Positioning method, device and processor-readable storage medium

Abstract

The present invention provides a positioning method, device and processor-readable storage medium. The method comprises: determining the target base station closest to the terminal to be located among M base stations according to the target measurement amount; when the target measurement amount between the target base station and the terminal to be located meets the first condition, using the base stations other than the target base station among the M base stations to locate the terminal to be located; wherein M is greater than or equal to 2. The present application can determine the distance between the terminal to be located and each base station involved in the positioning according to the target measurement amount, and can determine the degree of distance between the terminal to be located and the nearest target base station, thereby selecting a base station that can be used for positioning from the base stations involved in the positioning for positioning calculation. This embodiment selects an effective positioning base station for the case where the terminal to be located is close to the base station, avoids the positioning error caused by the close distance between the base station and the terminal, and can improve the positioning accuracy near the base station position.

Description

Technical Field

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

[0002] Indoor positioning algorithms are generally measured through multilateral positioning methods, including TOA (time of arrival), TDOA (Time Difference of Arrival), AOA (Angle of Arrival) and RSSI (Received Signal Strength Indication). After obtaining the distance between the terminal and each base station, it is necessary to use an algorithm for positioning. The typical positioning algorithms here usually include the least squares (LS) positioning algorithm, the Chan algorithm, the Taylor series expansion algorithm, and the PSO (Particle Swarm Optimization) algorithm. In the existing technical solutions, the positioning results obtained by positioning the terminal have large errors and inaccurate positioning. Summary of the invention

[0003] The present invention provides a positioning method, a device and a processor-readable storage medium, which are used to solve the problem that the positioning result of the existing positioning method for the terminal is inaccurate.

[0004] An embodiment of the present invention provides a positioning method, including:

[0005] Determine the target base station closest to the terminal to be located among the M base stations according to the target measurement amount;

[0006] When the target measurement amount between the target base station and the terminal to be located satisfies a first condition, positioning the terminal to be located using base stations other than the target base station among the M base stations;

[0007] Wherein, M is greater than or equal to 2.

[0008] Optionally, before determining the target base station that is closest to the terminal to be located among the M base stations according to the target measurement amount, the method further includes:

[0009] A target measurement amount between each of the M base stations and the terminal to be located is obtained, where the target measurement amount is used to indicate a distance between the base station and the terminal to be located.

[0010] Optionally, the first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold;

[0011] The target measurement value is used to indicate the distance between the target base station and the terminal to be located.

[0012] Optionally, the method further comprises:

[0013] Performing N positioning operations on the terminal to be positioned to obtain N positioning results; wherein the M value of each positioning operation in the N positioning operations is different;

[0014] Processing the N positioning results to obtain a target positioning result;

[0015] N is greater than or equal to 2.

[0016] Optionally, processing the N positioning results to obtain a target positioning result includes:

[0017] The N positioning results are averaged or filtered to obtain the target positioning result.

[0018] Optionally, the method further comprises:

[0019] When the target measurement amount between the target base station and the terminal to be located does not satisfy a first condition, the terminal to be located is located using the M base stations.

[0020] An embodiment of the present invention further provides a positioning device, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0021] Determine the target base station closest to the terminal to be located among the M base stations according to the target measurement amount;

[0022] When the target measurement amount between the target base station and the terminal to be located satisfies a first condition, positioning the terminal to be located using base stations other than the target base station among the M base stations;

[0023] Wherein, M is greater than or equal to 2.

[0024] Optionally, before determining, according to the target measurement amount, a target base station among the M base stations that is closest to the terminal to be located, the processor is further configured to:

[0025] A target measurement amount between each of the M base stations and the terminal to be located is obtained, where the target measurement amount is used to indicate a distance between the base station and the terminal to be located.

[0026] Optionally, the first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold;

[0027] The target measurement amount is used to indicate the distance between the target base station and the terminal to be located.

[0028] Optionally, the processor is further configured to:

[0029] Performing N positioning operations on the terminal to be positioned to obtain N positioning results; wherein the M value of each positioning operation in the N positioning operations is different;

[0030] Processing the N positioning results to obtain a target positioning result;

[0031] N is greater than or equal to 2.

[0032] Optionally, processing the N positioning results to obtain a target positioning result specifically includes:

[0033] The N positioning results are averaged or filtered to obtain the target positioning result.

[0034] Optionally, the processor is further configured to:

[0035] When the target measurement amount between the target base station and the terminal to be located does not satisfy a first condition, the terminal to be located is located using the M base stations.

[0036] An embodiment of the present invention further provides a positioning device, comprising:

[0037] A determination unit, configured to determine a target base station among the M base stations that is closest to the terminal to be located according to the target measurement amount;

[0038] A first positioning unit, configured to locate the terminal to be located by using a base station other than the target base station among the M base stations when a target measurement amount between the target base station and the terminal to be located meets a first condition;

[0039] Wherein, M is greater than or equal to 2.

[0040] An embodiment of the present invention further provides a processor-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above positioning method are implemented.

[0041] The beneficial effects of the above technical solution of the present invention are:

[0042] In the embodiment of the present application, the distance between the terminal to be located and each base station participating in the positioning can be determined according to the target measurement amount, and the distance between the terminal to be located and the nearest target base station can be determined, so that a base station that can be used for positioning is selected from the base stations participating in the positioning to locate the terminal to be located. This embodiment selects an effective positioning base station for the case where the terminal to be located is close to the base station, avoids the positioning error caused by the close distance between the base station and the terminal, can improve the positioning accuracy near the base station position, and improves the accuracy of terminal positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram showing a flow chart of a positioning method according to an embodiment of the present invention;

[0044] Figure 2 A second flowchart of a positioning method according to an embodiment of the present invention is shown;

[0045] Figure 3 A schematic diagram showing the structure of a positioning device according to an embodiment of the present invention;

[0046] Figure 4 The second structural schematic diagram of the positioning device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present invention. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. In addition, for clarity and brevity, the description of known functions and structures is omitted.

[0048] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present invention. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0049] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0050] Additionally, the terms "system" and "network" are often used interchangeably herein.

[0051] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0052] In the embodiment of the present invention, the form of the access network is not limited, and may be an access network including a macro base station (Macro Base Station), a micro base station (Pico Base Station), a Node B (the name of a 3G mobile base station), an enhanced base station (eNB), a home enhanced base station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), etc. The user terminal may be a mobile phone (or mobile phone), or other equipment capable of sending or receiving wireless signals, including user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a CPE (Customer Premise Equipment) capable of converting a mobile signal into a WiFi signal, or a mobile smart hotspot, a smart home appliance, or other equipment that can spontaneously communicate with a mobile communication network without human operation.

[0053] Specifically, an embodiment of the present invention provides a positioning method, which solves the problem of inaccurate positioning results of a terminal in the prior art.

[0054] like Figure 1 As shown, an embodiment of the present invention provides a positioning method, which specifically includes the following steps:

[0055] Step 101: Determine a target base station that is closest to a terminal to be located among M base stations according to a target measurement amount; wherein M is greater than or equal to 2.

[0056] The M base stations are all base stations involved in positioning, and the target measurement amount can be one of multiple measurement amounts such as TOA, TDOA, AOA, etc. The target measurement amount can be used to characterize the distance between the base station and the terminal to be positioned. The target measurement amount between the terminal to be positioned and the M base stations involved in positioning is calculated, and the position estimation can be performed according to the measurement amount to determine the target base station closest to the terminal to be positioned.

[0057] Step 102: When a target measurement amount between the target base station and the terminal to be located meets a first condition, base stations other than the target base station among the M base stations are used to locate the terminal to be located.

[0058] The distance between the target base station and the terminal to be located is determined according to the target measurement amount between the target base station and the terminal to be located. When the target measurement amount satisfies the first condition, it can be indicated that the distance between the target base station and the terminal to be located is relatively close. In order to avoid positioning errors of the terminal to be located due to the short distance, when positioning the terminal to be located, the target base station is removed, that is, the information of the target base station is not used, and the terminal to be located is located using other base stations except the target base station among the M base stations participating in the positioning.

[0059] In the embodiment of the present application, the distance between the terminal to be located and each base station participating in the positioning can be determined according to the target measurement amount, and the distance between the terminal to be located and the nearest target base station can be determined, so that a base station that can be used for positioning is selected from the base stations participating in the positioning to locate the terminal to be located. This embodiment selects an effective positioning base station for the case where the terminal to be located is close to the base station, avoids the positioning error caused by the close distance between the base station and the terminal, can improve the positioning accuracy near the base station position, and improves the accuracy of terminal positioning.

[0060] Specifically, the first condition may include: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold; wherein the target measurement amount is used to indicate the distance between the target base station and the terminal to be located.

[0061] The target threshold is a threshold related to the target measurement amount, and can be set according to the algorithm of the target measurement amount, application scenario, etc. In this embodiment, when the target measurement amount between the target base station and the terminal to be located is less than or equal to the target threshold, the terminal to be located is located using a base station other than the target base station.

[0062] Taking the target measurement quantity as TOA as an example, there are M base stations participating in the positioning calculation, namely, BS i (i=1, 2, ..., M), perform position estimation based on the target measurement value TOA (can also be TDOA), and select the target base station BS closest to the position of the terminal to be located i,Min , determine the distance between the terminal to be located and the target base station BS according to the target measurement amount TOA i,Min If the target base station BS i,Min The target measurement amount TOA between the terminal to be located is less than or equal to the target threshold, that is, in, The terminal to be located and the target base station BS i,Min TH is the target threshold value related to the target measurement value TOA, which can be determined according to the specific algorithm and specific usage scenario. At this time, the distance between the terminal to be located and the target base station is relatively close, and the first condition is met. Then, the target base station BS closest to the terminal to be located is excluded from the M base stations. i,Min , using the information of the remaining M-1 base stations to perform positioning calculation on the terminal to be located.

[0063] Optionally, when the target measurement amount between the target base station and the terminal to be located does not meet the first condition, the terminal to be located is located using the M base stations. That is, when the target measurement amount between the target base station and the terminal to be located is greater than a target threshold, the M base stations are used to perform positioning calculation on the terminal to be located.

[0064] It should be noted that the target measurement amount can be selected according to the requirements. As an optional embodiment, the target measurement amount can also be TDOA. Assume that there are M base stations in the positioning system to locate the terminal to be located, the position coordinates of the terminal to be located are (x, y), and the position coordinates of the base station are (x i ,Y i ), 1≤i≤M, where the arrival time difference between the signal from M-1 base stations reaching the terminal to be located and the signal from the serving base station BS1 (i.e., the target base station) reaching the terminal to be located is t i , i=1,2,3,…,M, according to the TDOA principle, it can be calculated:

[0065]

[0066] Let r i -r1=r i1 , k i =X i 2 +Y i 2 , linearizing the equation, we can get:

[0067] r i1 2 +2·r i1 r1=-2·(Y i -Y1)·y+k i -k1, i = 2, 3, ..., M; (1)

[0068] Among them, r i For base station (X i ,Yi ) is the distance between the terminal to be located (x, y), r1 is the distance between the serving base station BS1 and the terminal to be located, and c is the speed of light.

[0069] To solve the above equation, the LS algorithm, Chan algorithm or Taylor series expansion algorithm can be used. The LS algorithm eliminates the r1 term in the M-1 formulas in the above formula (1) and establishes h = Z·V T ·(V·V T ) -1 The Taylor series expansion algorithm calculates r based on an initial position (X0, Y0). i , and then calculate h t and G t , and combined with the covariance matrix Q to calculate Continue the calculation according to (X0+Δx,Y0+Δy). Chan algorithm assumes P=[X,Y,r] T ,h c =G c P+ε c ,in,

[0070]

[0071]

[0072] P=(G c T Q -1 G c ) -1 G c T Q -1 h c

[0073] Where Q is the covariance matrix of the TDOA measurement error, and ε is the replacement error. c The covariance matrix of .

[0074] Optionally, before determining the target base station among the M base stations that is closest to the terminal to be located according to the target measurement amount, the method further includes: obtaining a target measurement amount between each of the M base stations and the terminal to be located, the target measurement amount being used to indicate the distance between the base station and the terminal to be located.

[0075] Before positioning the terminal to be positioned, first calculate the target measurement quantity, such as TDOA, that can characterize the distance between the terminal to be positioned and all base stations participating in the positioning. So as to determine the target base station closest to the terminal to be positioned according to the target measurement quantity. When the target measurement quantity between the target base station and the terminal to be positioned meets the first condition, exclude the target base station closest to the terminal to be positioned, thereby determining M-1 base stations participating in the positioning, and performing positioning calculation on the terminal to be positioned based on the information of the M-1 base stations and the predetermined positioning algorithm.

[0076] As an optional embodiment, when performing positioning calculation on the terminal to be positioned, the number of positioning calculations may be one or more times, and the number of base stations participating in positioning each time may be the same or different during multiple calculations, that is, the value of M may be the same or different. Taking the different values ​​of M in multiple positioning calculations as an example, the terminal to be positioned is positioned N times to obtain N positioning results; wherein the value of M in each of the N positionings is different; the N positioning results are processed to obtain a target positioning result; and N is greater than or equal to 2.

[0077] Specifically, processing the N positioning results to obtain the target positioning result may include: averaging or filtering the N positioning results to obtain the target positioning result.

[0078] In this embodiment, when the terminal to be located is located N times and N positioning results are obtained, the final positioning result can be obtained by filtering or averaging. It should be noted that if the value of M calculated by multiple positioning is the same, multiple measurements (such as N times) can be performed under each value condition of M, and the average value or filtered value of the multiple measurements is used as the final positioning result.

[0079] like Figure 2 As shown, as an optional embodiment, the implementation process of the positioning method is described below through a specific embodiment.

[0080] Step 1: Determine a set of base stations participating in positioning, and calculate measurement quantities from the terminal to be positioned to all base stations participating in positioning, which can characterize the distance between the base station and the terminal to be positioned, such as TDOA and TOA;

[0081] Step 2: Based on the measured value, select the base station BS closest to the terminal to be located. i,Min , i.e., the target base station;

[0082] Step 3: Calculate the terminal to be located and the base station BS i,MinIf the distance meets the first condition (if the TOA measurement value is used, it is necessary to determine whether the condition is met If the condition is satisfied, it is considered that the terminal to be located is close to the base station BS. i,Min If the distance is close, the next step is to select a base station, and then calculate the position of the terminal to be positioned;

[0083] Step 4: Eliminate the nearest base station BS i,Min , then determine M-1 base stations that are relatively close to the location of the terminal to be located;

[0084] Step 5: Based on the information of the selected M-1 base stations and a predetermined positioning algorithm, the position of the terminal to be positioned is calculated.

[0085] In this embodiment, the measurement quantity for judging the distance between the terminal to be located and the base station may be a TOA measurement quantity or other measurement quantities, for example, RSRP, TDOA or other available measurement quantities. According to the measurement result of the measurement quantity, the base station closest to the terminal to be located is determined as the target base station. According to the measurement result of the measurement quantity, the distance between the terminal to be located and the target base station can be judged. If it is judged that the terminal to be located is very close to the target base station (satisfying the first condition), it is necessary to select a base station that can be used for positioning from all the base stations participating in the positioning (excluding the target base station) for positioning. Otherwise, the positioning calculation is directly performed based on all the base stations participating in the positioning.

[0086] The number of base stations used for positioning can be one value or multiple different values. The number of positioning calculations can be one or multiple times. When multiple positioning results are obtained through multiple calculations, they can be processed by filtering or averaging to obtain the final positioning result.

[0087] This embodiment uses measurement quantities to make a preliminary judgment on the position of the terminal to be located, which is simple and easy; identifies the base station closest to the terminal to be located and several base stations that are next closest; selects a valid positioning base station based on the judgment of the preliminary position of the terminal to be located, avoiding the use of base stations that cause errors in positioning; improves the positioning accuracy of the terminal to be measured near the base station location; can select the number of next closest base stations and the number of positioning calculations according to complexity requirements, and can flexibly select the calculation method while improving the positioning accuracy.

[0088] In the embodiment of the present application, the distance between the terminal to be located and each base station participating in the positioning can be determined according to the target measurement amount, and the distance between the terminal to be located and the nearest target base station can be determined, so that a base station that can be used for positioning is selected from the base stations participating in the positioning to locate the terminal to be located. This embodiment selects an effective positioning base station for the case where the terminal to be located is close to the base station, avoids the positioning error caused by the close distance between the base station and the terminal, can improve the positioning accuracy near the base station position, and improves the accuracy of terminal positioning.

[0089] The above embodiments introduce the positioning method of the present invention. The following embodiments will further illustrate the corresponding device in conjunction with the accompanying drawings.

[0090] Specifically, Figure 3 As shown, the positioning device 300 of the embodiment of the present invention includes:

[0091] A determination unit 310 is configured to determine, according to the target measurement amount, a target base station among the M base stations that is closest to the terminal to be located;

[0092] A first positioning unit 320 is configured to position the terminal to be positioned using a base station other than the target base station among the M base stations if a target measurement amount between the target base station and the terminal to be positioned meets a first condition;

[0093] Wherein, M is greater than or equal to 2.

[0094] Optionally, the device further comprises:

[0095] The acquiring unit is configured to acquire a target measurement value between each of the M base stations and the terminal to be located, where the target measurement value is used to indicate a distance between the base station and the terminal to be located.

[0096] Optionally, the first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold;

[0097] The target measurement amount is used to indicate the distance between the target base station and the terminal to be located.

[0098] Optionally, the device further comprises:

[0099] A first processing unit is used to perform N positioning operations on the terminal to be positioned to obtain N positioning results; wherein the M value of each positioning operation in the N positioning operations is different;

[0100] A second processing unit is used to process the N positioning results to obtain a target positioning result;

[0101] N is greater than or equal to 2.

[0102] Optionally, the second processing unit is specifically used to: average or filter the N positioning results to obtain the target positioning result.

[0103] Optionally, the device further comprises:

[0104] The second positioning unit is configured to use the M base stations to position the terminal to be positioned when the target measurement amount between the target base station and the terminal to be positioned does not satisfy a first condition.

[0105] In the embodiment of the present application, the distance between the terminal to be located and each base station participating in the positioning can be determined according to the target measurement amount, and the distance between the terminal to be located and the nearest target base station can be determined, so that a base station that can be used for positioning is selected from the base stations participating in the positioning to locate the terminal to be located. This embodiment selects an effective positioning base station for the case where the terminal to be located is close to the base station, avoids the positioning error caused by the close distance between the base station and the terminal, can improve the positioning accuracy near the base station position, and improves the accuracy of terminal positioning.

[0106] It should be noted here that the above-mentioned device provided in the embodiment of the present invention can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0107] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0109] like Figure 4 As shown, an embodiment of the present invention further provides a positioning device, including a transceiver 404, a memory 403, a processor 401, and a computer program stored in the memory 403 and executable on the processor.

[0110] The memory 403 is used to store computer programs; the transceiver 404 is connected to the bus interface 402 and is used to send and receive data under the control of the processor 401; the processor 401 is used to read the computer program in the memory 403 and perform the following operations:

[0111] Determine the target base station closest to the terminal to be located among the M base stations according to the target measurement amount;

[0112] When the target measurement amount between the target base station and the terminal to be located satisfies a first condition, positioning the terminal to be located using base stations other than the target base station among the M base stations;

[0113] Wherein, M is greater than or equal to 2.

[0114] Optionally, before determining, according to the target measurement amount, a target base station among the M base stations that is closest to the terminal to be located, the processor 401 is further configured to:

[0115] A target measurement amount between each of the M base stations and the terminal to be located is obtained, where the target measurement amount is used to indicate a distance between the base station and the terminal to be located.

[0116] Optionally, the first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold;

[0117] The target measurement amount is used to indicate the distance between the target base station and the terminal to be located.

[0118] Optionally, the processor 401 is further configured to:

[0119] Performing N positioning operations on the terminal to be positioned to obtain N positioning results; wherein the M value of each positioning operation in the N positioning operations is different;

[0120] Processing the N positioning results to obtain a target positioning result;

[0121] N is greater than or equal to 2.

[0122] Optionally, processing the N positioning results to obtain a target positioning result specifically includes:

[0123] The N positioning results are averaged or filtered to obtain the target positioning result.

[0124] Optionally, the processor 401 is further configured to:

[0125] When the target measurement amount between the target base station and the terminal to be located does not satisfy a first condition, the terminal to be located is located using the M base stations.

[0126] In the embodiment of the present application, the distance between the terminal to be located and each base station participating in the positioning can be determined according to the target measurement amount, and the distance between the terminal to be located and the nearest target base station can be determined, so that a base station that can be used for positioning is selected from the base stations participating in the positioning to locate the terminal to be located. This embodiment selects an effective positioning base station for the case where the terminal to be located is close to the base station, avoids the positioning error caused by the close distance between the base station and the terminal, can improve the positioning accuracy near the base station position, and improves the accuracy of terminal positioning.

[0127] Among them, Figure 4 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 401 and memory represented by memory 403. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 404 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. The processor 401 is responsible for managing the bus architecture and general processing, and the memory 403 may store data used by the processor 401 when performing operations.

[0128] The processor 401 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0129] It should be noted here that the above-mentioned positioning device provided in the embodiment of the present invention can implement all the method steps implemented in the above-mentioned positioning method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0130] In addition, a specific embodiment of the present invention further provides a processor-readable storage medium on which a computer program is stored, wherein the program, when executed by the processor, implements the steps in the above-mentioned positioning method. And the same technical effect can be achieved, and in order to avoid repetition, it will not be repeated here. Among them, the readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0131] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0132] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0133] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A positioning method, characterized in that: include: Determine the target base station closest to the terminal to be located among the M base stations according to the target measurement amount; When the target measurement amount between the target base station and the terminal to be located satisfies a first condition, positioning the terminal to be located using base stations other than the target base station among the M base stations; Wherein, M is greater than or equal to 2; The first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold; The target measurement value is used to indicate the distance between the target base station and the terminal to be located.

2. The method according to claim 1, characterized in that Before determining the target base station closest to the terminal to be located among the M base stations according to the target measurement amount, the method further includes: A target measurement amount between each of the M base stations and the terminal to be located is obtained, where the target measurement amount is used to indicate a distance between the base station and the terminal to be located.

3. The method according to claim 1, characterized in that The method further comprises: Performing N positioning operations on the terminal to be positioned to obtain N positioning results; wherein the M value of each positioning operation in the N positioning operations is different; Processing the N positioning results to obtain a target positioning result; N is greater than or equal to 2.

4. The method according to claim 3, characterized in that Processing the N positioning results to obtain a target positioning result includes: The N positioning results are averaged or filtered to obtain the target positioning result.

5. The method according to claim 1, characterized in that The method further comprises: When the target measurement amount between the target base station and the terminal to be located does not satisfy a first condition, the terminal to be located is located using the M base stations.

6. A positioning device, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: Determine the target base station closest to the terminal to be located among the M base stations according to the target measurement amount; When the target measurement amount between the target base station and the terminal to be located satisfies a first condition, positioning the terminal to be located using base stations other than the target base station among the M base stations; Wherein, M is greater than or equal to 2; The first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold; The target measurement value is used to indicate the distance between the target base station and the terminal to be located.

7. The device according to claim 6, characterized in that Before determining the target base station closest to the terminal to be located among the M base stations according to the target measurement amount, the processor is further configured to: A target measurement amount between each of the M base stations and the terminal to be located is obtained, where the target measurement amount is used to indicate a distance between the base station and the terminal to be located.

8. The device according to claim 6, characterized in that The processor is further configured to: Performing N positioning operations on the terminal to be positioned to obtain N positioning results; wherein the M value of each positioning operation in the N positioning operations is different; Processing the N positioning results to obtain a target positioning result; N is greater than or equal to 2.

9. The device according to claim 8, characterized in that Processing the N positioning results to obtain a target positioning result specifically includes: The N positioning results are averaged or filtered to obtain the target positioning result.

10. The device according to claim 6, characterized in that The processor is further configured to: When the target measurement amount between the target base station and the terminal to be located does not satisfy a first condition, the terminal to be located is located using the M base stations.

11. A positioning device, characterized in that: include: A determination unit, configured to determine a target base station among the M base stations that is closest to the terminal to be located according to the target measurement amount; A first positioning unit, configured to locate the terminal to be located by using a base station other than the target base station among the M base stations when a target measurement amount between the target base station and the terminal to be located meets a first condition; Wherein, M is greater than or equal to 2; The first condition includes: a target measurement amount between the target base station and the terminal to be located is less than or equal to a target threshold; The target measurement value is used to indicate the distance between the target base station and the terminal to be located.

12. A processor-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the positioning method according to any one of claims 1 to 5 are implemented.

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