distance from Beijing to Urumqi is very far away. The track grid near Beijing will not be related to the track cell near Urumqi. Therefore, for a certain track cell, the communication device can only calculate the first distance between the track grid closer to the track cell and the track cell.

[0141] When the longitude and latitude of the orbital cell and the longitude and latitude of the orbital grid are known, the method for calculating the first distance between the orbital grid and the orbital cell can be found in the above formula and will not be repeated here.

[0142] S1412: Select a track grid whose first distance from the track cell is less than the coverage radius of the track cell to form a grid area of ​​the track cell, and store the mapping relationship between the track cell and the grid area in a track cell-grid area relationship table.

[0143] Assuming that the coverage radius of a track cell is R0, and the first distance D1 between a certain track grid and the track cell is less than R0, the communication device can determine that the track grid is within the coverage range of the track cell, and therefore, the track grid can be added to the grid area corresponding to the track cell.

[0144] It should be noted that, in the present embodiment, although the radius of the orbital cell is determined first and then the first distance between each orbital grid and the orbital cell is calculated, in some other examples of the present embodiment, the first distance between each orbital grid and the orbital cell may be calculated first and then the coverage radius of the orbital cell may be determined, or both processes may be performed simultaneously.

[0145] This embodiment provides a method for configuring a track cell-grid area relationship table, by grouping a large number of historical train MRs according to their reported service cells, calculating the coverage radius of each track cell in each group, and then combining the coverage radius of the track cell, the cell working parameters and the track line information to generate a mapping relationship between the track cell and the grid area and track grid within its coverage area, thereby providing a basis for the subsequent accurate positioning of the train MR.

[0146] Embodiment three:

[0147] In order to make the purpose, advantages and implementation details of the positioning method provided in the above embodiments more clear to those skilled in the art, the positioning method will be further described below with reference to examples:

[0148] Assuming that the train is a high-speed rail, the track area is the high-speed rail area, and the track grid is the high-speed rail grid. For a schematic diagram of the high-speed rail positioning scenario, see Figure 2 As shown, the known information in the scene includes:

[0149] 1) High-speed rail cell information, such as the Cell ID (cell identification), longitude, latitude, direction angle, altitude and other information of the high-speed rail cell;

[0150] 2) High-speed rail line information, such as the ID, longitude, latitude and other information of each high-speed rail grid after the high-speed rail line is rasterized;

[0151] 3) High-speed rail MR information reported by high-speed rail user equipment (UE), which includes the serving cell and neighboring cell ID, the reference signal receiving power of the serving cell and neighboring cell, the time advance, the user identification information and the reporting time, etc. Among them, the user identification information can be the international mobile subscriber identity code, the international mobile equipment identity code and other information that can uniquely identify a user within a certain period of time. Here, IMSI is used as the user identification.

[0152] The above three known points are used as input, and the high-precision algorithm provided in this embodiment can be used to perform high-precision positioning of the high-speed rail MR reported by the high-speed rail UE. Fig.15 As shown, the following steps are included:

[0153] S1501: Group all high-speed rail MRs according to service cells, and calculate the maximum coverage radius of each service cell in each group.

[0154] After grouping all MRs by serving cells, take the group corresponding to any serving cell, extract the TAs of the m MRs in the group, and convert each TA into a distance d to form a distance set D. Then sort the set in ascending order to obtain a set D′={d1,d2,...,d m}.definition That is, the integer value of the 98% quantile of the set D′ rounded down, taking the i-th subscript d of D′ i As the maximum coverage radius R corresponding to the service cell i The reason why the distance corresponding to the 98% quantile is taken is that there will always be some abnormal distances in the entire set. This method of taking quantiles can effectively reduce the impact of outliers on the results.

[0155] For each serving cell, the coverage radius is obtained by using the above method. Then, the n cells will eventually obtain the following mapping table T1 of cell ID and coverage radius R:

[0156] T1={cellid1→R1,cellid2→R2,...,cellid n →R n}

[0157] Among them, cellid i and R i (i=1, 2, ..., n) respectively represent the i-th cell and the coverage radius corresponding to the cell.

[0158] S1502: Based on the maximum coverage radius of the high-speed rail cell, the cell engineering parameters and the high-speed rail line information, a positional relationship between the high-speed rail cell and the high-speed rail section within its coverage is generated to complete the establishment of the high-speed rail fingerprint database.

[0159] For example, in this embodiment, according to the mapping table T1 of the high-speed rail cell ID and the coverage radius R obtained in S1501, each cell ID in T1 is traversed, and for any cell ID i First, find out the longitude and latitude P of the cell in the engineering parameter. i (X i ,Y i ), secondly, assuming that the high-speed rail line information is represented as high-speed rail grids of the same size, the size of the high-speed rail grid is optional, in this embodiment, a 10-meter high-speed rail grid is taken as an example, and the subsequent high-speed rail line information is uniformly replaced by the high-speed rail grid, traversing each high-speed rail grid, for any high-speed rail grid G j (X j ,Y j ), where X j and Y j Represent the longitude and latitude of the high-speed rail grid respectively, and use the following distance formula to calculate P i and G j The distance D ij :

[0160]

[0161] Here, R is the radius of the earth, which is a known quantity. In practical applications, there are many variations of the above formula, but they all express the relationship between the longitude and latitude of two points and the distance. ij The cell coverage radius R i If the relationship between D ij >R i , then the high-speed rail grid is not within the coverage of the high-speed rail cell cellid; otherwise, the high-speed rail grid information is added to the coverage of the high-speed rail cell. Finally, traverse all high-speed rail grids to get cellid i The high-speed rail grid within the coverage area of ​​the cell, and select the grid with the cell ID of the current cell from all grids i The nearest grid G min .

[0162] Traverse all high-speed rail communities and obtain the coverage and G of each community min , forming a high-speed rail fingerprint library, such as Fig.16 As shown, for simplicity, only three high-speed rail communities (cellid1, cellid2 and cellid3) are listed in the figure.

[0163] S1503: Group the high-speed rail MRs within a period of time according to the user identifiers, sort each group in ascending order according to time, and for each MR in the group, match its serving cell with the fingerprint library to obtain the high-speed rail grid area where the MR is located.

[0164] For example, in this embodiment, the high-speed rail MRs within a day are grouped according to different IMSIs and sorted in ascending order according to time. For a certain IMSI, the sorted n MR sets can be expressed as C = {MR1, MR2, ..., MR n}. For any MR in the set i According to the cellidi of its service cell, the corresponding m high-speed rail grid lists (G i1 ,G i2 ,...,G im ) and G min m , thereby obtaining the high-speed rail grid area where the MR is located.

[0165] S1504: Convert the feature representing the distance in the high-speed rail MR to be located into a distance, and select a number of candidate grids from the high-speed rail grid area according to the distance.

[0166] For example, in this embodiment, the TA feature in the MR is used to represent the distance, and the relationship between TA and the distance d is shown in the formula in S1501. i , calculate the distance di from the serving cell through the TA features it contains, and then traverse the list of high-speed rail grids where the MR is located obtained in S1503, for any high-speed rail grid G ​​in the list of m high-speed rail grids ij , get the distance d between the grid and the serving cell cellidi ij , and define:

[0167] Δd j =|d i -d ij |

[0168] Get m Δd, and sort the m high-speed rail grids in ascending order according to Δd. Take the first grid corresponding to the smallest Δd as the first candidate grid, which is defined as And using the formula between longitude and latitude and distance in S1502, we get With G min m The distance Δd between gc .

[0169] Secondly, in the ascending sorted high-speed rail grid list, starting from the second grid, calculate the current grid and the first candidate grid respectively The distance betweenc , if d c >1.5d gc , then the current grid is taken as the second candidate grid, defined as And stop traversal; otherwise, continue to calculate and determine the next grid.

[0170] First candidate grid and the second candidate grid The final candidate grid set of the MR is composed. In addition, according to the above screening rules for candidate grids, The location of the service cell forms a shape similar to an isosceles triangle, such as Figure 5 shown.

[0171] S1505: mining the switching features, neighboring area features, signal change features and motion direction features of the target MR to be located, and selecting the most matching grid from the candidate grids as the positioning result.

[0172] For example, in this embodiment, for a certain MRi to be located in the MR list grouped by IMSI and sorted by reporting time, after two candidate grids are screened out in S1505, and After that, several MRs with a time difference of one unit before and after are taken for situation discrimination. According to different situations, corresponding features are mined and the most suitable one is selected from the candidate grids as the final positioning result.

[0173] See also Fig.17 S1505 may specifically include:

[0174] S1701: Obtain an adjacent MR whose reporting time is adjacent to the reporting time of the target MR by one time unit.

[0175] Exemplarily, in this embodiment, the time unit is set to 10 seconds. In an actual production environment, the time unit is generally configured by the operator, and two common values ​​are 5 seconds and 10 seconds, that is, each UE that is doing business reports an MR every 5 seconds or 10 seconds. If the reported MR switches from one cell to another, the MR will generally report two MRs at the same time, and the service cells contained in the two MRs point to the cells before and after the switch, respectively. In this step, the MRs within 10 seconds before and after the MR (including 10 seconds) are collected to form an adjacent MR list, which is hereinafter referred to as adjacent MRs.

[0176] Among the adjacent MRs, there may be a switching MR (i.e., the first feature MR) with the same time as the target MR, there may be an MR 10s later or 10s earlier than the target MR, or there may be no MR. In the subsequent steps, different features will be mined according to the actual situation of the adjacent MRs, and the most suitable high-speed rail grid will be selected to complete the high-precision positioning of the target MR.

[0177] S1702: Determine whether the situation of the adjacent MR satisfies condition 1.

[0178] Condition 1 means that the first characteristic MR exists in the adjacent MRs of the target MR.

[0179] If the judgment result is yes, execute S1703, otherwise execute S1704.

[0180] S1703: Mining switching features to determine the final positioning grid of the target MR.

[0181] If the neighboring MRs satisfy condition 1, that is, there is an MR in the neighboring MRs that is in the same time as the target MR but has a different communication device, the switching features are mined to determine the final positioning grid of the target MR:

[0182] Exemplarily, in this embodiment, there is a switching MR among the adjacent MRs that is generated at the same time as the target MR but with a different communication device, indicating that the target MR has a cell switching situation, and the cells before and after the switching are located in different positions, so there is the following feature: At this time, in the two cells corresponding to the two MRs before and after the switching, each cell can select two candidate grids, and because the target MR and the first feature MR have the same reporting time, theoretically, their positions are also the same, so there must be two grids with overlapping positions among the four candidate grids, and this grid is the final positioning result.

[0183] like Figure 7 As shown in FIG. 1 , it is assumed that the MR to be located is connected to the serving cell C1, and there is a switching MR among the adjacent MRs, and the cell C2 connected to a different communication device. The MR to be located is connected to C1, and two candidate grids can be obtained. and By switching MR access to C2, two candidate grids can be obtained: and In theory, the grid and should overlap, but due to calculation errors and system errors, and There will be deviations as shown in the figure. At this time, four grids need to be calculated and The distance between two grids is calculated, and the two grids with the shortest distance are selected. Then the positions of the two grids are averaged to obtain the final positioning result, as shown in G in the figure.f shown.

[0184] S1704: Determine whether the situation of the adjacent MR satisfies condition 2.

[0185] Condition 2 means that the second characteristic MR exists in the adjacent MRs of the target MR.

[0186] If the judgment result is yes, execute S1705, otherwise execute S1706.

[0187] S1705: Mining signal change characteristics and motion direction characteristics to determine the final positioning grid of the target MR.

[0188] If the neighboring MR does not meet condition 1 but meets condition 2, that is, there is an MR in the neighboring MR that has a different reporting time from the target MR but is in the same cell (i.e., the second feature MR), then the signal change features and movement direction features are mined to determine the final positioning grid of the target MR:

[0189] Exemplarily, in this embodiment, there is a second characteristic MR in the adjacent MR, which has a different reporting time from the target MR but belongs to the same cell. With the help of the stable movement direction of the high-speed rail, the following characteristics are obtained: the running direction of the high-speed rail can be estimated through the cell sequence of the high-speed rail IMSI, and the change characteristics of the TA field values ​​in the MR in the same area and the MR to be located are combined to select the most suitable grid from the two candidate grids as the final positioning result.

[0190] like Figure 8 As shown in the figure, assuming that the target MR to be located accesses the service cell C, the longitude and latitude of the cell are P2(X2, Y2), its TA value is ta2, the time is t2, and the two candidate grids screened out are and First, determine the high-speed rail IMSI in the target MR, and then select an MR from the MR list reported by the high-speed rail IMSI. The longitude and latitude of the reported cell should be 1.5 km away from C. The MR time is t1, the cell is C1, and the longitude and latitude of the cell are P1 (X1, Y1). Based on the above information, calculate the train direction D r :

[0191] D r =sign(t2-t1)·(X2-X1,Y2-Y1)

[0192] The direction D r represents a vector, sign(x) is the sign function, defined as follows:

[0193]

[0194] Secondly, suppose the longitude and latitude of the two candidate grids are and Calculate the direction between the candidate grid and the longitude and latitude P2 (X2, Y2) of the cell to be located by the MR and

[0195]

[0196] Then, calculate With D r The inner product of:

[0197]

[0198]

[0199] Then, the TA value reported by the MR in the same area of ​​the serving cell as the pending MR is assumed to be ta0, the time is t0, and the change direction of TA is calculated D t :

[0200] D t =sign[(t0-t2)·(ta0-ta2)]

[0201] Finally, according to D t Based on the result, a candidate grid is selected as the final positioning result. The selection rules are as follows:

[0202] Pick Corresponding As the final positioning result G f .

[0203] like Figure 8 As shown, assuming that the train is moving to the right, the two candidate grids of the target MR are and The TA and time of the second feature MR are both smaller than the TA and time of the target MR, and the candidate grid of the MR in the same area is and It can be concluded that D t = 1, combined with the direction of TA increasing and the direction of the train moving to the right, from all possible candidate grid combinations and In the example above, the only suitable grid for the target MR can be obtained. As the final positioning result G f , by mathematically abstracting the result, we can get the above calculation formulas, and the calculation results are consistent with each other.

[0204] S1706: Determine whether the target MR satisfies condition 3.

[0205] Condition 3 refers to whether the target MR has only co-sited neighboring cells.

[0206] If the judgment result is no, execute S1707, and if the judgment result is yes, execute S1708.

[0207] S1707: Mining the neighboring area features to determine the final positioning grid of the target MR.

[0208] If the adjacent MR does not meet conditions 1 and 2, and the target MR does not meet condition 3, that is, the adjacent MR does not have the first feature MR at different stations and the second feature MR at the same station but different times, and the target MR also reports non-co-station neighboring areas, then the mined neighboring area features are used to select the final positioning grid of the target MR.

[0209] Exemplarily, in this embodiment, if the adjacent MR does not meet conditions 1 and 2, and the target MR does not meet condition 3, it indicates that the switching features, train travel direction features, signal change features, etc. cannot be effectively mined at this time, but the target MR has non-same-station neighboring areas. With the help of the business MR access neighboring area characteristics, the following features are obtained: the average distance between the candidate grid and all neighboring areas of the target MR is calculated separately, and the candidate grid with the smallest average distance is the final positioning result.

[0210] like Fig.11 As shown, the target MR service cell is connected to C1, and the candidate grid is solved and Its neighboring cells are connected to cells C2, C3, and C4, and the longitudes and latitudes of the neighboring cells are P2(X2, Y2), P3(X3, Y3), and P4(X4, Y4). First, calculate Average distance to neighboring areas C2, C3 and C4

[0211]

[0212] Then calculate similarly Average distance to neighboring areas C2, C3 and C4 Finally, compare and Select Smaller The corresponding candidate grid is used as the final positioning result G f .

[0213] S1708: Mining velocity characteristics to determine the final positioning grid of the target MR.

[0214] If the adjacent MRs do not meet conditions 1 and 2, but the target MR meets condition 3, that is, there is no first feature MR at different stations and no second feature MR at the same station but different times among the adjacent MRs, and the target MR has only co-station neighboring areas, then the speed feature is used to complete the positioning.

[0215] For example, in this embodiment, if the adjacent MR does not meet conditions 1 and 2, and the target MR meets condition 3, only the speed characteristics of the high-speed rail users can be mined to assist in positioning. The specific manifestation of this characteristic is that during the high-speed rail's travel, the speed of most sections is stable at a certain value.

[0216] like Fig.13 As shown, first, according to the serving cell C1 to which the target MR accesses, the candidate grid is solved and In addition, the reporting time of the target MR is t c ; Secondly, find the reference MR closest to the current target MR in the MR list of the high-speed rail IMSI and located using S1703, S1705, and S1707. The positioning result of the reference MR is Reporting time is Then, calculate the two candidate grids to The rates v1 and v2 are:

[0217]

[0218]

[0219] Finally, v1 and v2 are compared with the high-speed rail speed. For example, if the current high-speed rail speed is stable at 305 km / h, the candidate grid corresponding to the speed closer to 305 km / h is the final positioning result G. f .

[0220] Embodiment 4:

[0221] This embodiment provides a positioning device, see Fig.18 The positioning device 180 includes an area determination module 182, a candidate determination module 184 and a final positioning module 186, wherein the area determination module 182 is used to query the track cell-grid area relationship table according to the identifier of the service cell carried by the target MR to be positioned to determine the target grid area corresponding to the service cell, and the track cell-grid area relationship table stores the mapping relationship between the track cell and the grid area, and the grid area corresponding to a track cell includes at least two track grids within the coverage range of the track cell;

[0222] The candidate determination module 184 is used to determine the candidate grids of the target MR from the target grid area according to the TA parameters in the target MR, and the candidate grids include a first candidate grid and a second candidate grid;

[0223] The final positioning module 186 is used to determine the final positioning grid of the target MR based on the adjacent MRs of the target MR and the candidate grids, and use the position of the final positioning grid as the positioning of the target MR. The adjacent MRs are the MRs reported by the reporting terminal of the target MR within the adjacent unit time when the target MR is reported.

[0224] In this embodiment, the positioning device 180 can be deployed on a base station or on other communication equipment, such as core network equipment, such as a network management system, etc., wherein the functions of the area determination module 182, the candidate determination module 184 and the final positioning module 186 can all be implemented by the processor of the communication equipment.

[0225] This embodiment provides a storage medium, which can store one or more computer programs that can be read, compiled and executed by one or more processors. In this embodiment, the storage medium can store a positioning program, which can be executed by one or more processors to implement the process of any one of the positioning methods introduced in the aforementioned embodiments.

[0226] In addition, this embodiment provides a communication device, such as Fig.19 As shown: the communication device 190 includes a processor 191, a memory 192 and a communication bus 193 for connecting the processor 191 and the memory 192, wherein the memory 192 may be the storage medium storing the positioning program. The processor 191 may read the positioning program, compile and execute the process of implementing the positioning method described in the above embodiment:

[0227] The processor 191 queries the track cell-grid area relationship table according to the identifier of the service cell carried in the target measurement report MR to be positioned to determine the target grid area corresponding to the service cell. The track cell-grid area relationship table stores the mapping relationship between the track cell and the grid area. The grid area corresponding to a track cell includes at least two track grids within the coverage range of the track cell.

[0228] Then, the processor 191 determines the candidate grids of the target MR from the target grid area according to the time advance TA parameter in the target MR, and the candidate grids include a first candidate grid and a second candidate grid; and determines the final positioning grid of the target MR according to the adjacent MRs of the target MR combined with the candidate grids, and uses the position of the final positioning grid as the positioning of the target MR, and the adjacent MR is the MR reported by the reporting terminal of the target MR within the adjacent unit time of the moment of reporting the target MR.

[0229] In some examples of the present embodiment, before querying the track cell-grid area relationship table to determine the target grid area corresponding to the service cell according to the identifier of the service cell carried by the target MR to be located, for any one of the track cells, the processor 191 respectively determines the first distance between each track grid and the track cell; then selects the track grids whose first distance to the track cell is less than the coverage radius of the track cell to constitute the grid area of ​​the track cell, and stores the mapping relationship between the track cell and the grid area in the track cell-grid area relationship table.

[0230] In some examples of this embodiment, before the processor 191 selects a track grid whose first distance from the track cell is less than the coverage radius of the track cell to form a grid area of ​​the track cell, it also collects multiple historical trains MR, and then classifies each historical train MR into the track cell to which it belongs according to the identifier of the service cell it carries; for any one of the track cells, the processor 191 determines the second distance between each historical train MR and the track cell based on the TA parameters carried by the historical train MR; and determines the coverage radius of the track cell based on the second distance between each historical train MR and the cell.

[0231] Optionally, when the processor 191 determines the coverage radius of the track cell according to the second distances between each historical train MR and the cell, one of the second distances exceeding N% of the other second distances may be selected as the coverage radius of the track cell.

[0232] Optionally, when the processor 191 determines the candidate grid of the target MR from the target grid area according to the TA parameter in the target MR, the third distance between the reporting terminal and the service cell at the reporting time of the target MR can be determined according to the TA parameter in the target MR, and the fourth distance between each track grid and the service cell can be determined according to the position of each track grid in the target grid area; then the absolute difference between the third distance and each fourth distance is determined respectively, and the first candidate grid is selected according to each absolute difference; and then one on a different side of the vertical line of the track line from the first candidate grid is selected from other track grids in the target grid area as the second candidate grid. The so-called vertical line of the track line refers to the vertical line between the service cell and the track line. It can be understood that the vertical line of the track line can divide an entire area into two sides, and the first candidate grid must be located on one side thereof. The second candidate grid selected by the processor 191 needs to be located on the other side, that is, the second candidate grid and the first candidate grid are on different sides of the vertical line of the track line.

[0233] Optionally, when the processor 191 selects the first candidate grid according to the absolute differences, the track grid corresponding to a fourth distance having the smallest absolute difference with the third distance may be selected as the first candidate grid.

[0234] It should be understood that when the processor 191 selects one of the other track grids in the target grid area that is on a different side of the vertical line of the track line from the first candidate grid as the second candidate grid, it can determine the nearest grid corresponding to the service cell, and the nearest grid is a track grid in the target grid area that is closest to the service cell; then determine the fifth distance between the first candidate grid and the nearest grid; then determine the sixth distance between the first candidate grid and other track grids in the target grid area, and select one from each sixth distance whose value exceeds 1.5 times the fifth distance, and use its corresponding track grid as the second candidate grid.

[0235] In some examples of this embodiment, when the processor 191 determines the final positioning grid of the target MR based on the neighboring MRs of the target MR in combination with the candidate grids, if there is a first characteristic MR in each neighboring MR that has the same reporting time as the target MR but a different serving cell location, then:

[0236] The processor 191 determines the candidate grid corresponding to the first feature MR according to the TA parameter of the first feature MR, and then determines the pairwise distances between the orbital grids in the candidate grid set, where the candidate grid set includes the candidate grid corresponding to the target MR and the candidate grid corresponding to the first feature MR; subsequently, the processor 191 determines the two orbital grids with the smallest pairwise distances, and determines the orbital grid to which the middle position of the two grids belongs as the final positioning grid of the target MR.

[0237] In some examples of this embodiment, when the processor 191 determines the final positioning grid of the target MR based on the neighboring MRs of the target MR in combination with the candidate grids, if there is a second characteristic MR in each neighboring MR that has a different reporting time from the target MR but belongs to the same serving cell, then:

[0238] Processor 191 first determines the movement direction of the train where the reporting terminal is located between the first candidate grid and the second candidate grid, and then determines the TA parameters and the law of change with the reporting time based on the reporting time and TA parameters of the second feature MR and the reporting time and TA parameters of the target MR, and then selects one that conforms to the law from the first candidate grid and the second candidate grid according to the movement direction as the final positioning grid of the target MR.

[0239] In some examples of this embodiment, when the processor 191 determines the final positioning grid of the target MR based on the neighboring MRs of the target MR in combination with the candidate grids, if there is no first characteristic MR in each neighboring MR that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each neighboring MR that has a different reporting time than the target MR but a same serving cell, and at the same time, there is a non-co-sited neighboring cell reported in the target MR, then:

[0240] The processor 191 first determines the neighboring cells of the serving cell according to the target MR, then calculates the average distances from the first candidate grid to the neighboring cells and the average distances from the second candidate grid to the neighboring cells, and selects a corresponding candidate grid with a smaller average distance as the final positioning grid of the target MR.

[0241] In some examples of this embodiment, when the processor 191 determines the final positioning grid of the target MR based on the neighboring MRs of the target MR in combination with the candidate grids, if there is no first characteristic MR in each neighboring MR that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each neighboring MR that has a different reporting time than the target MR but a same serving cell, and at the same time, only co-station neighboring cells are reported in the target MR, then:

[0242] Processor 191 selects a reference MR from each adjacent MR, where the reference MR is the MR that is closest to the reporting time of the target MR and has been positioned. Then, based on the reporting time of the reference MR, the known positioning, the positions of the first candidate grid and the second candidate grid, and the reporting time of the target MR, the first running speed of the train between the known positioning and the first candidate grid, and the second running speed of the train between the known positioning and the second candidate grid are determined. Subsequently, processor 191 selects one between the first running speed and the second running speed that is closer to the standard running speed of the train, and uses the candidate grid corresponding to the running speed as the final positioning grid of the target MR.

[0243] In some examples of this embodiment, the reference MR is an adjacent MR for determining a final positioning grid based on the first feature MR or the second feature MR.

[0244] For other details of the positioning method implemented by the processor 191, please refer to the introduction of the aforementioned embodiment, which will not be repeated here.

[0245] The positioning device and communication equipment provided in this embodiment have low use costs, do not need to deploy any additional auxiliary positioning equipment, and do not need to consume manpower to collect drive test data. As long as the corresponding data is accessed, the positioning of the target MR can be completed.

[0246] The positioning solution provided in this embodiment can achieve high-precision positioning of the target MR by identifying multiple scenarios and mining the most appropriate features in each scenario, which can effectively help operators digitize and automate the quality monitoring of rail line networks, helping them improve efficiency and reduce costs. In addition, due to the positioning solution provided in this embodiment, it has less reliance on the fields of the industrial parameters, has low cumulative errors, and has stronger robustness of the positioning results.

[0247] Obviously, those skilled in the art should understand that all or some steps, systems, and functional modules / units in the above disclosed methods can be implemented as software (which can be implemented with program code executable by a computing device), firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component can have multiple functions, or a function or step can be performed by several physical components in cooperation. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, executed by a computing device, and in some cases, the steps shown or described can be performed in a different order than herein, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a transient medium). As is well known to those of ordinary skill in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storing information (such as computer readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium. Therefore, the present invention is not limited to any particular combination of hardware and software.

[0248] The above contents are further detailed descriptions of the embodiments of the present invention in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A positioning method, comprising: According to the identifier of the serving cell carried in the target measurement report MR to be positioned, the track cell-grid area relationship table is queried to determine the target grid area corresponding to the serving cell, wherein the track cell-grid area relationship table stores the mapping relationship between the track cell and the grid area, and the grid area corresponding to a track cell includes at least two track grids within the coverage range of the track cell; Determine a third distance between the target MR reporting time reporting terminal and the serving cell according to a timing advance TA parameter in the target MR, and determine a fourth distance between each orbital grid and the serving cell according to a position of each orbital grid in the target grid area; Determine the absolute differences between the third distance and each fourth distance respectively, and select the first candidate grid according to each absolute difference; Selecting one of the other track grids in the target grid area that is on a different side of a track line vertical line from the first candidate grid as a second candidate grid, wherein the track line vertical line is a vertical line between the serving cell and the track line; Determine the final positioning grid of the target MR according to the adjacent MRs of the target MR combined with the candidate grids, and use the position of the final positioning grid as the positioning of the target MR, wherein the adjacent MRs are MRs reported by the reporting terminal of the target MR within the adjacent unit time of the moment of reporting the target MR; wherein the candidate grids include the first candidate grid and the second candidate grid; The step of determining the final positioning grid of the target MR according to the neighboring MRs of the target MR and the candidate grids includes: If there is a first characteristic MR in each of the neighboring MRs, which has the same reporting time as the target MR but belongs to a different serving cell location, then: Determine a candidate grid corresponding to the first feature MR according to the TA parameter of the first feature MR; Determine the distances between track grids in a candidate grid set, wherein the candidate grid set includes a candidate grid corresponding to the target MR and a candidate grid corresponding to the first feature MR; Determine two track grids with the smallest distance between them, and determine the track grid to which the middle position of the two grids belongs as the final positioning grid of the target MR; Alternatively, if there is a second characteristic MR in each of the neighboring MRs, which has a different reporting time from the target MR but belongs to the same serving cell, then: Determine a movement direction of the train where the reporting terminal is located between the first candidate grid and the second candidate grid; Determine the TA parameter and the rule of change with the reporting time according to the reporting time and TA parameter of the second characteristic MR and the reporting time and TA parameter of the target MR; Selecting one of the first candidate grid and the second candidate grid that meets the rule as the final positioning grid of the target MR according to the movement direction; Alternatively, if there is no first characteristic MR in each of the adjacent MRs that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each of the adjacent MRs that has a different reporting time than the target MR but has the same serving cell, and at the same time, a non-co-station neighboring cell is reported in the target MR, then: Determine neighboring cells of the serving cell according to the target MR; Calculating the average distance from the first candidate grid to each of the neighboring areas and the average distance from the second candidate grid to each of the neighboring areas; Select a corresponding candidate grid with a smaller distance mean as the final positioning grid of the target MR; Alternatively, if there is no first characteristic MR in each of the adjacent MRs that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each of the adjacent MRs that has a different reporting time than the target MR but has the same serving cell, and the target MR only reports co-station neighboring cells, then: Selecting a reference MR from each of the adjacent MRs, the reference MR being an MR that has been closest to the target MR in reporting time and has been positioned; Determine a first running speed of the train where the reporting terminal is located between the known location and the first candidate grid, and a second running speed of the train between the known location and the second candidate grid according to the reporting time of the reference MR, the known location, and the positions of the first candidate grid and the second candidate grid, and the reporting time of the target MR; The one closer to the standard running speed of the train is selected from the first running speed and the second running speed, and the candidate grid corresponding to the running speed is used as the final positioning grid of the target MR.

2. The positioning method according to claim 1, characterized in that: Before querying the track cell-grid area relationship table according to the identifier of the serving cell carried by the target MR to be located to determine the target grid area corresponding to the serving cell, the method further includes: For any one of the track cells, respectively determine a first distance between each track grid and the track cell; A track grid whose first distance from the track cell is less than the coverage radius of the track cell is selected to form a grid area of ​​the track cell, and a mapping relationship between the track cell and the grid area is stored in the track cell-grid area relationship table.

3. The positioning method according to claim 2, characterized in that: Before selecting a track grid whose first distance from the track cell is smaller than the coverage radius of the track cell to form a grid area of ​​the track cell, the method further includes: Collect multiple historical train MRs; Classify the track cells to which each historical train MR belongs according to the identification of the service cell it carries; For any one of the track cells, determine a second distance between each historical train MR and the track cell according to the TA parameter carried by the historical train MR therein; The coverage radius of the track cell is determined according to the second distance between each historical train MR and the cell.

4. The positioning method according to claim 3, characterized in that: The determining the coverage radius of the track cell according to the second distance between each historical train MR and the cell comprises: One of the second distances exceeding N% of the other second distances is selected as the coverage radius of the track cell, and the value range of N is 70-100.

5. The positioning method according to claim 1, characterized in that: The selecting the first candidate grid according to each absolute difference comprises: A track grid corresponding to a fourth distance having the smallest absolute difference with the third distance is selected as the first candidate grid.

6. The positioning method according to claim 1, characterized in that: The step of selecting one of the other track grids in the target grid area that is on a different side of the vertical line of the track line from the first candidate grid as the second candidate grid comprises: Determine a nearest grid corresponding to the serving cell, where the nearest grid is a track grid in the target grid area that is closest to the serving cell; determining a fifth distance between the first candidate grid and the nearest grid; determining a sixth distance between the first candidate grid and other track grids in the target grid area; One is selected from each sixth distance whose value is greater than 1.5 times of the fifth distance, and the corresponding track grid is used as the second candidate grid.

7. The positioning method according to claim 1, characterized in that: The reference MR is an adjacent MR for determining a final positioning grid based on the first feature MR or the second feature MR.

8. A positioning device, comprising: An area determination module is used to query a track cell-grid area relationship table according to the identification of the service cell carried by the target MR to be located to determine the target grid area corresponding to the service cell, wherein the track cell-grid area relationship table stores a mapping relationship between track cells and grid areas, and a grid area corresponding to a track cell includes at least two track grids within the coverage range of the track cell; a candidate determination module, configured to determine a third distance between the reporting terminal and the serving cell at the target MR reporting time according to a timing advance TA parameter in the target MR, and to determine a fourth distance between each orbital grid and the serving cell according to a position of each orbital grid in the target grid area; and, respectively determining absolute differences between the third distance and each fourth distance, and selecting a first candidate grid according to each absolute difference; and selecting, from other track grids in the target grid area, one that is on a different side of a track line vertical line from the first candidate grid as a second candidate grid, the track line vertical line being a vertical line between the serving cell and the track line; A final positioning module, used to determine the final positioning grid of the target MR according to the adjacent MRs of the target MR combined with the candidate grids, and use the position of the final positioning grid as the positioning of the target MR, wherein the adjacent MRs are MRs reported by the reporting terminal of the target MR within the adjacent unit time of the moment of reporting the target MR; wherein the candidate grids include the first candidate grid and the second candidate grid; The final positioning module determines the final positioning grid of the target MR according to the adjacent MRs of the target MR and the candidate grids, including the following situations: If there is a first characteristic MR in each of the neighboring MRs, which has the same reporting time as the target MR but belongs to a different serving cell location, then: Determine a candidate grid corresponding to the first feature MR according to the TA parameter of the first feature MR; Determine the distances between track grids in a candidate grid set, wherein the candidate grid set includes a candidate grid corresponding to the target MR and a candidate grid corresponding to the first feature MR; Determine two track grids with the smallest distance between them, and determine the track grid to which the middle position of the two grids belongs as the final positioning grid of the target MR; Alternatively, if there is a second characteristic MR in each of the neighboring MRs, which has a different reporting time from the target MR but belongs to the same serving cell, then: Determine a movement direction of the train where the reporting terminal is located between the first candidate grid and the second candidate grid; Determine the TA parameter and the rule of change with the reporting time according to the reporting time and TA parameter of the second characteristic MR and the reporting time and TA parameter of the target MR; Selecting one of the first candidate grid and the second candidate grid that meets the rule as the final positioning grid of the target MR according to the movement direction; Alternatively, if there is no first characteristic MR in each of the adjacent MRs that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each of the adjacent MRs that has a different reporting time than the target MR but has the same serving cell, and at the same time, a non-co-station neighboring cell is reported in the target MR, then: Determine neighboring cells of the serving cell according to the target MR; Calculating the average distance from the first candidate grid to each of the neighboring areas and the average distance from the second candidate grid to each of the neighboring areas; Select a corresponding candidate grid with a smaller distance mean as the final positioning grid of the target MR; Alternatively, if there is no first characteristic MR in each of the adjacent MRs that has the same reporting time as the target MR but a different serving cell location, and there is no second characteristic MR in each of the adjacent MRs that has a different reporting time than the target MR but has the same serving cell, and the target MR only reports co-station neighboring cells, then: Selecting a reference MR from each of the adjacent MRs, the reference MR being an MR that has been closest to the target MR in reporting time and has been positioned; Determine a first running speed of the train where the reporting terminal is located between the known location and the first candidate grid, and a second running speed of the train between the known location and the second candidate grid according to the reporting time of the reference MR, the known location, and the positions of the first candidate grid and the second candidate grid, and the reporting time of the target MR; The one closer to the standard running speed of the train is selected from the first running speed and the second running speed, and the candidate grid corresponding to the running speed is used as the final positioning grid of the target MR.

9. A communication device, comprising a processor, a memory and a communication bus; The communication bus is used to realize the connection and communication between the processor and the memory; The processor is used to execute one or more programs stored in the memory to implement the steps of the positioning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the positioning method as described in any one of claims 1 to 7.

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