Terminal positioning method, device, electronic device and storage medium

Abstract

The present invention provides a terminal positioning method, device, electronic device and storage medium, including: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, based on a wave direction positioning estimation algorithm, determining target azimuth information, the target azimuth information including azimuth information with the base station and azimuth information with the terminal; sending the target azimuth information to the base station, so that the base station forwards the target azimuth information to a server on the network side, the server solves the position of the terminal based on the target azimuth information and a preset positioning method, and completes the positioning of the terminal. The present invention can realize efficient positioning of terminals in millimeter wave communications in NLOS path scenarios.

Description

Technical Field

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

[0002] From mobile Internet to the Internet of Things, location is a basic and indispensable information. For terminal location-based applications (such as navigation, healthcare monitoring, and indoor positioning), only higher-precision positioning information can bring higher value, leading to people's growing interest in high-precision positioning.

[0003] The sixth generation (6G) wireless communication technology is expected to become a technological breakthrough for ultra-high precision wireless positioning due to its very high carrier frequency (such as the millimeter wave band) and the large-scale antenna arrays it is equipped with. Millimeter-level wavelengths allow a large number of antennas to be integrated into antenna arrays with portable size, but this also leads to severe free space path loss, especially for non-line of sight (NLOS) paths. Directional transmission supported by existing beamforming technology is a solution for energy-saving transmission to compensate for path loss in millimeter wave communications. By properly adjusting the phase shift of each antenna element, the transmitted energy can be concentrated in a narrow beam between the transmitter and the receiver. However, due to the short wavelength of millimeter waves, directional links are easily blocked by obstacles such as human bodies, walls, and furniture. Once the line of sight (LOS) path is blocked, the blocked link may not be restored no matter how the beam direction is adjusted. Therefore, blocking is a key obstacle to the application of millimeter wave communication positioning.

[0004] Therefore, how to achieve efficient positioning of terminals in millimeter wave communications under NLOS path scenarios has become a technical problem that the industry urgently needs to solve. Summary of the invention

[0005] The present invention provides a terminal positioning method, device, electronic device and storage medium, which are used to realize efficient positioning of the terminal in millimeter wave communication under NLOS path scenario.

[0006] The present invention provides a terminal positioning method, comprising:

[0007] When a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, determine target azimuth information based on a direction-of-arrival positioning estimation algorithm, where the target azimuth information includes azimuth information with the base station and azimuth information with the terminal;

[0008] The target azimuth information is sent to the base station so that the base station forwards the target azimuth information to a server on the network side. The server calculates the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

[0009] According to a terminal positioning method provided by the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, before calculating the target azimuth information based on the direction of arrival positioning estimation algorithm, the method further includes:

[0010] In a case where the base station and the terminal are in a non-line-of-sight communication path, receiving a target single sideband signal sent by the base station, and reflecting the target single sideband signal to the terminal, so that the terminal generates and sends access request information for accessing the base station based on master information block MIB information and scheduling block SIB1 information obtained by parsing the target single sideband signal;

[0011] receiving the access request information of the terminal, and forwarding the access request information to the base station, so that the terminal accesses the base station;

[0012] When the terminal accesses the base station, receiving downlink control information DCI sent by the base station, parsing the DCI, and determining time-frequency resource information corresponding to a physical downlink shared channel PDSCH indicated by the DCI;

[0013] Acquire a channel sounding reference signal SRS of the terminal, perform a direction of arrival positioning estimation on the SRS, and determine a target weight;

[0014] Based on the reflection angle corresponding to the target weight, the time-frequency resource information corresponding to the PDSCH is reflected to the terminal, beamforming for the terminal is completed, and a communication link between the base station and the terminal is established.

[0015] The present invention also provides a terminal positioning method, comprising:

[0016] When a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information calculated by an intelligent supersurface in a wireless coverage area of ​​the base station based on a direction-of-arrival positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent supersurface and the base station and azimuth information between the intelligent supersurface and the terminal;

[0017] Based on the target azimuth information and a preset positioning method, the position of the terminal is calculated to complete the positioning of the terminal.

[0018] According to a terminal positioning method provided by the present invention, the preset positioning method includes at least one of a downlink arrival time difference DL-TDOA positioning method, an uplink arrival time difference UL-TDOA positioning method, an uplink arrival azimuth UL-AOD positioning method, a multi-cell round-trip time Multi-Cell RTT positioning method and a downlink enhanced cell identification E-CID positioning method.

[0019] According to a terminal positioning method provided by the present invention, the preset positioning method information includes a downlink time difference of arrival DL-TDOA positioning method; the smart metasurface includes a first smart metasurface and a second smart metasurface, and the first smart metasurface and the second smart metasurface are located at different positions of the base station; the method also includes:

[0020] When the base station and the terminal are in a non-line-of-sight communication path, and the base station, the first intelligent super surface and the terminal have established a wireless link, and the base station, the second intelligent super surface and the terminal have established a wireless link, receiving the downlink positioning reference signal time difference DL-RSTD information and the target azimuth information sent by the base station;

[0021] The DL-RSTD information is determined by the terminal calculating the arrival time of the first positioning reference signal PRS and the second positioning reference signal PRS; the first positioning reference signal PRS is the PRS sent by the base station to the terminal through the first smart super surface; the second positioning reference signal PRS is the PRS sent by the base station to the terminal through the second smart super surface;

[0022] According to the DL-TDOA positioning method, based on the DL-RSTD information and the target azimuth information, the position of the terminal is calculated to complete the positioning of the terminal.

[0023] According to a terminal positioning method provided by the present invention, after solving the position of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method, the method further includes:

[0024] Rasterizing the area where the terminal is located to obtain a plurality of grid areas;

[0025] Establishing a complex gain matrix based on the complex gain of the received signal corresponding to each of the grid regions;

[0026] Taking minimizing the norm of the complex gain matrix as the goal, establishing an objective function, and determining the target constraint condition based on the allowable mismatch between the actual received signal and the reconstructed signal at the location of the terminal being less than a target threshold; the reconstructed signal is the sum of the corresponding received signals of each grid area; the target threshold is determined based on a Rayleigh distribution function;

[0027] Based on the objective function and the objective constraint conditions, a convex optimization problem model for estimating the terminal position is established, and the convex optimization problem model is solved to obtain a target grid point in the area where the terminal is located, so as to locate the terminal based on the target grid point.

[0028] The present invention also provides a terminal positioning device, comprising:

[0029] A first processing module is used to determine target azimuth information based on a direction of arrival positioning estimation algorithm when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, wherein the target azimuth information includes azimuth information with the base station and azimuth information with the terminal;

[0030] The first positioning module is used to send the target azimuth information to the base station, so that the base station forwards the target azimuth information to the server on the network side. The server determines the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

[0031] The present invention also provides a terminal positioning device, comprising:

[0032] A first receiving module is used to receive target azimuth information sent by the base station when the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established; the target azimuth information is azimuth information calculated by an intelligent super surface in a wireless coverage area of ​​the base station based on a wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal;

[0033] The second positioning module is used to determine the position of the terminal based on the target azimuth information and a preset positioning method, so as to complete the positioning of the terminal.

[0034] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the terminal positioning methods described above is implemented.

[0035] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the terminal positioning method described in any one of the above is implemented.

[0036] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the terminal positioning method described above is implemented.

[0037] The terminal positioning method, device, electronic device and storage medium provided by the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, by adopting a wave direction positioning estimation algorithm, the intelligent metasurface can measure the azimuth information of its plane normal and the base station and the azimuth information of the terminal to obtain the target azimuth information, and send the target azimuth information to the base station, so that the base station forwards the target azimuth information to the server on the network side, so that the server can solve the position of the terminal based on the target azimuth information and the preset positioning method, thereby realizing efficient positioning of the terminal in millimeter wave communication in the NLOS path scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is one of the flow charts of the terminal positioning method provided by the present invention;

[0040] Figure 2 This is one of the scenario schematic diagrams of the terminal positioning method provided by the present invention;

[0041] Figure 3 This is the second scenario schematic diagram of the terminal positioning method provided by the present invention;

[0042] Figure 4 This is the second flow chart of the terminal positioning method provided by the present invention;

[0043] Figure 5 This is one of the structural schematic diagrams of the terminal positioning device provided by the present invention;

[0044] Figure 6 This is the second structural schematic diagram of the terminal positioning device provided by the present invention;

[0045] Figure 7 It is a schematic diagram of the physical structure of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Combine the following Figure 1-Figure 6 The present invention describes a terminal positioning method, device, electronic device and storage medium.

[0049] Reconfigurable Intelligent Surface (RIS), also known as "reconfigurable intelligent surface" or "intelligent reflective surface", can be used to establish a LOS link between a transmitter and a receiver, and reconfigure the wireless propagation environment through a software-controlled reflective link. Specifically, RIS is a planar array composed of a large number of reconfigurable passive elements (e.g., low-cost printed dipoles), each of which is able to independently produce amplitude and / or phase changes to the incident signal, thereby jointly achieving passive beamforming without any collaboration. By properly adjusting the passive beamforming, the signal reflected by the RIS can be destructively added or destructively added with the signal of other paths to enhance the desired signal power at the receiver, or to destructively eliminate unwanted signals, such as co-channel interference. Since RIS is a passive configuration, no energy consumption is generated in the process of reflecting the signal, so it can be densely deployed to meet the needs of large-scale wireless network communications.

[0050] Figure 1 is one of the flow charts of the terminal positioning method provided by the present invention, such as Figure 1 As shown, the execution subject of the method is the intelligent super surface RIS, and the method may include: step 110 and step 120.

[0051] Step 110, when the base station and the terminal are in a non-line-of-sight NLOS communication path and the communication link between the base station and the terminal has been established, determine target azimuth information based on a direction of arrival positioning estimation algorithm, where the target azimuth information includes azimuth information with the base station and azimuth information with the terminal;

[0052] Specifically, the NLOS communication path described in the embodiment of the present invention refers to indirect point-to-point communication between a receiver and a transmitter, that is, the line of sight between the two communication points is blocked by an obstacle in the middle, and the two points cannot see each other, and more than 50% of the Fresnel zone is blocked.

[0053] The Direction Of Arrival (DOA) positioning estimation algorithm described in the embodiment of the present invention estimates the position of the radiation source by measuring the DOA or angle of arrival (AOA) of the radiation signal. The technical principle is to use the array antenna of the receiver on the RIS and the DOA estimation technology to determine a direction of arrival line from the receiver to the signal source, and finally use the DOA estimated by multiple receivers to perform triangulation. The intersection of the direction lines is the estimated position of the radiation source.

[0054] The target azimuth information described in the embodiment of the present invention refers to information that can characterize the azimuth relationship between the RIS and the base station and the terminal in space, which may include azimuth information between the RIS and the base station and azimuth information between the RIS and the terminal, which can be obtained by respectively calculating the direction angle and elevation angle of the base station and the terminal relative to the RIS normal. The azimuth information between the RIS and the base station includes the direction angle and elevation angle information of the base station relative to the RIS normal, and the azimuth information between the RIS and the terminal includes the direction angle and elevation angle information of the terminal relative to the RIS normal.

[0055] Figure 2 is one of the scenario schematic diagrams of the terminal positioning method provided by the present invention, such as Figure 2 As shown, in the scenario of the embodiment of the present invention, a base station 201 (hereinafter simply described as base station A), RIS202 (hereinafter simply described as RIS B), RIS203 (hereinafter simply described as RIS C) and terminal 204 (hereinafter simply described as terminal D) may be included. In the case where base station A and terminal D to be located are in an NLOS communication path, one or more RISs may be provided, such as RIS B and RIS C, RISB and RIS C are in a LOS position relationship with terminal D respectively, and base station A is within the range of ±θ / ±φ of the maximum available deflection horizontal angle / vertical angle of RIS B and RIS C.

[0056] Optionally, when the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, before calculating the target azimuth information based on a direction-of-arrival positioning estimation algorithm, the method further includes:

[0057] When the base station and the terminal are in a non-line-of-sight communication path, a target single sideband signal sent by the base station is received, and the target single sideband signal is reflected to the terminal, so that the terminal generates and sends access request information for accessing the base station based on the master information block MIB information and the scheduling block SIB1 information obtained by parsing the target single sideband signal;

[0058] Receive access request information from the terminal and forward the access request information to the base station, so that the terminal can access the base station;

[0059] When the terminal accesses the base station, it receives the downlink control information DCI sent by the base station, parses the DCI, and determines the time-frequency resource information corresponding to the physical downlink shared channel PDSCH indicated by the DCI;

[0060] Obtain the terminal's channel sounding reference signal SRS, perform direction of arrival positioning estimation on the SRS, and determine the target weight;

[0061] Based on the reflection angle corresponding to the target weight, the time-frequency resource information corresponding to the PDSCH is reflected to the terminal, beamforming for the terminal is completed, and a communication link between the base station and the terminal is established.

[0062] Specifically, the target single sideband (SSB) signal described in the embodiment of the present invention is the SSB signal with the strongest signal received by the RIS when the base station uses the SSB broadcast beam group for broadcasting.

[0063] The weight value described in the embodiment of the present invention refers to the phase weight value required by the RIS to forward the time-frequency resource information corresponding to the PDSCH to the terminal, which is used for beamforming from the RIS to the terminal.

[0064] like Figure 2 RIS B and RIS C in the RIS need to first parse the management information base (MIB), i.e., the master information block information, and the scheduling block SIB1 information and other system information sent by base station A through the receiver carried by the RIS, and then configure the reflection / refraction azimuth and scanning period of the RIS on the corresponding SSB time-frequency resources according to the SSB broadcast beam scanning mode of base station A.

[0065] In an embodiment of the present invention, the base station A uses an SSB broadcast beam group which can be represented as {SSB 0, SSB 1, SSB2, ...} to perform beam-based broadcasting in the wireless coverage area. The target SSB signal received by the fixedly deployed RIS B in the coverage area of ​​the base station is the SSB i signal, that is, the SSB i signal sent by the base station received by RIS B is the strongest, then RIS B will use the preset specific weights and period configuration on the corresponding SSB time-frequency resources, so that the SSB i signal can cover the base station blind area that cannot be covered due to obstacles, that is, the target SSB signal SSB i signal can be reflected to the terminal D.

[0066] It should be noted here that signals such as the Channel State Information-Reference Signal (CSI-RS) that use the same broadcast beam as the SSB i signal will also be reflected or refracted by the RIS to the same base station blind spot in the same way. The user equipment (UE) in the base station blind spot, that is, the terminal D, can receive the SSB i signal sent from the RIS, and obtain the master information block MIB information by parsing the SSB i signal, and decode the scheduling block SIB1 information therein.

[0067] Subsequently, terminal D will generate access request information for accessing the base station based on the received MIB information and SIB1 information, and initiate a random access request. RIS will estimate the reflection angle based on the downlink incident DoA and the reflection / refraction angle, match the corresponding beam weight for uplink signal transmission, and then forward the access request information to the base station after receiving the terminal's access request information to help the terminal complete random access.

[0068] Furthermore, when the terminal accesses the base station, the RIS will receive the downlink control information (DCI) sent by the base station, parse the DCI, and determine the physical downlink shared channel (PDSCH) information corresponding to the terminal indicated by the DCI. Specifically, when the base station uses CORESET to send first, and then sends the PDSCH indicated by the DCI after several time slots, the RIS can determine the time-frequency resource location of the PDSCH through blind detection. Among them, CORESET is called a "control resource set", which is a group of physical resources in a specific area of ​​the downlink resource grid, used to carry the parameters of the physical downlink control channel (PDCCH) / DCI.

[0069] Furthermore, RIS obtains the channel sounding reference signal (SRS) of the terminal UE, and performs DOA estimation on the SRS to obtain the azimuth information between the RIS normal and the terminal UE, including the direction angle and the elevation angle information, so as to calculate the angle of deflection of the PDSCH based on the direction angle and the elevation angle information between the RIS and the terminal UE. According to the angle of deflection of the PDSCH, the target weight can be determined, and the target weight is configured to the time-frequency resources corresponding to the PDSCH. At the same time, based on the reflection angle corresponding to the target weight, the video resource information corresponding to the PDSCH is reflected to the terminal, and the beamforming of the RIS to the terminal is completed, so that a communication link from RIS to the terminal can be established, forming a communication link of base station-RIS-terminal, and completing the establishment of the communication link between the base station and the terminal.

[0070] The method of the embodiment of the present invention can bypass obstacles and establish a stable LOS communication link between the base station and the terminal UE by adding a RIS in the wireless coverage area of ​​the base station. By adjusting the weight coefficient of the RIS element, efficient reflection / refraction beam forming is achieved, which is conducive to achieving efficient positioning of the terminal in millimeter wave communication in the NLOS path scenario.

[0071] Furthermore, in an embodiment of the present invention, when the base station and the terminal are in a non-line-of-sight NLOS communication path and the communication link between the base station and the terminal has been established, RIS can determine the direction angle and elevation angle of the base station and the terminal relative to their own normals based on the DOA positioning estimation algorithm to obtain the target azimuth information.

[0072] Step 120, the target azimuth information is sent to the base station, so that the base station forwards the target azimuth information to the server on the network side. The server calculates the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

[0073] Specifically, the preset positioning method described in the embodiment of the present invention refers to a plurality of pre-set positioning methods. The preset positioning method may include at least one of a downlink arrival time difference DL-TDOA positioning method, an uplink arrival time difference UL-TDOA positioning method, an uplink arrival azimuth angle UL-AOD positioning method, a multi-cell round trip time Multi-Cell RTT positioning method, and a downlink enhanced cell identification E-CID positioning method.

[0074] In the embodiment of the present invention, the server on the network side refers to a server on the network side used for location information services and terminal positioning, which may be described as a location server hereinafter.

[0075] For the downlink time difference of arrival (DL-TDOA) positioning method, based on the downlink positioning reference signal (PRS), the terminal UE performs a downlink reference signal time difference (DL-RSTD) measurement on the PRS of each base station, and reports the measurement result to the location server, which calculates the position of the terminal UE.

[0076] For the uplink time difference of arrival (UL-TDOA) positioning method, the base station measures the uplink relative time of arrival (UL-RTOA) through the enhanced SRS sent by the terminal UE, and reports the measurement results to the location server to calculate the position of the terminal UE.

[0077] For the uplink angle-of-arrival (UL-AOA) positioning method, the base station gNB measures the angle of arrival according to the beam where the terminal UE is located, and sends the measurement report to the location server to calculate the position of the terminal UE.

[0078] For the Multi-cell Round Trip Time (Multi-cell RTT) positioning method, the gNB and the terminal UE perform round-trip time Rx-Tx time difference measurements on the signal of each cell. The measurement reports from the terminal UE and gNB are reported to the location server to determine the round-trip time of each cell and derive the terminal UE location.

[0079] For the downlink enhanced cell ID (E-CID) positioning method, the terminal UE measures the radio resource management (RRM) of each gNB, such as DL-RSRP, and sends the measurement report to the location server to calculate the location of the terminal UE.

[0080] Further, in an embodiment of the present invention, for DL-TDOA positioning, the terminal UE is required to measure the PRS of more than two base stations / TRPs to perform DL-RSTD measurement, that is, taking one of them as a reference TRP, and measuring the arrival time difference of two received DL-PRSs. This implementation can support the following scenarios:

[0081] Scenario 1: Figure 2 As shown, the terminal UE is only in a single wireless link of "base station A-RIS B-UE D". At this time, when the location server calculates the position of the terminal UE, it solves it according to the arrival time of the PRS and the angle of the "base station A-RIS B-UE D" broken line, as well as the location information recorded when RIS B was deployed.

[0082] Scenario 2: Figure 2 As shown, the terminal UE is simultaneously in the "base station A-RIS B-UE D" wireless link and the LOS wireless link of another base station A'. At this time, the terminal UE can receive the PRS sent by base station A and base station A' at the same time. The terminal UE performs DL-RSTD measurement on the PRS of each base station and reports the measurement results to the location server, which calculates the position of the terminal UE. In this scenario, the measurement and reporting method of the terminal UE has not changed due to the addition of RIS. For positioning solution in this scenario, the location server only needs to consider the target azimuth information calculated by RIS B to complete the position solution. This scenario is also suitable for the process of positioning by one base station transmitting PRS signals via RIS and multiple base stations transmitting PRS signals via line of sight.

[0083] Scenario 3: Figure 2 As shown, the terminal UE is simultaneously in the "base station A-RIS B-UE D" wireless link and another "base station B-RIS C-UE D" non-NLOS wireless link. Similar to the aforementioned method, the measurement and reporting method of the terminal UE can still be consistent with the method when it is in the direct line of sight of two base stations, and no change is required. The terminal UE performs DL-RSTD measurement on the PRS of each base station, and reports the measurement results to the location server, which calculates the position of the terminal UE. For positioning solution in this scenario, the location server only needs to consider the target azimuth information calculated by RIS B and RIS C at the same time to complete the position solution. This scenario is also suitable for the process of multiple base stations transmitting PRS signals for positioning via RIS.

[0084] Scenario 4: Figure 2As shown, the terminal UE is simultaneously in the wireless link of "base station A-RIS B-UE D" and the wireless link of "base station A-RIS C-UE D". It should be noted here that RIS B and RIS C are respectively in different positioning beam directions of base station A. In this scenario, the terminal UE is required to distinguish the two positioning beams of base station A, and to perform DL-RSTD measurements on different beam PRSs of the same base station, and report the measurement results to the location server. This scenario will impose incremental requirements on the capabilities of the terminal UE. There is also a default condition here, that is, the terminal UE can also establish another connection with base station A through RIS C while establishing a connection with base station A through RIS B, that is, the dual-link mode of the same base station. The spatial resource reuse method of base stations A, RIS B and RIS C is used to obtain higher positioning accuracy. When the terminal UE supports this scenario, it can also be suitable for joining the multi-base station positioning process of scenarios two and three at the same time.

[0085] Therefore, in the embodiments of the present invention, in scenarios one, two and three, DL-TDOA positioning based on RIS under non-line-of-sight conditions can be achieved using existing terminals. If the terminal UE supports dual-link mode of the same base station via different RIS, positioning in scenario four can be achieved.

[0086] Further, in an embodiment of the present invention, for the UL-TDOA positioning method, such as Figure 2 As shown, multiple base stations perform UL-RTOA measurement by measuring the enhanced SRS sent by the terminal UE, and simultaneously solve the target azimuth information of "RIS-UE" and "RIS-base station" on the uplink signal modulated by the corresponding RIS to the terminal UE, and report them to the location server to solve the position of the terminal UE.

[0087] In an embodiment of the present invention, for the UL-AOA positioning method, the gNB measures the angle of arrival according to the beam where the terminal UE is located, and sends the measurement report to the location server. Similar to the aforementioned UL-TDOA processing method, in this positioning method, it is also necessary to solve the target azimuth information of "RIS-UE" and "RIS-base station" on the uplink signal modulated by the RIS to the terminal UE, and report it to the location server together to solve the location of the terminal UE.

[0088] In an embodiment of the present invention, for the Multi-cell RTT positioning method, the gNB and the terminal UE perform Rx-Tx time difference measurement on the signal of each cell. The measurement report from the terminal UE and the gNB is reported to the location server to determine the round-trip time of each cell and derive the UE location. This positioning method is similar to the aforementioned DL-TDOA positioning processing method, and can also support the four scenarios in the DL-TDOA positioning method, which will not be repeated here.

[0089] In an embodiment of the present invention, for the E-CID positioning method, the terminal UE performs RRM measurements on each gNB, and the measurement report is sent to the location server. Similar to the aforementioned UL-TDOA processing method, in this positioning method, the RIS also needs to solve the target azimuth information of "RIS-UE" and "RIS-base station" corresponding to the uplink signal sent by the terminal UE, and report it to the location server to solve the location of the terminal UE.

[0090] The method of the embodiment of the present invention can be well adaptively applied with several existing terminal positioning methods in a positioning scenario based on RIS participation, has good applicability, does not require major changes to the existing positioning system, and is highly practical.

[0091] Furthermore, in an embodiment of the present invention, after calculating the target azimuth information, RIS will send the target azimuth information to the base station. More specifically, first, the terminal UE azimuth information in the target azimuth information measured by RIS can be expressed as {θ_D, φ_D}, wherein θ_D represents the azimuth of the terminal UE relative to the RIS normal, and φ_D represents the elevation of the terminal UE relative to the RIS normal. RIS uses its information modulation capability to deflect the uplink signal sent by the terminal UE to the base station in the form of azimuth and elevation index information. After the base station solves the azimuth and elevation index information of the terminal UE relative to the RIS normal and obtains the {θ_D, φ_D} information, it sends it to the server on the network side, such as the location server, so that the server can perform terminal positioning solution.

[0092] Secondly, the base station azimuth information in the target azimuth information measured by RIS, that is, the azimuth information of PDCCH and PDSCH sent by the base station to the terminal UE, can be expressed as {θ_A, φ_A}. RIS can also use its information modulation capability to send the uplink signal sent by the terminal to the base station in the form of direction angle and elevation angle index information. After the base station solves {θ_A, φ_A}, it also sends it to the location server on the network side. At this time, the location server can use the positioning solution algorithm to solve the terminal positioning based on the two sets of azimuth information {θ_D, φ_D} and {θ_A, φ_A} and the above-mentioned preset positioning method.

[0093] Figure 3 This is a second schematic diagram of a scenario of the terminal positioning method provided by the present invention. Figure 3As shown, when performing terminal positioning, the location server on the network side calculates the azimuth of the extension line of the line segment from terminal D to RIS B on the horizontal plane based on the direction angle θ between the antenna normal of base station A and RIS B reported by base station A, the direction angle θ_A of base station A relative to the normal of RIS B measured by RIS B, and the direction angle θ_D of terminal D relative to the normal of RIS B measured by RIS B, and determines the position of virtual base station 301 on the extension line based on the distance from the base station to RIS B. It should be noted here that in the vertical direction, the pitch angle information φ_A and φ_D also need to be calculated in a similar manner to obtain the spatial three-dimensional position relationship between another virtual base station and terminal D.

[0094] It is understandable that the spatial positions of the two virtual base stations can be determined in three-dimensional space based on the target azimuth information, that is, the direction and elevation information of the base station relative to the RIS normal, and the direction and elevation information of the terminal relative to the RIS normal.

[0095] Furthermore, in this embodiment, based on the determined spatial positions of the two virtual base stations, the estimated position of the terminal is located through three-dimensional space geometric calculation, and then based on the positioning information obtained by the preset positioning method, such as when the preset positioning method is the UL-TDOA positioning method, the uplink relative arrival time UL-RTOA information measured by the base station can be obtained, and the estimated position of the terminal is further corrected, so as to finally solve the position of the terminal and realize the positioning of the terminal.

[0096] It should be noted that, in the embodiment of the present invention, RIS introduces a virtualization and coding method, and quantizes and codes the beams in the wireless coverage area according to the antenna array scale of RIS, so as to determine the direction angle and elevation angle index information corresponding to the target azimuth information after calculating the target azimuth information.

[0097] The terminal positioning method provided by the embodiment of the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, by adopting a wave direction positioning estimation algorithm, the intelligent metasurface can measure the azimuth information of its plane normal and the base station and the azimuth information of the terminal to obtain the target azimuth information, and send the target azimuth information to the base station, so that the base station forwards the target azimuth information to the server on the network side, so that the server can solve the position of the terminal based on the target azimuth information and the preset positioning method, thereby realizing efficient positioning of the terminal in millimeter wave communication in the NLOS path scenario.

[0098] Figure 4 This is a second flow chart of the terminal positioning method provided by the present invention, such as Figure 4As shown, the execution subject of the method may be a server on the network side, such as a location server, and the method includes: step 410 and step 420.

[0099] Step 410, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information calculated by the intelligent super surface in the wireless coverage area of ​​the base station based on the wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal;

[0100] Step 420, based on the target azimuth information and the preset positioning method, the position of the terminal is solved to complete the positioning of the terminal.

[0101] Specifically, in an embodiment of the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, the RIS in the wireless coverage area of ​​the base station can calculate the direction angle and elevation angle of the base station and the terminal relative to their own normals based on the DOA positioning estimation algorithm, obtain the target azimuth information, and forward the target azimuth information to the base station, and the base station further forwards the target azimuth information to the location server, so that the location server can receive the target azimuth information sent by the base station.

[0102] Further, in an embodiment of the present invention, the location server may calculate the location of the terminal based on the target azimuth information and in accordance with a preset positioning method to complete the positioning of the terminal. The preset positioning method may also include at least one of a DL-TDOA positioning method, a UL-TDOA positioning method, a DL-AOD positioning method, a UL-AOD positioning method, a Multi-Cell RTT positioning method, and an E-CID positioning method.

[0103] According to the method of the embodiment of the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, the RIS can calculate the azimuth information of its plane normal and the base station and the azimuth information of the terminal by adopting a wave direction positioning estimation algorithm, and obtain the target azimuth information. The target azimuth information is sent to the base station, and the base station forwards the target azimuth information to a server on the network side. After receiving the target azimuth information, the server can calculate the position of the terminal according to a preset positioning method and based on the positioning solution algorithm, thereby realizing efficient positioning of the terminal in millimeter wave communication in the NLOS path scenario.

[0104] Based on the content of the above embodiment, as an optional embodiment, the preset positioning method information includes a downlink time difference of arrival DL-TDOA positioning method; the smart metasurface includes a first smart metasurface and a second smart metasurface, and the first smart metasurface and the second smart metasurface are located at different positions of the base station; the method further includes:

[0105] When the base station and the terminal are in a non-line-of-sight communication path, and the base station, the first smart super surface and the terminal have established a wireless link, and the base station, the second smart super surface and the terminal have established a wireless link, receiving downlink positioning reference signal time difference DL-RSTD information and target azimuth information sent by the base station;

[0106] The DL-RSTD information is determined by the terminal calculating the arrival time of the first positioning reference signal PRS and the second positioning reference signal PRS; the first positioning reference signal PRS is the PRS sent by the base station to the terminal through the first intelligent super surface; the second positioning reference signal PRS is the PRS sent by the base station to the terminal through the second intelligent super surface;

[0107] According to the DL-TDOA positioning method, the position of the terminal is calculated based on the DL-RSTD information and the target azimuth information to complete the positioning of the terminal.

[0108] Specifically, in an embodiment of the present invention, the preset positioning method information includes a DL-TDOA positioning method; the RIS includes a first RIS and a second RIS, and the first RIS and the second RIS are located at different positions of the base station. Figure 2 As shown, the first RIS may be RIS B, and the second RIS may be RIS C. In this embodiment, the terminal UE is simultaneously in the wireless link of "base station A-RIS B-UE D" and the wireless link of "base station A-RIS C-UE D". The first RIS and the second RIS are in different positions of the base station, which means that RIS B and RIS C are respectively in the two positioning beam directions of base station A, wherein the two positioning beams of base station A are respectively a positioning beam for measuring the first PRS and a positioning beam for measuring the second PRS.

[0109] Furthermore, when base station A and terminal UE are in a non-line-of-sight communication path, and the base station, RIS B and terminal UE have established a wireless link, that is, a "base station A-RIS B-UE D" wireless link, and base station A, RIS C and terminal UE have established a wireless link, that is, a "base station A-RIS C-UE D" wireless link, base station A sends the first PRS to the terminal UE through RIS B, and sends the second PRS to the terminal UE through RIS C. As a result, the terminal UE can perform DL-RSTD measurement of the two positioning beam PRSs of base station A, calculate the time difference between the first PRS and the second PRS arriving at the terminal UE, obtain DL-RSTD information, and report the DL-RSTD information to the location server. The location server receives the DL-RSTD information sent by the base station.

[0110] At the same time, in this positioning method, RIS also needs to calculate the target azimuth information of the base station and the terminal, that is, the azimuth and elevation information of base station A and terminal D relative to RIS B, and the azimuth and elevation information of base station A and terminal D relative to RIS C, and forward it through the base station, and report the target azimuth information to the location server.

[0111] Furthermore, according to the manner of solving the terminal position by the DL-TDOA positioning method, the location server can solve the position of terminal D based on the positioning solution algorithm according to the DL-RSTD information and the target azimuth information, thereby realizing the positioning of terminal D.

[0112] The method of the embodiment of the present invention, when the base station and the terminal are in the NLOS path and the same base station is in dual-link mode, establishes two independent wireless links consisting of a base station, two RISs and a terminal D for data transmission, which can make full use of air interface resources and realize spatial resource reuse, which is beneficial to improving the positioning accuracy of the terminal.

[0113] Based on the content of the above embodiment, as an optional embodiment, after calculating the position of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method, the method further includes:

[0114] Rasterizing the area where the terminal is located to obtain multiple grid areas;

[0115] A complex gain matrix is ​​established based on the complex gain of the received signal corresponding to each grid area;

[0116] Taking the minimization of the norm of the complex gain matrix as the goal, the objective function is established, and the objective constraint condition is determined by the allowable mismatch between the actual received signal and the reconstructed signal at the terminal location being less than the target threshold; the reconstructed signal is the sum of the corresponding received signals in each grid area; the target threshold is determined based on the Rayleigh distribution function;

[0117] Based on the objective function and the objective constraints, a convex optimization problem model for terminal position estimation is established, and the convex optimization problem model is solved to obtain the target grid points in the area where the terminal is located, so as to locate the terminal based on the target grid points.

[0118] Specifically, in the embodiments of the present invention, in the positioning process based on the participation of RIS, due to the influence of factors such as communication system timing error, it is usually necessary to adopt optimization methods such as iterative approximation in actual implementation to improve the accuracy of terminal positioning.

[0119] In this embodiment, if Figure 2 As shown in the figure, base station A sends PRS signals from two beam directions, RIS B and RIS C. The terminal UE performs DL-RSTD measurement on the PRS of different beams of the same base station and reports the measurement results to the location server. Since the two beams are independent in space and the two RIS are unrelated, coupled with the influence of noise and other factors, it is assumed that the PRS of the two beams received by the terminal UE is affected by Gaussian white noise, and the two noises are orthogonal. Let the envelope of the sum of Gaussian white noise signals obey the Rayleigh distribution.

[0120] After the location server calculates the location of the terminal, the area where the terminal is located can be determined. The location server also needs to further rasterize the area. The location server can estimate the parameters of the grid position of the terminal based on the reported information obtained each time. When the terminal UE supports dual link mode of the same base station through different RIS, the convex optimization method can be used.

[0121] Furthermore, the area where the terminal UE is located is gridded to obtain multiple grid areas. Assume that the grid set after the location of the terminal UE in the blind area of ​​the base station is gridded is:

[0122]

[0123] Among them, p ij The positioning grid of the terminal UE is represented, and there are Q=m×n grids in total. Assuming that the terminal UE to be positioned is in one of the grids, a convex optimization problem model can be established according to the sparsity of the terminal UE to be positioned in the grid.

[0124] Assume that in a measurement cycle, the location server obtains a terminal UE positioning measurement report, and there are terminal UE location identifiers in a few grids. In this scenario, the conventional method is to use the sparse theory to correspond to the sparse rows. The norm, which is the square root of each row of the matrix, is expressed as:

[0125]

[0126] In the formula, x ql Represents the complex gain of the received signal corresponding to each grid area.

[0127] According to the above content, based on the complex gain x of the received signal corresponding to each grid area, ql , establish a complex gain matrix P, where P is a sparse matrix that satisfies row sparsity.

[0128] Furthermore, with the goal of minimizing the norm of the complex gain matrix P, the objective function is established as min P ||P|| 2,1 The target constraint condition is determined based on the objective function and the target constraint condition, and the following convex optimization problem model can be established:

[0129] min P ||P|| 2,1 ;

[0130]

[0131]

[0132] in, Indicates the channel between the base station and RIS, represents the array manifold of RIS, represents the angle of arrival, which is determined by the position coordinates of the terminal UE and the position coordinates of the RIS.

[0133] This is a second-order cone programming problem, and the optimization variable is the complex gain matrix P. Among them, is a reconstructed signal, indicating that all grids p ij The corresponding received signal is Indicates the actual received signal at the terminal UE location. ∈ is the set threshold, representing the received signal and reconstruct the signal The maximum allowable mismatch between is a constraint on noise. Since noise is Gaussian and has no boundaries, a higher probability needs to be set to constrain it to the boundary, which can be expressed as:

[0134]

[0135] Among them, the probability γ can be set to 0.99, and the noise n l The mean is 0 and the variance is σ 2 , with a length of N B Gaussian white noise.

[0136] For the positioning information obtained from RIS B and the positioning information obtained from RIS C, assume that the Gaussian white noise between the two positioning information is orthogonal. The envelope of the sum of the two orthogonal Gaussian white noise signals obeys the Rayleigh distribution. Let F(x) be the distribution function accumulated at x of the Rayleigh distribution, F -1 As its inverse function, the threshold can be calculated by probability γ:

[0137]

[0138] Use the iterative method to reduce the computational complexity. Set an initial grid accuracy, solve the optimization problem, obtain a new position grid and solve it again. Assume that the accuracy of the initial grid is m res , the iteration index is k, then the k-th refined grid is P k , then

[0139]

[0140]

[0141]

[0142] Where T represents the grid refinement accuracy, The position grid points after each optimization can be expressed as:

[0143]

[0144] In this embodiment, the grid refinement process can be repeated. When the k-1th optimization value is and the k-th optimization value When the difference is less than the threshold (the optimized value will be automatically generated in the toolbox after each solution), stop grid refinement.

[0145] The specific formula can be expressed as follows:

[0146]

[0147] Among them, β represents the set threshold.

[0148] In this embodiment, based on the above-mentioned convex optimization positioning algorithm, the optimal grid point in the area where the terminal UE is located is iteratively solved, that is, the target grid point is obtained, and the terminal position is finally determined based on the target grid point. The algorithm finally realizes the precise positioning of the terminal UE.

[0149] The method of the embodiment of the present invention, after the location server calculates the location of the terminal, establishes a convex optimization problem for parameter estimation by rasterizing the area where the terminal is located, and obtains the target grid point through the grid refinement process, determines the grid point where the terminal is located, and realizes precise positioning of the terminal, thereby improving the positioning accuracy of the terminal and the accuracy of terminal positioning.

[0150] The terminal positioning device provided by the present invention is described below. The terminal positioning device described below and the terminal positioning method described above can be referred to each other.

[0151] Figure 5 is one of the structural schematic diagrams of the terminal positioning device provided by the present invention, such as Figure 5 As shown, including:

[0152] The first processing module 510 is used to determine target azimuth information based on a direction of arrival positioning estimation algorithm when the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, where the target azimuth information includes azimuth information with the base station and azimuth information with the terminal;

[0153] The first positioning module 520 is used to send the target azimuth information to the base station, so that the base station forwards the target azimuth information to the server on the network side. The server determines the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

[0154] The terminal positioning device described in this embodiment can be used to execute the above-mentioned terminal positioning method embodiment. Its principles and technical effects are similar and will not be repeated here.

[0155] The terminal positioning device provided by the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, by adopting a wave direction positioning estimation algorithm, the intelligent metasurface can measure the azimuth information of its plane normal and the base station and the azimuth information of the terminal to obtain the target azimuth information, and send the target azimuth information to the base station, so that the base station forwards the target azimuth information to the server on the network side, so that the server can solve the position of the terminal based on the target azimuth information and a preset positioning method, thereby realizing efficient positioning of the terminal in millimeter wave communication in the NLOS path scenario.

[0156] Figure 6 This is a second structural diagram of the terminal positioning device provided by the present invention, such as Figure 6 As shown, including:

[0157] The first receiving module 610 is used to receive target azimuth information sent by the base station when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established; the target azimuth information is azimuth information calculated by the intelligent super surface in the wireless coverage area of ​​the base station based on the wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal;

[0158] The second positioning module 620 is used to determine the position of the terminal based on the target azimuth information and a preset positioning method, so as to complete the positioning of the terminal.

[0159] The terminal positioning device described in this embodiment can be used to execute the above-mentioned terminal positioning method embodiment. Its principles and technical effects are similar and will not be repeated here.

[0160] The terminal positioning device of the embodiment of the present invention, when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, the RIS can calculate the azimuth information of its plane normal and the base station and the azimuth information of the terminal by adopting a wave direction positioning estimation algorithm, and obtain the target azimuth information. By sending the target azimuth information to the base station, the base station forwards the target azimuth information to the server on the network side. After receiving the target azimuth information, the server can calculate the position of the terminal based on the positioning solution algorithm according to a preset positioning method, thereby realizing efficient positioning of the terminal in millimeter wave communication in the NLOS path scenario.

[0161] Figure 7 is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as Figure 7 As shown, the electronic device may include: a processor (processor) 710, a communication interface (Communications Interface) 720, a memory (memory) 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 complete mutual communication through the communication bus 740. The processor 710 can call the logic instructions in the memory 730 to execute the terminal positioning method provided by the above methods, the method comprising: when the base station and the terminal are in a non-line-of-sight communication path, and the communication link between the base station and the terminal has been established, based on the wave direction positioning estimation algorithm, determining the target azimuth information, the target azimuth information includes the azimuth information with the base station and the azimuth information with the terminal; sending the target azimuth information to the base station, so that the base station forwards the target azimuth information to the server on the network side, the server solves the position of the terminal based on the target azimuth information and the preset positioning method, and completes the positioning of the terminal.

[0162] Or, the method includes: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information calculated by an intelligent super surface in a wireless coverage area of ​​the base station based on a wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal;

[0163] Based on the target azimuth information and a preset positioning method, the position of the terminal is calculated to complete the positioning of the terminal.

[0164] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the 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 for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0165] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the terminal positioning method provided by the above methods, the method including: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, based on a wave direction positioning estimation algorithm, determining target azimuth information, the target azimuth information including azimuth information with the base station and azimuth information with the terminal; sending the target azimuth information to the base station so that the base station forwards the target azimuth information to a server on the network side, the server solves the position of the terminal based on the target azimuth information and a preset positioning method, and completes the positioning of the terminal.

[0166] Or, the method includes: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information calculated by an intelligent super surface in a wireless coverage area of ​​the base station based on a wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal;

[0167] Based on the target azimuth information and a preset positioning method, the position of the terminal is calculated to complete the positioning of the terminal.

[0168] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the terminal positioning method provided by the above-mentioned methods, the method comprising: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, determining target azimuth information based on a wave direction positioning estimation algorithm, the target azimuth information comprising azimuth information with the base station and azimuth information with the terminal; sending the target azimuth information to the base station so that the base station forwards the target azimuth information to a server on the network side, the server solving the position of the terminal based on the target azimuth information and a preset positioning method, and completing the positioning of the terminal.

[0169] Or, the method includes: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information calculated by an intelligent super surface in a wireless coverage area of ​​the base station based on a wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal;

[0170] Based on the target azimuth information and a preset positioning method, the position of the terminal is calculated to complete the positioning of the terminal.

[0171] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0172] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A terminal positioning method, characterized in that: Applied to a smart metasurface, the method comprises: when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, determining target azimuth information based on a direction-of-arrival positioning estimation algorithm, wherein the target azimuth information includes azimuth information with the base station and azimuth information with the terminal; Sending the target azimuth information to the base station, so that the base station forwards the target azimuth information to a server on the network side, and the server calculates the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal; Wherein, in the case where the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, before determining the target azimuth information based on the wave direction positioning estimation algorithm, it also includes: in the case where the base station and the terminal are in a non-line-of-sight communication path, receiving the target single sideband signal sent by the base station, and reflecting the target single sideband signal to the terminal, so that the terminal generates and sends access request information for accessing the base station based on the main information block MIB information and the scheduling block SIB1 information obtained by parsing the target single sideband signal; receiving the access request information of the terminal, and reflecting the access request to the terminal; forwarding the request information to the base station so that the terminal can access the base station; when the terminal accesses the base station, receiving the downlink control information DCI sent by the base station, parsing the DCI, and determining the time-frequency resource information corresponding to the physical downlink shared channel PDSCH indicated by the DCI; obtaining the channel detection reference signal SRS of the terminal, and performing a wave direction positioning estimation on the SRS to determine the target weight; based on the reflection angle corresponding to the target weight, reflecting the time-frequency resource information corresponding to the PDSCH to the terminal, completing the beamforming for the terminal, and establishing a communication link between the base station and the terminal.

2. A terminal positioning method, characterized in that: Applied to servers on the network side, including: When a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information calculated by an intelligent supersurface in a wireless coverage area of ​​the base station based on a direction-of-arrival positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent supersurface and the base station and azimuth information between the intelligent supersurface and the terminal; Based on the target azimuth information and a preset positioning method, the position of the terminal is calculated to complete the positioning of the terminal; The preset positioning method includes at least one of a downlink arrival time difference DL-TDOA positioning method, an uplink arrival time difference UL-TDOA positioning method, an uplink arrival azimuth UL-AOD positioning method, a multi-cell round-trip time Multi-Cell RTT positioning method, and a downlink enhanced cell identity E-CID positioning method; The preset positioning method information includes a downlink arrival time difference DL-TDOA positioning method; the smart super surface includes a first smart super surface and a second smart super surface, and the first smart super surface and the second smart super surface are at different positions of the base station; the method further includes: when the base station and the terminal are in a non-line-of-sight communication path, and the base station, the first smart super surface and the terminal have established a wireless link, and the base station, the second smart super surface and the terminal have established a wireless link, receiving the downlink positioning reference signal time difference DL-RSTD information and the target azimuth information sent by the base station; the DL-RSTD information is determined by the terminal calculating the arrival time of the first positioning reference signal PRS and the second positioning reference signal PRS; the first positioning reference signal PRS is the PRS sent by the base station to the terminal through the first smart super surface; the second positioning reference signal PRS is the PRS sent by the base station to the terminal through the second smart super surface; according to the DL-TDOA positioning method, based on the DL-RSTD information and the target azimuth information, the position of the terminal is solved to complete the positioning of the terminal; After solving the position of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method, it also includes: gridding the area where the terminal is located to obtain multiple grid areas; establishing a complex gain matrix based on the complex gain of the received signal corresponding to each grid area; establishing an objective function with the goal of minimizing the norm of the complex gain matrix, and determining the target constraint condition with the allowed mismatch between the actual received signal and the reconstructed signal at the position of the terminal being less than a target threshold; the reconstructed signal is the sum of the received signals corresponding to each grid area; the target threshold is determined based on the Rayleigh distribution function; based on the objective function and the target constraint condition, a convex optimization problem model for estimating the terminal position is established, and the convex optimization problem model is solved to obtain the target grid point in the area where the terminal is located, so as to locate the terminal based on the target grid point.

3. A terminal positioning device, characterized in that: Applications in smart metasurfaces, including: A first processing module is used to determine target azimuth information based on a direction of arrival positioning estimation algorithm when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established, wherein the target azimuth information includes azimuth information with the base station and azimuth information with the terminal; A first positioning module is used to send the target azimuth information to the base station, so that the base station forwards the target azimuth information to a server on the network side, and the server determines the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal; Wherein, the terminal positioning device is also used for receiving the target single sideband signal sent by the base station when the base station and the terminal are in a non-line-of-sight communication path and the communication link between the base station and the terminal has been established, before determining the target azimuth information based on the wave direction positioning estimation algorithm, when the base station and the terminal are in a non-line-of-sight communication path, and reflecting the target single sideband signal to the terminal, so that the terminal can generate and send access request information for accessing the base station based on the main information block MIB information and scheduling block SIB1 information obtained by parsing the target single sideband signal; receiving the access request information of the terminal, and reflecting the target single sideband signal to the terminal; The access request information is forwarded to the base station so that the terminal accesses the base station; when the terminal accesses the base station, the downlink control information DCI sent by the base station is received, and the DCI is parsed to determine the time-frequency resource information corresponding to the physical downlink shared channel PDSCH indicated by the DCI; the channel sounding reference signal SRS of the terminal is obtained, and the direction of arrival positioning estimation is performed on the SRS to determine the target weight; based on the reflection angle corresponding to the target weight, the time-frequency resource information corresponding to the PDSCH is reflected to the terminal, the beamforming for the terminal is completed, and a communication link between the base station and the terminal is established.

4. A terminal positioning device, characterized in that: Applied to servers on the network side, including: A first receiving module is used to receive target azimuth information sent by the base station when the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal has been established; the target azimuth information is azimuth information calculated by an intelligent super surface in a wireless coverage area of ​​the base station based on a wave direction positioning estimation algorithm, and the target azimuth information includes azimuth information between the intelligent super surface and the base station and azimuth information between the intelligent super surface and the terminal; A second positioning module, used to determine the position of the terminal based on the target azimuth information and a preset positioning method, and complete the positioning of the terminal; Among them, the second positioning module is also used for the preset positioning methods including downlink arrival time difference DL-TDOA positioning method, uplink arrival time difference UL-TDOA positioning method, uplink arrival azimuth UL-AOD positioning method, multi-cell round-trip time Multi-Cell At least one of the RTT positioning method and the downlink enhanced cell identification E-CID positioning method; the preset positioning method information includes the downlink arrival time difference DL-TDOA positioning method; the smart super surface includes a first smart super surface and a second smart super surface, and the first smart super surface and the second smart super surface are at different positions of the base station; when the base station and the terminal are in a non-line-of-sight communication path, and the base station, the first smart super surface and the terminal have established a wireless link, and the base station, the second smart super surface and the terminal have established a wireless link, receive the downlink positioning reference signal time difference DL-RSTD information and the target azimuth information sent by the base station; the DL-RSTD information is determined by the terminal calculating the arrival time of the first positioning reference signal PRS and the second positioning reference signal PRS; the first positioning reference signal PRS is the PRS sent by the base station to the terminal through the first smart super surface; the second positioning reference signal PRS is the PRS sent by the base station to the terminal through the second smart super surface; according to the The DL-TDOA positioning method solves the position of the terminal based on the DL-RSTD information and the target azimuth information to complete the positioning of the terminal; after solving the position of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method, the area where the terminal is located is gridded to obtain multiple grid areas; based on the complex gain of the received signal corresponding to each grid area, a complex gain matrix is ​​established; with the norm minimization of the complex gain matrix as the goal, an objective function is established, and the target constraint condition is determined with the allowed mismatch between the actual received signal and the reconstructed signal at the position of the terminal being less than a target threshold; the reconstructed signal is the sum of the received signals corresponding to each grid area; the target threshold is determined based on the Rayleigh distribution function; based on the objective function and the target constraint condition, a convex optimization problem model for terminal position estimation is established, and the convex optimization problem model is solved to obtain the target grid point in the area where the terminal is located, so as to locate the terminal based on the target grid point.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the terminal positioning method as described in any one of claims 1 to 2 is implemented.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the terminal positioning method according to any one of claims 1 to 2 is implemented.

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