Positioning method, apparatus, and processor-readable storage medium

Abstract

The embodiment of the application provides a positioning method, device and processor readable storage medium, the method comprises the following steps: receiving the first information reported by at least one base station, or the first information reported by a target user equipment (UE) and a reference UE respectively, wherein the first information comprises at least one of multipath information and time offset information; determining the position of the target UE according to the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database; in this way, the influence of time error time variation is eliminated in a complex multipath environment and a scene with time error time variation, and the positioning accuracy of the target UE is improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and more specifically, to positioning methods, apparatus, and processor-readable storage media. Background Technology

[0002] In existing technologies, fingerprint positioning, also known as pattern-matching positioning, is highly effective in overcoming the effects of NLOS (Non-Line of Sight). The fingerprint positioning scheme involves matching received signal fingerprints with a pre-constructed location fingerprint database to locate the target UE (User Equipment). This scheme mainly consists of two parts: an offline training phase for building the location fingerprint database and an online positioning phase for fingerprint matching. The offline phase for building the location fingerprint database mainly involves organizing the signal fingerprints captured by each monitoring station and collecting fingerprints at various locations within the monitoring area. The online positioning phase for fingerprint matching mainly involves matching the target UE's fingerprint with the database and performing the final location estimation. For example, in fingerprint positioning for cellular networks, during the offline training phase, the CSI (Channel State Information) of a reference UE at a known location is collected as a fingerprint, and a fingerprint database is built based on the collected fingerprints. During the online positioning phase, the CSI fingerprint of the target UE at an unknown location is matched with the constructed fingerprint database, and the optimal matching location coordinates are selected as the target UE's location.

[0003] The above-mentioned scheme is effective in overcoming the impact of NLOS because the NLOS delay at most locations can be approximated as constant over time, and the relationship between fingerprints and location coordinates is one-to-one. However, it is difficult to guarantee this assumption for time errors; therefore, in complex multipath environments and scenarios where time errors are time-varying, the above-mentioned scheme does not provide high positioning accuracy for the target UE. Summary of the Invention

[0004] This application addresses the shortcomings of existing methods by proposing a positioning method, apparatus, and processor-readable storage medium to resolve the aforementioned technical deficiencies.

[0005] Firstly, a positioning method is provided, executed by the location management function LMF, including:

[0006] Receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes at least one of multipath information and time offset information;

[0007] The location of the target UE is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

[0008] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0009] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station and the known location coordinates of the reference UE.

[0010] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0011] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0012] In one embodiment, before determining the location of the target UE, the method further includes:

[0013] Receive delay values ​​reported by multiple base stations, perform single-difference processing between the delay values ​​reported by each non-reference base station and the delay values ​​reported by the reference base station, and determine the single-difference delay value corresponding to each non-reference base station.

[0014] Alternatively, it can receive the single-difference delay values ​​of each non-reference base station among multiple base stations reported by the target UE or reference UE.

[0015] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0016] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station.

[0017] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0018] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0019] In one embodiment, before determining the location of the target UE, the method further includes:

[0020] Receive the single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE. The single-difference delay value is the single-difference delay value corresponding to each non-reference base station among multiple base stations.

[0021] The single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE are processed by double difference to obtain the double difference value;

[0022] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0023] In one embodiment, before determining the location of the target UE, the method further includes:

[0024] Receive latency values ​​reported by multiple base stations, corresponding to the target UE and the reference UE respectively;

[0025] The delay value corresponding to the target UE reported by each non-reference base station in the multiple base stations is subjected to single difference processing with the delay value corresponding to the target UE reported by the reference base station in the multiple base stations to determine the first single difference delay value corresponding to each non-reference base station.

[0026] The delay values ​​corresponding to the reference UE reported by each non-reference base station in the multiple base stations are respectively compared with the delay values ​​corresponding to the reference UE reported by the reference base station in the multiple base stations to determine the second single-difference delay value corresponding to each non-reference base station.

[0027] Double difference processing is performed between the first single-difference delay value and the second single-difference delay value to obtain the double difference value;

[0028] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0029] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by at least one base station, or the first information reported by the target UE and a reference UE respectively, and a preset positioning database, includes:

[0030] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE and the single difference value.

[0031] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0032] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0033] In one embodiment, multipath information includes at least one of the following:

[0034] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0035] Power of a specific path;

[0036] Phase of a specific path;

[0037] Phase difference between different receiving antennas;

[0038] The time delay difference between different receiving antennas;

[0039] Power difference between different receiving antennas;

[0040] All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna;

[0041] All or part of the data in the array corresponding to the Channel Frequency Response (CFR) of the receiving antenna;

[0042] All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna;

[0043] Pseudospectral information from the receiving antenna;

[0044] Wherein, the receiving antenna is the receiving antenna of the base station, the receiving antenna of the target UE, or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0045] In one embodiment, the time deviation information includes at least one of the following:

[0046] Clock synchronization error or clock synchronization error group;

[0047] Changes in clock synchronization error or clock synchronization error set;

[0048] The rate of change of clock synchronization error;

[0049] Transmit / receive time error or transmit / receive time error group;

[0050] Changes in transmit / receive time error or transmit / receive time error group;

[0051] Rate of change of transmission and reception time error.

[0052] Secondly, a positioning method is provided, performed by a target UE or a reference UE, including:

[0053] Receive the Position Reference Signal (PRS) sent by the base station;

[0054] Based on the pilot signal of the PRS, determine the first information, which includes at least one of multipath information and time deviation information;

[0055] The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0056] Thirdly, a positioning method is provided, executed by a base station, including:

[0057] Receive the Sound Reference Signal (SRS) sent by the target UE or the reference UE;

[0058] Based on the pilot signal of the SRS, determine the first information, which includes at least one of multipath information and time deviation information;

[0059] The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0060] Fourthly, a positioning device is provided for use in an LMF (Light Filter Fabric), including a memory, transceiver, and processor.

[0061] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer programs from memory and perform the following operations:

[0062] Receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes at least one of multipath information and time offset information;

[0063] The location of the target UE is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

[0064] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0065] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station and the known location coordinates of the reference UE.

[0066] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0067] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0068] In one embodiment, before determining the location of the target UE, the method further includes:

[0069] Receive delay values ​​reported by multiple base stations, perform single-difference processing between the delay values ​​reported by each non-reference base station and the delay values ​​reported by the reference base station, and determine the single-difference delay value corresponding to each non-reference base station.

[0070] Alternatively, it can receive the single-difference delay values ​​of each non-reference base station among multiple base stations reported by the target UE or reference UE.

[0071] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0072] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station.

[0073] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0074] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0075] In one embodiment, before determining the location of the target UE, the method further includes:

[0076] Receive the single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE. The single-difference delay value is the single-difference delay value corresponding to each non-reference base station among multiple base stations.

[0077] The single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE are processed by double difference to obtain the double difference value;

[0078] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0079] In one embodiment, before determining the location of the target UE, the method further includes:

[0080] Receive latency values ​​reported by multiple base stations, corresponding to the target UE and the reference UE respectively;

[0081] The delay value corresponding to the target UE reported by each non-reference base station in the multiple base stations is subjected to single difference processing with the delay value corresponding to the target UE reported by the reference base station in the multiple base stations to determine the first single difference delay value corresponding to each non-reference base station.

[0082] The delay values ​​corresponding to the reference UE reported by each non-reference base station in the multiple base stations are respectively compared with the delay values ​​corresponding to the reference UE reported by the reference base station in the multiple base stations to determine the second single-difference delay value corresponding to each non-reference base station.

[0083] Double difference processing is performed between the first single-difference delay value and the second single-difference delay value to obtain the double difference value;

[0084] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0085] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by at least one base station, or the first information reported by the target UE and a reference UE respectively, and a preset positioning database, includes:

[0086] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE and the single difference value.

[0087] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0088] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0089] In one embodiment, multipath information includes at least one of the following:

[0090] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0091] Power of a specific path;

[0092] Phase of a specific path;

[0093] Phase difference between different receiving antennas;

[0094] The time delay difference between different receiving antennas;

[0095] Power difference between different receiving antennas;

[0096] All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna;

[0097] All or part of the data in the array corresponding to the Channel Frequency Response (CFR) of the receiving antenna;

[0098] All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna;

[0099] Pseudospectral information from the receiving antenna;

[0100] Wherein, the receiving antenna is the receiving antenna of the base station, the receiving antenna of the target UE, or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0101] In one embodiment, the time deviation information includes at least one of the following:

[0102] Clock synchronization error or clock synchronization error group;

[0103] Changes in clock synchronization error or clock synchronization error set;

[0104] The rate of change of clock synchronization error;

[0105] Transmit / receive time error or transmit / receive time error group;

[0106] Changes in transmit / receive time error or transmit / receive time error group;

[0107] Rate of change of transmission and reception time error.

[0108] Fifthly, a positioning device is provided for a target UE or a reference UE, including a memory, a transceiver, and a processor.

[0109] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer programs from memory and perform the following operations:

[0110] Receive the Position Reference Signal (PRS) sent by the base station;

[0111] Based on the pilot signal of the PRS, determine the first information, which includes at least one of multipath information and time deviation information;

[0112] The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0113] Sixthly, a positioning device is provided for use in a base station, including a memory, a transceiver, and a processor:

[0114] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer programs from memory and perform the following operations:

[0115] Receive the Sound Reference Signal (SRS) sent by the target UE or the reference UE;

[0116] Based on the pilot signal of the SRS, determine the first information, which includes at least one of multipath information and time deviation information;

[0117] The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0118] Seventhly, this application provides a positioning device for use in LMF, comprising:

[0119] The first processing unit is configured to receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes at least one of multipath information and time offset information;

[0120] The second processing unit is configured to determine the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

[0121] Eighthly, this application provides a positioning device applied to a target UE or a reference UE, comprising:

[0122] The third processing unit is used to receive the Position Reference Signal (PRS) sent by the base station;

[0123] The fourth processing unit is used to determine first information based on the pilot signal of the PRS, wherein the first information includes at least one of multipath information and time offset information;

[0124] The fifth processing unit is used to report the first information to the LMF, so as to instruct the LMF to determine the location of the target UE based on the first information.

[0125] Ninthly, this application provides a positioning device applied to a base station, comprising:

[0126] The sixth processing unit is used to receive the detection reference signal (SRS) sent by the target UE or the reference UE;

[0127] The seventh processing unit is configured to determine first information based on the pilot signal of the SRS, wherein the first information includes at least one of multipath information and time deviation information;

[0128] The eighth processing unit is used to report the first information to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0129] In a tenth aspect, a processor-readable storage medium is provided, characterized in that the processor-readable storage medium stores a computer program for causing the processor to perform the methods described in the first aspect, the second aspect, or the third aspect.

[0130] The technical solution provided in this application has at least the following beneficial effects:

[0131] LMF receives first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively. The first information includes at least one of multipath information and time deviation information. Based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, the location of the target UE is determined. Thus, in complex multipath environments and scenarios where time errors are time-varying, the combination of the more identifiable channel spatial characteristics provided by multipath information and the time deviation information that reflects time characteristics achieves a matching mechanism with spatiotemporal consistency, eliminates the impact of time-varying time errors, and improves the positioning accuracy of the target UE.

[0132] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0133] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0134] Figure 1 A schematic diagram of the system architecture provided for embodiments of this application;

[0135] Figure 2 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0136] Figure 3 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0137] Figure 4 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0138] Figure 5 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0139] Figure 6 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0140] Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0141] Figure 8 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0142] Figure 9 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0143] Figure 10 This is a schematic diagram of a positioning device provided in an embodiment of this application. Detailed Implementation

[0144] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0145] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0146] In this application's embodiments, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. In this application's embodiments, the term "multiple" refers to two or more, and other quantifiers are similar.

[0147] To better understand and explain the solutions of the embodiments of this disclosure, some technical terms involved in the embodiments of this disclosure will be briefly explained below.

[0148] AI (Artificial Intelligence) technology is also applied to positioning. A common approach is to build a neural network model. This involves inputting channel features for training into the neural network model, continuously optimizing its parameters through extensive data training, and obtaining a trained neural network model. During final positioning, the actual channel features are input into the trained neural network model to obtain the final location estimate.

[0149] The inner product generally refers to the dot product; the dot product, also known as the scalar product, is a binary operation that takes two vectors on a real number R and returns a real scalar. The dot product is the standard inner product in Euclidean space.

[0150] The time error mainly consists of the following two parts:

[0151] (1) CE (Clock Error), CE is introduced due to the difference in time base between base stations and between base stations and UE;

[0152] (2) Transmit and receive time error (Tx\Rx TE(Time Error)), which is introduced due to the nonlinearity of the transmit and receive filter.

[0153] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0154] A schematic diagram of a network architecture provided in this application embodiment is shown below. Figure 1 As shown, the network architecture includes: LMF, UE, and base station, wherein the LMF is, for example... Figure 1 LMF110, UE, for example Figure 1 UE120 (target UE) and UE130 (reference UE), base station for example Figure 1 Base station 140 is deployed in the access network, for example, in the NG-RAN (New Generation-Radio Access Network) access network of a 5G system. The UE and the base station communicate with each other via some air interface technology, such as cellular technology.

[0155] The UE involved in the embodiments of this application can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. Types of UEs include mobile phones, vehicle user terminals, tablet computers, laptops, personal digital assistants, mobile internet devices, wearable devices, etc.

[0156] The base station involved in this application embodiment may include multiple cells providing services to the UE. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with the UE through one or more sectors on the air interface, or other names. The base station can be used to exchange received air frames with Internet Protocol (IP) packets, and act as a router between the UE and the rest of the access network, which may include an Internet Protocol (IP) communication network. The base station can also coordinate the attribute management of the air interface. For example, the base station involved in the embodiments of this application can be a network device (Base Transceiver Station, BTS) in Global System for Mobile Communications (GSM) or Code Division Multiple Access (CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolved network device (eNB or e-NodeB) in a long term evolution (LTE) system, or a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, etc., and is not limited in the embodiments of this application.

[0157] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0158] This application provides a positioning method, executed by LMF, and the flowchart of the method is shown below. Figure 2 As shown, the method includes:

[0159] Step S101: Receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively. The first information includes at least one of multipath information and time offset information.

[0160] In one embodiment, the LMF receives first information reported by the base station, the first information including multipath information and time offset information; the first information may also include non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors.

[0161] In one embodiment, the LMF receives first information reported by the target UE and the reference UE, respectively. The first information reported by the target UE includes multipath information and time offset information. The first information reported by the target UE may also include non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is indoors or outdoors. The first information reported by the reference UE includes multipath information and time offset information. The first information reported by the reference UE may also include non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is indoors or outdoors.

[0162] In one embodiment, multipath information includes at least one of the following:

[0163] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0164] Power of a specific path;

[0165] Phase of a specific path;

[0166] Phase difference between different receiving antennas;

[0167] The time delay difference between different receiving antennas;

[0168] Power difference between different receiving antennas;

[0169] All or part of the data in the array corresponding to the CIR (Channel Impulse Response) of the receiving antenna;

[0170] All or part of the data in the array corresponding to the CFR (Channel Frequency Response) of the receiving antenna;

[0171] All or part of the data in the array corresponding to the PDP (Power Delay Profile) of the receiving antenna;

[0172] Pseudospectral information from the receiving antenna;

[0173] Wherein, the receiving antenna is the receiving antenna of the base station, the receiving antenna of the target UE, or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0174] It should be noted that when the first information is reported by a base station, the receiving antenna involved in the multipath information included in the first information is the receiving antenna of that base station. When the first information is reported by a target UE, the receiving antenna involved in the multipath information included in the first information is the receiving antenna of that target UE. When the first information is reported by a reference UE, the receiving antenna involved in the multipath information included in the first information is the receiving antenna of that reference UE.

[0175] In one embodiment, the first path can be a direct path.

[0176] In one embodiment, the time deviation information includes at least one of the following:

[0177] Clock synchronization error or clock synchronization error group;

[0178] Changes in clock synchronization error or clock synchronization error set;

[0179] The rate of change of clock synchronization error;

[0180] Transmit / receive time error or transmit / receive time error group;

[0181] Changes in transmit / receive time error or transmit / receive time error group;

[0182] Rate of change of transmission and reception time error.

[0183] In one embodiment, the NLOS indication information can be a hard indication or a soft indication; wherein, the soft indication includes, but is not limited to, frequency domain variance, time domain Rice factor, polarization metric information, coherence bandwidth, etc.

[0184] Step S102: Determine the location of the target UE based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

[0185] In one embodiment, the preset location database can be a CNN (Convolutional Neural Networks) model trained using artificial intelligence technology.

[0186] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by at least one base station, or the first information reported by the target UE and a reference UE respectively, and a preset positioning database, includes:

[0187] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station and the known location coordinates of the reference UE.

[0188] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0189] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0190] In one embodiment, an array is obtained based on the first information reported by the base station, or the first information reported by the target UE and the reference UE respectively, and the known location coordinates of the base station and the reference UE. This array includes the first information reported by the base station, or the first information reported by the target UE and the reference UE respectively, and the known location coordinates of the base station and the reference UE. This array corresponds to a first feature vector. The first feature vector is then multiplied by each second feature vector in a preset positioning database to obtain the maximum inner product, i.e., the maximum matching degree. The location coordinates corresponding to the second feature vector with the largest inner product with the first feature vector are determined as the location of the target UE.

[0191] In one embodiment, before determining the location of the target UE, the method further includes:

[0192] Receive delay values ​​reported by multiple base stations, perform single-difference processing between the delay values ​​reported by each non-reference base station and the delay values ​​reported by the reference base station, and determine the single-difference delay value corresponding to each non-reference base station.

[0193] Alternatively, it can receive the single-difference delay values ​​of each non-reference base station among multiple base stations reported by the target UE or reference UE.

[0194] In one embodiment, the delay value can be an RTOA (Relative Time Of Arrival) value, and the single-difference delay value can be a TDOA (Time Difference of Arrival) value. LMF determines TDOA in two ways as follows:

[0195] Method 1: The LMF receives RTOA values ​​reported by multiple base stations, performs single differential processing between the RTOA values ​​reported by each non-reference base station and the RTOA values ​​reported by the reference base station, and determines the TDOA corresponding to each non-reference base station.

[0196] Method 2: The LMF receives the TDOA corresponding to each non-reference base station among multiple base stations reported by the target UE or reference UE.

[0197] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0198] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station.

[0199] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0200] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0201] In one embodiment, an array is obtained based on first information reported by multiple base stations, or first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station. This array includes the first information reported by multiple base stations, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station. This array corresponds to a first feature vector. The first feature vector is then multiplied by each second feature vector in a preset positioning database to obtain the maximum inner product, i.e., the maximum matching degree. The location coordinates corresponding to the second feature vector with the largest inner product with the first feature vector are determined as the location of the target UE.

[0202] In one embodiment, before determining the location of the target UE, the method further includes:

[0203] Receive the single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE. The single-difference delay value is the single-difference delay value corresponding to each non-reference base station among multiple base stations.

[0204] The single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE are processed by double difference to obtain the double difference value;

[0205] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0206] It should be noted that the single difference delay value can be the TDOA value.

[0207] In one embodiment, before determining the location of the target UE, the method further includes:

[0208] Receive latency values ​​reported by multiple base stations, corresponding to the target UE and the reference UE respectively;

[0209] The delay value corresponding to the target UE reported by each non-reference base station in the multiple base stations is subjected to single difference processing with the delay value corresponding to the target UE reported by the reference base station in the multiple base stations to determine the first single difference delay value corresponding to each non-reference base station.

[0210] The delay values ​​corresponding to the reference UE reported by each non-reference base station in the multiple base stations are respectively compared with the delay values ​​corresponding to the reference UE reported by the reference base station in the multiple base stations to determine the second single-difference delay value corresponding to each non-reference base station.

[0211] Double difference processing is performed between the first single-difference delay value and the second single-difference delay value to obtain the double difference value;

[0212] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0213] It should be noted that the delay value can be the RTOA value, and the first single-difference delay value and the second single-difference delay value can be the TDOA value.

[0214] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by at least one base station, or the first information reported by the target UE and a reference UE respectively, and a preset positioning database, includes:

[0215] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE and the single difference value.

[0216] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0217] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0218] In one embodiment, an array is obtained based on the first information reported by the base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE, and a single difference value. This array includes the first information reported by the base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE, and a single difference value. This array corresponds to a first feature vector. The first feature vector is then multiplied by each second feature vector in a preset positioning database to obtain the maximum inner product, i.e., the maximum matching degree. The location coordinates corresponding to the second feature vector with the largest inner product with the first feature vector are determined as the location of the target UE.

[0219] In one embodiment, a first feature vector is determined based on the first information reported by the base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE, and the double difference value.

[0220] In this embodiment, the LMF receives the first information reported by the base station, or the first information reported by the target user equipment (UE) and the reference UE respectively, and determines the location of the target UE based on the first information reported by the base station, or the first information reported by the target UE and the reference UE respectively. This eliminates the impact of time-varying time errors in complex multipath environments and scenarios where time errors are time-varying, thereby improving the positioning accuracy of the target UE.

[0221] This application provides a positioning method, executed by a target UE or a reference UE, as illustrated in the flowchart below. Figure 3 As shown, the method includes:

[0222] Step S201: Receive the PRS (Positioning Reference Signal) sent by the base station.

[0223] In one embodiment, the target UE or reference UE may receive PRS transmitted by multiple base stations respectively.

[0224] Step S202: Determine the first information based on the pilot signal of the PRS. The first information includes at least one of multipath information and time deviation information.

[0225] In one embodiment, the target UE can determine the first information based on the pilot signals of the PRS of multiple base stations; the reference UE can determine the first information based on the pilot signals of the PRS of multiple base stations.

[0226] In one embodiment, multipath information includes at least one of the following:

[0227] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0228] Power of a specific path;

[0229] Phase of a specific path;

[0230] Phase difference between different receiving antennas;

[0231] The time delay difference between different receiving antennas;

[0232] Power difference between different receiving antennas;

[0233] All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna;

[0234] All or part of the data in the array corresponding to the Channel Frequency Response (CFR) of the receiving antenna;

[0235] All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna;

[0236] Pseudospectral information from the receiving antenna;

[0237] Wherein, the receiving antenna is the receiving antenna of the target UE or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0238] In one embodiment, the time deviation information includes at least one of the following:

[0239] Clock synchronization error or clock synchronization error group;

[0240] Changes in clock synchronization error or clock synchronization error set;

[0241] The rate of change of clock synchronization error;

[0242] Transmit / receive time error or transmit / receive time error group;

[0243] Changes in transmit / receive time error or transmit / receive time error group;

[0244] Rate of change of transmission and reception time error.

[0245] Step S203: Report the first information to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0246] In one embodiment, the target UE and the reference UE each report the first information to the LMF.

[0247] In this embodiment, the first information is reported to the LMF by the target UE and the reference UE respectively, which eliminates the influence of the time-varying nature of the time error and improves the positioning accuracy of the target UE in complex multipath environments and scenarios where the time error is time-varying.

[0248] This application provides a positioning method, executed by a base station, the flowchart of which is shown below. Figure 4 As shown, the method includes:

[0249] Step S301: Receive the SRS (Sounding Reference Signal) sent by the target UE or the reference UE.

[0250] Step S302: Determine first information based on the pilot signal of the SRS. The first information includes at least one of multipath information and time deviation information.

[0251] In one embodiment, multipath information includes at least one of the following:

[0252] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0253] Power of a specific path;

[0254] Phase of a specific path;

[0255] Phase difference between different receiving antennas;

[0256] The time delay difference between different receiving antennas;

[0257] Power difference between different receiving antennas;

[0258] All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna;

[0259] All or part of the data in the array corresponding to the Channel Frequency Response (CFR) of the receiving antenna;

[0260] All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna;

[0261] Pseudospectral information from the receiving antenna;

[0262] Wherein, the receiving antenna is the receiving antenna of the base station, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0263] In one embodiment, the time deviation information includes at least one of the following:

[0264] Clock synchronization error or clock synchronization error group;

[0265] Changes in clock synchronization error or clock synchronization error set;

[0266] The rate of change of clock synchronization error;

[0267] Transmit / receive time error or transmit / receive time error group;

[0268] Changes in transmit / receive time error or transmit / receive time error group;

[0269] Rate of change of transmission and reception time error.

[0270] Step S303: Report the first information to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0271] In this embodiment of the application, the first information is reported to the LMF by the base station, which eliminates the impact of the time-varying nature of the time error and improves the positioning accuracy of the target UE in complex multipath environments and scenarios where the time error is time-varying.

[0272] The positioning method of the above embodiments of this application will be fully and thoroughly described through the following examples:

[0273] In one embodiment of this application:

[0274] This embodiment describes a downlink positioning scenario and employs a dual-differential positioning method. This embodiment mainly consists of two stages: an offline training stage for building the positioning database and an online positioning stage for determining the target UE's location.

[0275] (1) Offline training phase

[0276] During the offline training phase, relevant data of the UE (target UE or reference UE participating in the training) at a grid point is collected, including steps A1-A7. The offline training phase requires a large amount of data collection work, and steps A1-A7 need to be repeated at multiple grid points using the UE.

[0277] Step A1: The base station sends the PRS and its pilot signal to the UE, and reports the known location coordinates of the base station to the LMF.

[0278] Step A2: The UE receives the PRS and PRS pilot signal sent by the base station.

[0279] Step A3: The UE determines the first information based on the pilot signal of the PRS. The first information includes multipath information, time offset information, NLOS indication information, transmit and receive beam direction information, and indication information indicating whether the target UE participating in the training is indoors or outdoors.

[0280] In this embodiment, the multipath information includes the delay, power, and phase of the top 5 most powerful paths measured by each receiving antenna of the UE.

[0281] In this embodiment, the time deviation information includes the receiving time error group and the transmitting time error group corresponding to the current measurement value.

[0282] In step A4, the UE performs single-difference processing between the RTOA values ​​of different base stations and the RTOA value of the reference base station to obtain multiple TDOA values.

[0283] In step A5, the UE reports the first information, the UE's location coordinates, the location coordinates of the UE's multiple receiving antennas, TDOA value, etc. to the LMF.

[0284] Step A6: The LMF performs double-difference processing between the TDOA value reported by the target UE participating in the training and the TDOA value reported by the reference UE participating in the training to obtain double difference values; based on the known location coordinates of the reference UE participating in the training and the known location coordinates of the base station, the double difference values ​​are converted into single difference values.

[0285] In step A7, the LMF binds the first information reported by the target UE and the reference UE participating in the training, as well as the known location coordinates of the base station, the known location coordinates of the reference UE participating in the training, and the single difference value, as a vector group to the location of the target UE participating in the training, and generates a feature fingerprint vector, i.e., the second feature vector.

[0286] It should be noted that the positioning database is constructed using multiple second feature vectors; different positioning databases can be constructed for the known location coordinates of different reference UEs participating in the training.

[0287] (2) Online positioning stage

[0288] The online positioning phase includes steps B1-B7.

[0289] Step B1: The base station sends the PRS and its pilot signal to the UE (target UE or reference UE) and reports the known location coordinates of the base station to the LMF.

[0290] Step B2: The UE receives the PRS and PRS pilot signal sent by the base station.

[0291] Step B3: The UE determines the first information based on the pilot signal of the PRS. The first information includes multipath information, time offset information, NLOS indication information, transmit and receive beam direction information, and indication information indicating whether the target UE is indoors or outdoors.

[0292] In this embodiment, the multipath information includes the delay, power, and phase of the top 5 most powerful paths measured by each receiving antenna of the UE.

[0293] In this embodiment, the time deviation information includes the receiving time error group and the transmitting time error group corresponding to the current measurement value.

[0294] In step B4, the UE performs single-difference processing between the RTOA values ​​of different base stations and the RTOA value of the reference base station to obtain multiple TDOA values.

[0295] In step B5, the UE reports the first information, the known location coordinates of the reference UE, the location coordinates of the multiple receiving antennas of the reference UE, the TDOA value, etc. to the LMF.

[0296] It should be noted that the known location coordinates of the reference UE and the location coordinates of the multiple receiving antennas of the reference UE are reported to the LMF by the reference UE.

[0297] In step B6, the LMF performs double-difference processing between the TDOA value reported by the target UE and the TDOA value reported by the reference UE to obtain a double difference value; based on the known location coordinates of the reference UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0298] Step B7: The LMF obtains an array based on the first information reported by the target UE and the reference UE, as well as the known location coordinates of the base station, the known location coordinates of the reference UE, and the single difference value. This array includes the first information reported by the target UE and the reference UE, the known location coordinates of the base station, the known location coordinates of the reference UE, and the single difference value; this array corresponds to the first feature vector. The first feature vector is then multiplied by each second feature vector in the positioning database to obtain the maximum inner product, i.e., the maximum matching degree. The location coordinates corresponding to the second feature vector with the largest inner product with the first feature vector are determined as the location of the target UE.

[0299] The technical solution provided in this application has at least the following beneficial effects:

[0300] In this embodiment, the first information is reported to the LMF by the target UE and the reference UE respectively, which eliminates the influence of the time-varying nature of the time error and improves the positioning accuracy of the target UE in complex multipath environments and scenarios where the time error is time-varying.

[0301] In one embodiment of this application:

[0302] This embodiment describes an uplink positioning scenario and employs a single differential positioning method. This embodiment mainly consists of two stages: an offline training stage for building the positioning database and an online positioning stage for determining the target UE's location.

[0303] (1) Offline training phase

[0304] During the offline training phase, relevant data of the UE (the target UE participating in the training) at a grid point are collected, including steps C1-C6. The offline training phase requires a large amount of data collection work, and steps C1-C6 need to be repeated at multiple grid points using the UE.

[0305] In step C1, the UE sends the SRS and SRS pilot to the base station and reports the UE's known location coordinates to the LMF.

[0306] Step C2: The base station receives the SRS and SRS pilot signals sent by the UE.

[0307] Step C3: The base station determines the first information and RTOA value based on the pilot signal of SRS. The first information includes multipath information, time offset information, NLOS indication information, transmit and receive beam direction information, and indication information indicating whether the target UE participating in the training is indoors or outdoors.

[0308] In this embodiment, the multipath information includes the delay difference, power difference, and phase difference of the top 5 delay-minimum paths measured between the receiving antennas of the target UE and the reference UE participating in the training.

[0309] In this embodiment, the time deviation information includes an estimated value of the change in transmission and reception time error.

[0310] In step C4, the base station reports the first information, RTOA value, known location coordinates of the base station, and the locations of the base station's multiple receiving antennas to the LMF.

[0311] In step C5, the LMF performs single-difference processing between the RTOA values ​​reported by each non-reference base station among the multiple base stations and the RTOA values ​​reported by the reference base station among the multiple base stations to determine the TDOA value corresponding to each non-reference base station.

[0312] In step C6, the LMF binds the first information reported by multiple base stations, the known location coordinates of multiple base stations, and the TDOA values ​​corresponding to each non-reference base station as a vector group to the UE's location, generating a feature fingerprint vector, i.e., the second feature vector.

[0313] It should be noted that the localization database is constructed using multiple second feature vectors.

[0314] (2) Online positioning stage

[0315] The online positioning phase includes steps D1-D6.

[0316] Step D1: The target UE sends SRS and SRS pilot signals to the base station.

[0317] Step D2: The base station receives the SRS and SRS pilot signals sent by the target UE.

[0318] Step D3: The base station determines the first information and RTOA value based on the pilot signal of SRS. The first information includes multipath information, time offset information, NLOS indication information, transmit and receive beam direction information, and indication information indicating whether the target UE is indoors or outdoors.

[0319] In this embodiment, the multipath information includes the delay difference, power difference, and phase difference of the top 5 paths with the shortest delay measured between the receiving antennas of the target UE and the reference UE.

[0320] In this embodiment, the time deviation information includes an estimated value of the change in transmission and reception time error.

[0321] In step D4, the base station reports the first information, RTOA value, known location coordinates of the base station, and the locations of the base station's multiple receiving antennas to the LMF.

[0322] In step D5, the LMF performs single-difference processing between the RTOA values ​​reported by each non-reference base station among the multiple base stations and the RTOA values ​​reported by the reference base station among the multiple base stations to determine the TDOA value corresponding to each non-reference base station.

[0323] Step D6: The LMF obtains an array based on the first information reported by multiple base stations, the known location coordinates of multiple base stations, and the TDOA values ​​corresponding to each non-reference base station. This array includes the first information reported by multiple base stations, the known location coordinates of multiple base stations, and the TDOA values ​​corresponding to each non-reference base station. This array corresponds to a first feature vector. The first feature vector is then multiplied by the inner products of each second feature vector in the positioning database to obtain the maximum inner product, i.e., the maximum matching degree. The location coordinates corresponding to the second feature vector with the largest inner product with the first feature vector are determined as the location of the target UE.

[0324] The technical solution provided in this application has at least the following beneficial effects:

[0325] In this embodiment of the application, the first information is reported to the LMF by the base station, which eliminates the impact of the time-varying nature of the time error and improves the positioning accuracy of the target UE in complex multipath environments and scenarios where the time error is time-varying.

[0326] In one embodiment of this application:

[0327] This embodiment describes an uplink positioning scenario and employs a differential positioning method. This embodiment mainly consists of two stages: an offline training stage for building the positioning database and an online positioning stage for determining the target UE's location.

[0328] (1) Offline training phase

[0329] During the offline training phase, relevant data of the UE (the target UE participating in the training) at a grid point are collected, including steps E1-E5. The offline training phase requires a large amount of data collection work, and steps E1-E5 need to be repeated at multiple grid points using the UE.

[0330] In step E1, the UE sends the SRS and SRS pilot to the base station and reports the UE's known location coordinates to the LMF.

[0331] Step E2: The base station receives the SRS and SRS pilot signals sent by the UE.

[0332] In step E3, the base station determines the first information based on the pilot signal of the SRS. The first information includes multipath information, time offset information, NLOS indication information, transmit and receive beam direction information, and indication information indicating whether the target UE participating in the training is located indoors or outdoors.

[0333] In this embodiment, the multipath information includes the CFR of each receive antenna of the target UE participating in the training.

[0334] In this embodiment, the time deviation information includes an estimate of the current time error.

[0335] It should be noted that the current time error is obtained by calculating the sum of the clock synchronization error and the transmit / receive time error.

[0336] In step E4, the base station reports the first information, the known location coordinates of the base station, and the locations of the base station's multiple receiving antennas to the LMF.

[0337] In step E5, the LMF binds the first information reported by the base station, the known location coordinates of the base station, the locations of the multiple receiving antennas of the base station, and the known location coordinates of the UE as a vector group with the UE's location to generate a feature fingerprint vector, i.e., the second feature vector.

[0338] It should be noted that the localization database is constructed using multiple second feature vectors.

[0339] (2) Online positioning stage

[0340] The online positioning phase includes steps F1-F5.

[0341] Step F1: The target UE sends SRS and SRS pilot signals to the base station.

[0342] In step F2, the base station receives the SRS and SRS pilot signals sent by the target UE.

[0343] In step F3, the base station determines the first information based on the pilot signal of the SRS. The first information includes multipath information, time offset information, NLOS indication information, transmit and receive beam direction information, and indication information indicating whether the target UE participating in the training is located indoors or outdoors.

[0344] In this embodiment, the multipath information includes the CFRs of each receive antenna of the target UE.

[0345] In this embodiment, the time deviation information includes an estimate of the current time error.

[0346] It should be noted that the current time error is obtained by calculating the sum of the clock synchronization error and the transmit / receive time error.

[0347] In step F4, the base station reports the first information, the known location coordinates of the base station, and the positions of the base station's multiple receiving antennas to the LMF.

[0348] Step F5: Based on the first information reported by the base station and the known location coordinates of the base station or the positions of multiple receiving antennas of the base station, an array is obtained. This array includes the first information reported by the base station and the known location coordinates of the base station or the positions of multiple receiving antennas of the base station. This array corresponds to a first feature vector. The inner product of the first feature vector and each second feature vector in the preset positioning database is calculated to obtain the maximum inner product, i.e., the maximum matching degree. The location coordinates corresponding to the second feature vector with the largest inner product with the first feature vector are determined as the location of the target UE.

[0349] The technical solution provided in this application has at least the following beneficial effects:

[0350] In this embodiment of the application, the first information is reported to the LMF by the base station, which eliminates the impact of the time-varying nature of the time error and improves the positioning accuracy of the target UE in complex multipath environments and scenarios where the time error is time-varying.

[0351] Based on the same inventive concept, this application also provides a positioning device for use in LMF, the structural schematic diagram of which is shown below. Figure 5 As shown, transceiver 1300 is used to receive and send data under the control of processor 1310.

[0352] Among them, Figure 5In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1310) and memory (memory 1320). The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1300 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 1310 is responsible for managing the bus architecture and general processing, and the memory 1320 can store data used by the processor 1310 during operation.

[0353] The processor 1310 can 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 can also adopt a multi-core architecture.

[0354] Processor 1310 is configured to read the computer program in the memory and perform the following operations:

[0355] Receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes at least one of multipath information and time offset information;

[0356] The location of the target UE is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

[0357] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0358] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station and the known location coordinates of the reference UE.

[0359] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0360] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0361] In one embodiment, before determining the location of the target UE, the method further includes:

[0362] Receive delay values ​​reported by multiple base stations, perform single-difference processing between the delay values ​​reported by each non-reference base station and the delay values ​​reported by the reference base station, and determine the single-difference delay value corresponding to each non-reference base station.

[0363] Alternatively, it can receive the single-difference delay values ​​of each non-reference base station among multiple base stations reported by the target UE or reference UE.

[0364] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes:

[0365] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station.

[0366] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0367] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0368] In one embodiment, before determining the location of the target UE, the method further includes:

[0369] Receive the single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE. The single-difference delay value is the single-difference delay value corresponding to each non-reference base station among multiple base stations.

[0370] The single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE are processed by double difference to obtain the double difference value;

[0371] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0372] In one embodiment, before determining the location of the target UE, the method further includes:

[0373] Receive latency values ​​reported by multiple base stations, corresponding to the target UE and the reference UE respectively;

[0374] The delay value corresponding to the target UE reported by each non-reference base station in the multiple base stations is subjected to single difference processing with the delay value corresponding to the target UE reported by the reference base station in the multiple base stations to determine the first single difference delay value corresponding to each non-reference base station.

[0375] The delay values ​​corresponding to the reference UE reported by each non-reference base station in the multiple base stations are respectively compared with the delay values ​​corresponding to the reference UE reported by the reference base station in the multiple base stations to determine the second single-difference delay value corresponding to each non-reference base station.

[0376] Double difference processing is performed between the first single-difference delay value and the second single-difference delay value to obtain the double difference value;

[0377] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0378] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by at least one base station, or the first information reported by the target UE and a reference UE respectively, and a preset positioning database, includes:

[0379] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE and the single difference value.

[0380] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0381] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0382] In one embodiment, multipath information includes at least one of the following:

[0383] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0384] Power of a specific path;

[0385] Phase of a specific path;

[0386] Phase difference between different receiving antennas;

[0387] The time delay difference between different receiving antennas;

[0388] Power difference between different receiving antennas;

[0389] All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna;

[0390] All or part of the data in the array corresponding to the Channel Frequency Response (CFR) of the receiving antenna;

[0391] All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna;

[0392] Pseudospectral information from the receiving antenna;

[0393] Wherein, the receiving antenna is the receiving antenna of the base station, the receiving antenna of the target UE, or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0394] In one embodiment, the time deviation information includes at least one of the following:

[0395] Clock synchronization error or clock synchronization error group;

[0396] Changes in clock synchronization error or clock synchronization error set;

[0397] The rate of change of clock synchronization error;

[0398] Transmit / receive time error or transmit / receive time error group;

[0399] Changes in transmit / receive time error or transmit / receive time error group;

[0400] Rate of change of transmission and reception time error.

[0401] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0402] Based on the same inventive concept, this application also provides a positioning device, applied to a target UE or a reference UE, the structural schematic diagram of which is shown below. Figure 6As shown, transceiver 1400 is used to receive and send data under the control of processor 1410.

[0403] Among them, Figure 6 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1410 and memory represented by memory 1420 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1400 can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. For different user equipment, the user interface 1430 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0404] The processor 1410 is responsible for managing the bus architecture and general processing, and the memory 1420 can store the data used by the processor 1410 when performing operations.

[0405] Optionally, the processor 1410 can be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or CPLD (Complex Programmable Logic Device), and the processor can also adopt a multi-core architecture.

[0406] The processor invokes a computer program stored in memory to execute the method described in the second aspect of this application according to the obtained executable instructions. The processor and memory may also be physically separated.

[0407] Processor 1410 is configured to read a computer program from memory 1420 and perform the following operations:

[0408] Receive the Position Reference Signal (PRS) sent by the base station;

[0409] Based on the pilot signal of the PRS, determine the first information, which includes at least one of multipath information and time deviation information;

[0410] The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0411] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0412] Based on the same inventive concept, this application also provides a positioning device applied to a base station, the structural schematic diagram of which is shown below. Figure 7 As shown, transceiver 1500 is used to receive and send data under the control of processor 1510.

[0413] Among them, Figure 7 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1510) and memory (memory 1520). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1500 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 1510 is responsible for managing the bus architecture and general processing, and the memory 1520 can store data used by the processor 1510 during operation.

[0414] The processor 1510 can 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 can also adopt a multi-core architecture.

[0415] Processor 1510 is configured to read the computer program in the memory and perform the following operations:

[0416] Receive the Sound Reference Signal (SRS) sent by the target UE or the reference UE;

[0417] Based on the pilot signal of the SRS, determine the first information, which includes at least one of multipath information and time deviation information;

[0418] The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0419] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0420] Based on the same inventive concept as the foregoing embodiments, this application also provides a positioning device applied to LMF, the structural schematic diagram of which is shown below. Figure 8 As shown, the positioning device 40 includes a first processing unit 401 and a second processing unit 402.

[0421] The first processing unit 401 is configured to receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes at least one of multipath information and time offset information.

[0422] The second processing unit 402 is used to determine the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

[0423] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. The second processing unit 402 is specifically used for:

[0424] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station and the known location coordinates of the reference UE.

[0425] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0426] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0427] In one embodiment, before determining the location of the target UE, the second processing unit 402 is further configured to:

[0428] Receive delay values ​​reported by multiple base stations, perform single-difference processing between the delay values ​​reported by each non-reference base station and the delay values ​​reported by the reference base station, and determine the single-difference delay value corresponding to each non-reference base station.

[0429] Alternatively, it can receive the single-difference delay values ​​of each non-reference base station among multiple base stations reported by the target UE or reference UE.

[0430] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. The second processing unit 402 is specifically used for:

[0431] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of multiple base stations and the single-difference delay values ​​corresponding to each non-reference base station.

[0432] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0433] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0434] In one embodiment, before determining the location of the target UE, the second processing unit 402 is further configured to:

[0435] Receive the single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE. The single-difference delay value is the single-difference delay value corresponding to each non-reference base station among multiple base stations.

[0436] The single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE are processed by double difference to obtain the double difference value;

[0437] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0438] In one embodiment, before determining the location of the target UE, the second processing unit 402 is further configured to:

[0439] Receive latency values ​​reported by multiple base stations, corresponding to the target UE and the reference UE respectively;

[0440] The delay value corresponding to the target UE reported by each non-reference base station in the multiple base stations is subjected to single difference processing with the delay value corresponding to the target UE reported by the reference base station in the multiple base stations to determine the first single difference delay value corresponding to each non-reference base station.

[0441] The delay values ​​corresponding to the reference UE reported by each non-reference base station in the multiple base stations are respectively compared with the delay values ​​corresponding to the reference UE reported by the reference base station in the multiple base stations to determine the second single-difference delay value corresponding to each non-reference base station.

[0442] Double difference processing is performed between the first single-difference delay value and the second single-difference delay value to obtain the double difference value;

[0443] Based on the known location coordinates reported by the UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

[0444] In one embodiment, the first information further includes at least one of non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. The second processing unit 402 is specifically used for:

[0445] The first feature vector is determined based on the first information reported by at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE and the single difference value.

[0446] The first feature vector is matched with each of the second feature vectors in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector;

[0447] The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

[0448] In one embodiment, multipath information includes at least one of the following:

[0449] The time delay of a specific path among multiple paths corresponding to the receiving antenna, or the time delay difference between multiple paths;

[0450] Power of a specific path;

[0451] Phase of a specific path;

[0452] Phase difference between different receiving antennas;

[0453] The time delay difference between different receiving antennas;

[0454] Power difference between different receiving antennas;

[0455] All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna;

[0456] All or part of the data in the array corresponding to the Channel Frequency Response (CFR) of the receiving antenna;

[0457] All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna;

[0458] Pseudospectral information from the receiving antenna;

[0459] Wherein, the receiving antenna is the receiving antenna of the base station, the receiving antenna of the target UE, or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the smallest delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

[0460] In one embodiment, the time deviation information includes at least one of the following:

[0461] Clock synchronization error or clock synchronization error group;

[0462] Changes in clock synchronization error or clock synchronization error set;

[0463] The rate of change of clock synchronization error;

[0464] Transmit / receive time error or transmit / receive time error group;

[0465] Changes in transmit / receive time error or transmit / receive time error group;

[0466] Rate of change of transmission and reception time error.

[0467] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0468] Based on the same inventive concept as the foregoing embodiments, this application also provides a positioning device, applied to a target UE or a reference UE, the structural schematic diagram of which is shown below. Figure 9 As shown, the positioning device 50 includes a third processing unit 501, a fourth processing unit 502, and a fifth processing unit 503.

[0469] The third processing unit 501 is used to receive the positioning reference signal PRS sent by the base station;

[0470] The fourth processing unit 502 is used to determine first information based on the pilot signal of the PRS, wherein the first information includes at least one of multipath information and time deviation information.

[0471] The fifth processing unit 503 is used to report the first information to the LMF so as to instruct the LMF to determine the location of the target UE based on the first information.

[0472] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0473] Based on the same inventive concept as the foregoing embodiments, this application also provides a positioning device applied to a base station, the structural schematic diagram of which is shown below. Figure 10 As shown, the positioning device 60 includes a sixth processing unit 601, a seventh processing unit 602, and an eighth processing unit 603.

[0474] The sixth processing unit 601 is used to receive the detection reference signal (SRS) sent by the target UE or the reference UE;

[0475] The seventh processing unit 602 is used to determine first information based on the pilot signal of the SRS, wherein the first information includes at least one of multipath information and time deviation information;

[0476] The eighth processing unit 603 is used to report the first information to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

[0477] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0478] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0479] If the integrated unit is implemented as 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 this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0480] Based on the same inventive concept, embodiments of this application also provide a processor-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any positioning method provided in any embodiment or any optional implementation of this application.

[0481] Processor-readable storage media can be any available medium or data storage device that the processor can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0482] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0483] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0484] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0485] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0486] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A positioning method, executed by a location management function (LMF), characterized in that, include: Receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes multipath information and time offset information; The location of the target UE is determined based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; Rate of change of transmission and reception time error.

2. The method according to claim 1, characterized in that, The first information also includes at least one of the following: non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes: A first feature vector is determined based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station and the known location coordinates of the reference UE; The first feature vector is matched with each second feature vector in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector. The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

3. The method according to claim 1, characterized in that, Before determining the location of the target UE, the method further includes: Receive delay values ​​reported by multiple base stations, perform single-difference processing between the delay values ​​reported by each non-reference base station and the delay values ​​reported by the reference base station, and determine the single-difference delay value corresponding to each non-reference base station. Alternatively, it may receive the single-difference delay values ​​corresponding to each non-reference base station among the plurality of base stations reported by the target UE or the reference UE.

4. The method according to claim 3, characterized in that, The first information also includes at least one of the following: non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes: Based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and the known location coordinates of the plurality of base stations and the single-difference delay values ​​corresponding to each non-reference base station, a first feature vector is determined; The first feature vector is matched with each second feature vector in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector. The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

5. The method according to claim 1, characterized in that, Before determining the location of the target UE, the method further includes: Receive the single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE, wherein the single-difference delay value is the single-difference delay value corresponding to each non-reference base station among multiple base stations; The single-difference delay value reported by the target UE and the single-difference delay value reported by the reference UE are subjected to double-difference processing to obtain a double-difference value; Based on the known location coordinates reported by the reference UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

6. The method according to claim 1, characterized in that, Before determining the location of the target UE, the method further includes: Receive delay values ​​reported by multiple base stations, corresponding to the target UE and the reference UE respectively; The delay value corresponding to the target UE reported by each non-reference base station among the plurality of base stations is subjected to single-difference processing with the delay value corresponding to the target UE reported by the reference base station among the plurality of base stations to determine the first single-difference delay value corresponding to each non-reference base station. The delay value corresponding to the reference UE reported by each non-reference base station among the plurality of base stations is subjected to single-difference processing with the delay value corresponding to the reference UE reported by the reference base station among the plurality of base stations to determine the second single-difference delay value corresponding to each non-reference base station. The first single-difference delay value and the second single-difference delay value are processed by double difference to obtain double difference value; Based on the known location coordinates reported by the reference UE and the known location coordinates of the base station, the double difference value is converted into a single difference value.

7. The method according to claim 5 or 6, characterized in that, The first information also includes at least one of the following: non-line-of-sight (NLOS) indication information, transmit / receive beam direction information, and indication information indicating whether the target UE is located indoors or outdoors. Determining the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database, includes: Based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, as well as the known location coordinates of the base station, the known location coordinates of the reference UE, and the single difference value, a first feature vector is determined; The first feature vector is matched with each second feature vector in the preset positioning database to determine the second feature vector with the highest matching degree to the first feature vector. The location coordinates corresponding to the second feature vector that has the highest matching degree with the first feature vector are determined as the location of the target UE.

8. The method according to claim 1, characterized in that, The multipath information includes at least one of the following: The time delay of a specific path among the multiple paths corresponding to the receiving antenna, or the time delay difference between the multiple paths; Power of the specific path; The phase of the specific path; Phase difference between different receiving antennas; The time delay difference between different receiving antennas; The power difference between different receiving antennas; All or part of the data in the array corresponding to the channel impulse response (CIR) of the receiving antenna; All or part of the data in the array corresponding to the channel frequency response (CFR) of the receiving antenna; All or part of the data in the array corresponding to the power delay distribution (PDP) of the receiving antenna; The pseudospectral information of the receiving antenna; Wherein, the receiving antenna is the receiving antenna of the base station, the receiving antenna of the target UE, or the receiving antenna of the reference UE, and the specific path includes at least one of the N paths with the least delay, the first path, and the M paths with the strongest power, where N and M are both positive integers.

9. A positioning method, performed by a target UE or a reference UE, characterized in that, include: Receive the Position Reference Signal (PRS) sent by the base station; Based on the pilot signal of the PRS, first information is determined, which includes multipath information and time offset information; The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; Rate of change of transmission and reception time error.

10. A positioning method, executed by a base station, characterized in that, include: Receive the Sound Reference Signal (SRS) sent by the target UE or the reference UE; Based on the pilot signal of the SRS, first information is determined, which includes multipath information and time offset information; The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; Rate of change of transmission and reception time error.

11. A positioning device applied to LMF, characterized in that, Includes memory, transceiver, and processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes multipath information and time offset information; The location of the target UE is determined based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; Rate of change of transmission and reception time error.

12. A positioning device, applied to a target UE or a reference UE, characterized in that, Includes memory, transceiver, and processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Receive the Position Reference Signal (PRS) sent by the base station; Based on the pilot signal of the PRS, first information is determined, which includes multipath information and time offset information; The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; Rate of change of transmission and reception time error.

13. A positioning device applied to a base station, characterized in that, Includes memory, transceiver, and processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Receive the Sound Reference Signal (SRS) sent by the target UE or the reference UE; Based on the pilot signal of the SRS, first information is determined, which includes multipath information and time offset information; The first information is reported to the LMF to instruct the LMF to determine the location of the target UE based on the first information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; Rate of change of transmission and reception time error.

14. A positioning device applied to LMF, characterized in that, include: The first processing unit is configured to receive first information reported by at least one base station, or first information reported by the target user equipment (UE) and the reference UE respectively, wherein the first information includes multipath information and time offset information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; The rate of change of transmission and reception time error; The second processing unit is configured to determine the location of the target UE based on the first information reported by the at least one base station, or the first information reported by the target UE and the reference UE respectively, and a preset positioning database.

15. A positioning device applied to a target UE or a reference UE, characterized in that, include: The third processing unit is used to receive the Position Reference Signal (PRS) sent by the base station; The fourth processing unit is used to determine first information based on the pilot signal of the PRS, wherein the first information includes multipath information and time offset information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; The rate of change of transmission and reception time error; The fifth processing unit is used to report the first information to the LMF, so as to instruct the LMF to determine the location of the target UE based on the first information.

16. A positioning device applied to a base station, characterized in that, include: The sixth processing unit is used to receive the detection reference signal (SRS) sent by the target UE or the reference UE; The seventh processing unit is used to determine first information based on the pilot signal of the SRS, wherein the first information includes multipath information and time offset information; The time deviation information includes at least one of the following: Clock synchronization error or clock synchronization error group; Changes in clock synchronization error or clock synchronization error set; The rate of change of clock synchronization error; Transmit / receive time error or transmit / receive time error group; Changes in transmit / receive time error or transmit / receive time error group; The rate of change of transmission and reception time error; The eighth processing unit is used to report the first information to the LMF to instruct the LMF to determine the location of the target UE based on the first information.

17. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program for causing the processor to perform the method of any one of claims 1 to 10.

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