Positioning method and system, receiving end, non-transitory computer-readable storage medium

Abstract

The present disclosure relates to a positioning method and system, a receiving end, and a non-transitory computer-readable storage medium. The positioning method includes: the receiving end receives a first signal sent by the sending end; the receiving end determines the carrier phase of the first signal; the receiving end locates the terminal to be located according to the carrier phase of the first signal. Through carrier phase positioning, the present disclosure can achieve high positioning efficiency and positioning accuracy.

Description

Technical Field

[0001] The present disclosure relates to the fields of wireless communication and terminals, and particularly to a positioning method and system, a receiving end, and a non-transitory computer-readable storage medium. Background Art

[0002] There are scenarios such as mMTC (Massive Machine Type Communication) in the 5G network, aiming to achieve interconnection of all things, bringing many service scenarios such as industrial Internet of Things and vehicle Internet of Things, and posing new requirements for positioning accuracy and latency. However, the positioning accuracy of the current 5G network in related technologies is insufficient, which causes trouble for the popularization of these services. Summary of the Invention

[0003] The inventors have found through research that: in the related technology GPS (Global Positioning System), the RTK (Real-time Kinematic) method based on carrier phase has been widely applied, and the accuracy can reach the centimeter level. However, the cost of RTK devices in related technologies is extremely high, and it takes a long time to iterate to obtain a converged phase integer ambiguity, which does not meet the low-latency requirements of 5G scenarios.

[0004] In view of at least one of the above technical problems, the present disclosure provides a positioning method and system, a receiving end, and a non-transitory computer-readable storage medium, which can obtain higher positioning efficiency and positioning accuracy through carrier phase positioning.

[0005] According to one aspect of the present disclosure, a positioning method is provided, including:

[0006] The receiving end receives a first signal sent by the sending end;

[0007] The receiving end determines the carrier phase of the first signal;

[0008] The receiving end locates the terminal to be located according to the carrier phase of the first signal.

[0009] In some embodiments of the present disclosure, the receiving end locates the terminal to be located according to the carrier phase of the first signal, including:

[0010] The receiving end obtains an integer ambiguity through a predetermined positioning method;

[0011] The receiving end receives the estimation of the base station side delay by the reference device;

[0012] The receiving end locates the terminal to be located according to the carrier phase of the first signal, the integer ambiguity, and the estimated base station side delay.

[0013] In some embodiments of the present disclosure, when the receiving end is a terminal device, the sending end is a base station, the first signal is a downlink positioning reference signal, and the terminal device includes a terminal to be positioned.

[0014] In some embodiments of the present disclosure, when the receiving end is a base station, the sending end is a terminal device, the first signal is an uplink channel sounding reference signal, and the terminal device includes a terminal to be positioned.

[0015] In some embodiments of the present disclosure, the receiving end positioning the terminal to be positioned according to the carrier phase of the first signal includes:

[0016] The receiving end obtains an integer ambiguity through a predetermined positioning method;

[0017] The receiving end positions the terminal to be positioned according to the carrier phase of the first signal and the integer ambiguity.

[0018] In some embodiments of the present disclosure, the terminal device further includes a reference device.

[0019] In some embodiments of the present disclosure, the positioning method further includes:

[0020] The receiving end forwards the carrier phase of the first signal to a location management function module.

[0021] According to another aspect of the present disclosure, there is provided a receiving end, including:

[0022] A signal receiving module, configured to receive a first signal sent by a sending end;

[0023] A carrier phase measurement module, configured to determine the carrier phase of the first signal;

[0024] A positioning module, configured to position a terminal to be positioned according to the carrier phase of the first signal.

[0025] In some embodiments of the present disclosure, the receiving end is configured to perform operations for implementing the positioning method described in any one of the above embodiments.

[0026] According to another aspect of the present disclosure, there is provided a receiving end, including:

[0027] A memory, configured to store instructions;

[0028] A processor, configured to execute the instructions, so that the receiving end performs operations for implementing the positioning method described in any one of the above embodiments.

[0029] According to another aspect of the present disclosure, there is provided a positioning system, including a sending end and the receiving end described in any one of the above embodiments.

[0030] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the positioning method described in any of the above embodiments is implemented.

[0031] Through carrier phase positioning, the present disclosure can achieve high positioning efficiency and positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a schematic diagram of some embodiments of the positioning method of the present disclosure.

[0034] Figure 2 It is a schematic diagram of other embodiments of the positioning method of the present disclosure.

[0035] Figure 3 It is a schematic diagram of the application scenario of the downlink channel in some embodiments of the present disclosure.

[0036] Figure 4 It is a schematic diagram of still other embodiments of the positioning method of the present disclosure.

[0037] Figure 5 It is a schematic diagram of some embodiments of the receiving end of the present disclosure.

[0038] Figure 6 It is a schematic structural diagram of other embodiments of the receiving end of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some embodiments of the present disclosure, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0040] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values described in these embodiments do not limit the scope of the present disclosure.

[0041] Meanwhile, it should be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships.

[0042] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorization specification.

[0043] In all the examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0044] It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0045] Figure 1 This is a schematic diagram of some embodiments of the positioning method of the present disclosure. Preferably, this embodiment can be executed by the positioning system or the receiving end of the present disclosure. The method may include at least one of Step 11 - Step 13, where:

[0046] Step 11, the receiving end receives the first signal sent by the sending end.

[0047] In some embodiments of the present disclosure, when the receiving end is a terminal device, the sending end is a base station, the first signal is a downlink positioning reference signal, and the terminal device includes the terminal to be positioned.

[0048] In some other embodiments of the present disclosure, when the receiving end is a base station, the sending end is a terminal device, the first signal is an uplink channel sounding reference signal, and the terminal device includes the terminal to be positioned.

[0049] Step 12, the receiving end determines the carrier phase of the first signal.

[0050] In some embodiments of the present disclosure, Step 12 may include: the receiving end performs carrier phase measurement on the carrier phase of the first signal to determine the carrier phase of the first signal.

[0051] Step 13, the receiving end locates the terminal to be positioned according to the carrier phase of the first signal.

[0052] In some embodiments of the present disclosure, Step 13 may include: the receiving end locates the terminal to be positioned using the carrier phase differential positioning method according to the carrier phase of the first signal.

[0053] In the TS 38.455 NRPPA (NR Positioning Protocol A) protocol of 3GPP Rel-16, TDOA (Time Difference of Arrival), AOA (Angle of Arrival), AoD (Angle of Departure), multi-RTT (multi-Round-Trip Time), E-CID (Enhanced Cell-ID) and other positioning methods are already supported. Information such as RSTD (Reference Signal Time Difference) and RSRP (Reference Signal Receiving Power) of signals is fully utilized. The transmission and mapping of these signals are also correspondingly defined in TS 38.211 and 38.214. Measuring the carrier phase of the signal in the above embodiments of the present disclosure does not require other data, so it will not cause additional signaling overhead, and only the complex signal information of the signal needs to be retained at the receiving end.

[0054] In some embodiments of the present disclosure, the positioning method may further include: the receiving end forwards the carrier phase of the first signal to the LMF (Location Management Function).

[0055] Figure 2 It is a schematic diagram of other embodiments of the positioning method of the present disclosure. Preferably, this embodiment can be executed by the positioning system or the receiving end of the present disclosure. The method may include at least one of steps 21-step 25, where:

[0056] Step 21, the receiving end receives the DL (Down Link) PRS (positioning reference signal), or the positioning UL (Up link) SRS (Sounding Reference Signal); then steps 22 and 23 are executed.

[0057] In some embodiments of the present disclosure, when the method of the above embodiments of the present disclosure is applied to the downlink channel, the receiving end of the signal is the UE to be positioned, and the transmitting end is multiple TRPs (Transmit / Receive points, i.e., base stations). It is necessary to demodulate the DL PRS signal, and positioning methods such as DL-TDOA and DL AoD can be used for assistance.Figure 3 Schematic diagram of the application scenario of the downlink channel in some embodiments of the present disclosure.

[0058] In some embodiments of the present disclosure, when the method of the above embodiments of the present disclosure is applied to the uplink channel, the signal sending end is the UE to be located, and the receiving end is multiple TRPs (base stations). It is necessary to demodulate the positioning SRS signal of the UL, and at the same time, methods such as UL-TDOA and UL AoA can be used to assist in positioning.

[0059] In some embodiments of the present disclosure, the UL+DL method can also be used to assist in positioning by means of, for example, Multi-RTT.

[0060] Step 22, after the receiving end receives the DL PRS or the positioning UL SRS, it measures the carrier phase thereof to obtain the signal carrier phase.

[0061] Step 23, through the positioning methods already existing in the standard, the preliminary positioning (pseudo-range) of the user terminal can be obtained.

[0062] In some embodiments of the present disclosure, the positioning methods already existing in the standard may include multiple positioning methods such as TDOA, AO, AOD (angle of departure), multi-RTT, and E-CID.

[0063] Step 24, using the positioning result of step 23 as a basis to obtain the integer ambiguity.

[0064] Step 25, using the carrier phase differential positioning method to obtain the corrected positioning result.

[0065] In some embodiments of the present disclosure, the corrected positioning result is obtained by using the carrier phase measurement equation of formula (1).

[0066]

[0067] In formula (1), λ is the wavelength, N is the number of full periods traveled, that is, the integer ambiguity, and ρ i is the distance from the TRP / UE sending the signal to the receiving end, and τ Rx,i and τ TX,i are the time delays of the receiving end and the sending end respectively. For the uplink, τ RX,i is the time delay on the TRP side, and τ TX,i is the time delay on the UE side; for the downlink, τ RX,i is the time delay on the UE side, and τ TX,i is the time delay on the TRP side.

[0068] The above embodiments of the present disclosure refer to RTK technology, fully combine the characteristics of the NR (New Ratio new air interface) network, utilize the existing signals in the standard, and propose an efficient and accurate positioning method with minimal changes to the standard.

[0069] The above embodiments of the present disclosure can perform differential positioning using carrier phase, and at the same time estimate its integer ambiguity using the position coordinate distances obtained by other positioning algorithms such as TDOA and multi-RTT, so as to obtain more accurate position information.

[0070] For the uplink channel, the receiving end in the above embodiments of the present disclosure refers to the TRP (BS), processes the received SRS positioning signal, and the positioning method adopted can be UL TDOA or UL AoA.

[0071] For the downlink channel, the receiving end in the above embodiments of the present disclosure refers to the UE, processes the DL PRS signal, and can use the DL TDOA or DL AoD method for positioning.

[0072] The above embodiments of the present disclosure can also send the data to the LMF uniformly and use methods such as Multi-RTT and E-CID for positioning.

[0073] Figure 4 It is a schematic diagram of some other embodiments of the positioning method of the present disclosure. Preferably, this embodiment can be executed by the positioning system or the receiving end of the present disclosure. This method may include at least one of steps 41-step 46, where:

[0074] Step 41, the receiving end receives the DL PRS or the positioning UL SRS signal.

[0075] In some embodiments of the present disclosure, when the method of the above embodiments of the present disclosure is applied to the downlink channel, the receiving end of the signal is the UE to be positioned, and the sending end is multiple TRPs (base stations). It is necessary to demodulate the DL PRS signal, and at the same time, positioning methods such as DL-TDOA and DL AoD can be used for assistance. Figure 3 It is a schematic diagram of the application scenario of the downlink channel in some embodiments of the present disclosure.

[0076] In some embodiments of the present disclosure, when the method of the above embodiments of the present disclosure is applied to the uplink channel, the sending end of the signal is the UE to be positioned, and the receiving end is multiple TRPs (base stations). It is necessary to demodulate the positioning SRS signal of the UL, and at the same time, positioning methods such as UL-TDOA and UL AoA can be used for assistance.

[0077] Step 42, after the receiving end receives the DL PRS or the positioning UL SRS, it measures the carrier phase thereof to obtain the signal carrier phase

[0078] Step 43, obtain the integer ambiguity through the positioning method already in the standard.

[0079] In some embodiments of the present disclosure, step 43 may include: obtaining a preliminary positioning (pseudorange) of the user terminal through a positioning method already in the standard; and obtaining an integer ambiguity based on the preliminary positioning result.

[0080] In step 44, the reference device receives or sends the same signal.

[0081] In some embodiments of the present disclosure, the reference device is used as the terminal device.

[0082] In some embodiments of the present disclosure, Figure 3 As shown, when the method of the above embodiment of the present invention is applied to the downlink channel, the receiving end of the signal is the reference device and the UE to be located, and the transmitting end is multiple TRPs (base stations). The DL PRS signal needs to be demodulated, and DL-TDOA, DL AoD and other positioning methods can be used to assist.

[0083] In some embodiments of the present disclosure, when the above-mentioned embodiment method of the present disclosure is applied to the uplink channel, the transmitting end of the signal is the reference device and the UE to be located, and the receiving end is multiple TRPs (base stations). The UL positioning SRS signal needs to be demodulated, and UL-TDOA, UL AoA and other methods can be used to assist positioning.

[0084] Step 45: Estimate the delay on the base station side.

[0085] Step 46, using the carrier phase differential positioning method to obtain a corrected positioning result.

[0086] In some embodiments of the present disclosure, when the receiving end receives multiple signals, that is, when the method of the above embodiment of the present disclosure is applied to the downlink channel, a set of simultaneous formulas (1) can be obtained, and formula (2) can be obtained by differential calculation:

[0087]

[0088] In formula (2), It can be obtained by measuring at the receiving end, N i and N j The distance estimated by TDOA and other methods can be divided by the wavelength and rounded to the integer, so we only need to know τ TX,i and τ TX,j You can get the accurate ρ i , j , and then locate it.

[0089] By introducing a reference device, since the position of the reference device is known and fixed, relatively accurate τ can be obtained through long-term data collection. TX,i and τ TX,j , and sending this information to the corresponding receiving device (user terminal), accurate positioning information can then be obtained. Even when the distance between the reference device and the device to be measured is relatively close, the network environments of the two can be considered similar. Due to the characteristics of the reference device being stationary and capable of collecting data for a long time, existing algorithms can be used to accurately measure its integer ambiguity and phase observations, and based on this, the integer ambiguity of the UE to be located and the offset of the behavior observations can be obtained, and directly used to correct the positioning result to obtain a more accurate positioning result.

[0090] In some other embodiments of the present disclosure, when the sending end sends multiple signals, that is, when the method of the above embodiments of the present disclosure is applied to the uplink channel, a set of simultaneous equations of formula (1) can be obtained, and by taking the difference, formula (3) can be obtained.

[0091]

[0092] In formula (2), can be obtained by measurement at the receiving end, N i and N j can be obtained by taking the integer part of the estimated distance divided by the wavelength through methods such as TDOA. Furthermore, only by knowing τ RX,i and τ RX,j can accurate ρ i and ρ j be obtained, and then positioning can be carried out.

[0093] By introducing a reference device, since the position of the reference device is known and fixed, relatively accurate τ RX,i and τ RX,j can be obtained. Sending this information to the corresponding receiving device (base station), accurate positioning information can then be obtained. Even when the distance between the reference device and the device to be measured is relatively close, the network environments of the two can be considered similar. Due to the characteristics of the reference device being stationary and capable of collecting data for a long time, existing algorithms can be used to accurately measure its integer ambiguity and phase observations, and based on this, the integer ambiguity of the UE to be located and the offset of the behavior observations can be obtained, and directly used to correct the positioning result to obtain a more accurate positioning result.

[0094] The above embodiments of the present disclosure can use the positioning-related information of the reference device with known positioning to obtain the correction values of the errors (transceiver delay, clock deviation, phase error, etc.) existing in the positioning process, report them to the LMF / UE / TRP, thereby correcting the positioning result and obtaining more accurate positioning information.

[0095] The above embodiments of the present disclosure can be applied to positioning in freight, commodity, and transportation monitoring.

[0096] In some other embodiments of the present disclosure, IIoT (Industrial Internet of Things) is an important scenario of 5G, and freight, commodity, and transportation monitoring are one of its main applications. Freight and transportation monitoring have relatively high-precision requirements for the positioning of commodities. Based on the method of the above embodiments of the present disclosure, one or more reference devices can be fixed on the shelves in the warehouse for jointly receiving positioning signals sent by the same TRP group with the receivers on the goods. A mobile terminal can be bound to the device for transporting goods, and its position can be estimated based on the method invented in this patent. At the same time, the signal receivers on the goods in the warehouse demodulate the signals sent by the corresponding TRP at the same time, and their positions are known. Since they do not displace for a long time and can work continuously, the signals can be calibrated to further improve the positioning accuracy.

[0097] The above embodiments of the present disclosure propose a wireless network positioning method based on carrier phase, which is combined with existing positioning technologies and uses reference devices to correct the positioning results, having relatively high efficiency and accuracy, thereby meeting the requirements of various low-latency and high-positioning-accuracy services in the wireless network.

[0098] The method of the above embodiments of the present disclosure, as a supplementary and enhanced positioning method, is applicable to both the uplink / downlink channels.

[0099] Figure 5 It is a schematic diagram of some embodiments of the receiving end of the present disclosure. As Figure 5 shown, the receiving end of the present disclosure may include a signal receiving module 51, a carrier phase measurement module 52, and a positioning module 53, where:

[0100] The signal receiving module 51 is configured to receive a first signal sent by a sending end.

[0101] The carrier phase measurement module 52 is configured to determine the carrier phase of the first signal.

[0102] The positioning module 53 is configured to perform positioning on a terminal to be located according to the carrier phase of the first signal.

[0103] In some embodiments of the present disclosure, the positioning module 53 may be configured to obtain an integer ambiguity through a predetermined positioning method; perform positioning on the terminal to be located according to the carrier phase of the first signal and the integer ambiguity.

[0104] In some embodiments of the present disclosure, the terminal device may further include a reference device.

[0105] In some embodiments of the present disclosure, when the receiving end is a terminal device, the sending end is a base station, the first signal is a downlink positioning reference signal, and the terminal device may include a terminal to be positioned and a reference device.

[0106] In some other embodiments of the present disclosure, when the receiving end is a base station, the sending end is a terminal device, the first signal is an uplink channel sounding reference signal, and the terminal device may include a terminal to be positioned and a reference device.

[0107] In some embodiments of the present disclosure, the positioning module 53 may be used to obtain an integer ambiguity through a predetermined positioning method; receive the estimation of the base station side delay by the reference device; and perform positioning on the terminal to be positioned according to the carrier phase, integer ambiguity, and estimated base station side delay of the first signal.

[0108] In some embodiments of the present disclosure, the receiving end is used to perform operations for implementing the positioning method described in any of the above embodiments (for example Figures 1 - 4 any of the embodiments).

[0109] In the NR standard, there are already positioning methods such as TDOA and multi-RTT. Through carrier phase positioning, the above embodiments of the present disclosure can obtain relatively high accuracy. The technical solutions of the above embodiments of the present disclosure make full use of the characteristics of the NR network, and further improve the positioning accuracy and maintain a relatively low latency by introducing a reference device and existing positioning methods.

[0110] The inventors have found through research that: the principle of carrier phase differential positioning is very similar to TDOA and is widely used in satellite positioning such as the GPS global positioning system. Due to its high accuracy, the accuracy can reach the centimeter level, and it often takes several seconds or even dozens of seconds to accurately estimate the integer ambiguity. However, the mobile communication network has very high requirements for latency, and it is impossible to reach such an accuracy level under such restrictive conditions. The above embodiments of the present disclosure can make full use of the characteristics of its own network to roughly estimate the integer complexity, thereby improving the accuracy.

[0111] The positioning accuracy using carrier phase in the above embodiments of the present disclosure is far better than distance positioning algorithms such as TDOA, and can bring an order-of-magnitude improvement in positioning accuracy.

[0112] The above embodiments of the present disclosure make full use of the resources in the network, utilize the existing data and the information of the reference device, reduce the complexity of solving the integer ambiguity in carrier phase differential positioning, and ensure that the latency required for system positioning will not increase.

[0113] Figure 6 It is a schematic structural diagram of some other embodiments of the receiving end of the present disclosure. As Figure 6 shown, the receiving end includes a memory 61 and a processor 62.

[0114] The memory 61 is used to store instructions, and the processor 62 is coupled to the memory 61. The processor 62 is configured to execute the positioning method described in the above embodiments (for example Figures 1 - 4 any one of the embodiments).

[0115] As Figure 6 shown, the receiving end further includes a communication interface 63 for information interaction with other devices. At the same time, the receiving end further includes a bus 64, and the processor 62, the communication interface 63, and the memory 61 complete mutual communication through the bus 64.

[0116] The memory 61 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory. The memory 61 may also be a memory array. The memory 61 may also be partitioned, and the blocks may be combined into virtual volumes according to certain rules.

[0117] In addition, the processor 62 may be a central processing unit CPU, or may be an application specific integrated circuit ASIC, or may be one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0118] The above embodiments of the present disclosure retain the carrier phase information at the mobile network receiving end and use it for positioning.

[0119] The above embodiments of the present disclosure apply the results of the existing positioning method to carrier phase differential positioning, reducing the time and complexity required to solve the integer ambiguity

[0120] The above embodiments of the present disclosure can use a reference device to correct the results, improving the positioning accuracy while reducing the complexity.

[0121] The above embodiments of the present disclosure belong to the fields of wireless communication and terminals. The above embodiments of the present disclosure can be used to solve the problem of mobile network positioning enhancement.

[0122] According to another aspect of the present disclosure, a positioning system is provided, including a sending end and a receiving end as described in any one of the above embodiments (for example Figure 5 or Figure 6 the embodiments).

[0123] In some embodiments of the present disclosure, as Figure 4 shown, when the receiving end is a terminal device, the sending end is a base station, the first signal is a downlink positioning reference signal, and the terminal device may include a terminal to be positioned and a reference device.

[0124] In some other embodiments of the present disclosure, when the receiving end is a base station, the transmitting end is a terminal device, the first signal is an uplink channel sounding reference signal, and the terminal device may include a terminal to be located and a reference device.

[0125] In some other embodiments of the present disclosure, the reference device can be used to obtain a correction value for the errors (such as transceiver delay, clock deviation, phase error, etc.) existing in the positioning process by using the positioning-related information of the reference device with known positioning, and report it to the LMF / UE / TRP, so as to correct the positioning result and obtain more accurate positioning information.

[0126] Aiming at the technical problem that the positioning accuracy of the 5G network is insufficient to meet the requirements of scenarios such as the Internet of Things and the industrial Internet of Things, which causes trouble to the popularization of corresponding services. Through the introduction of phase information, the above embodiments of the present disclosure can effectively further improve the positioning accuracy, thus meeting the positioning accuracy requirements of corresponding services.

[0127] There is a problem of relatively high complexity in carrier-phase-based differential positioning, resulting in a long time required for signal acquisition and inability to meet the positioning delay requirements of corresponding services. Through the introduction of reference points and the utilization of the positioning results of existing reference signals, the above embodiments of the present disclosure find a suitable reference point between performance and complexity, and then improve the positioning accuracy without affecting the delay.

[0128] In view of the above problems, the above embodiments of the present disclosure add a new positioning method for 3GPP TS 38.214 and 38.455, make full use of the correction errors obtained by the reference device, and combine the carrier-phase differential information to improve the positioning accuracy of the system.

[0129] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the positioning method as described in any of the above embodiments (for example Figures 1 - 4 any of the embodiments) is implemented.

[0130] The above embodiments of the present disclosure can use the relatively accurate positioning information of the reference device, combine the existing TDOA algorithm, quickly correct and estimate the integer ambiguity existing in carrier-phase positioning, and improve the positioning accuracy without increasing the delay.

[0131] The above embodiments of the present disclosure significantly improve the positioning accuracy of user terminals and can promote the implementation and use of technologies such as the industrial Internet of Things and the Internet of Vehicles.

[0132] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as methods, apparatuses, or computer program products. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0133] The present disclosure is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0134] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0136] The receiving end described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described in this application.

[0137] So far, the present disclosure has been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0138] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a non-transitory computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk or an optical disc, etc.

[0139] The description of the present disclosure is given for purposes of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to best explain the principles of the present disclosure and its practical application, and to enable those of ordinary skill in the art to understand the present disclosure so as to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A positioning method, characterized in that, it includes: The terminal to be positioned receives a first signal sent by a base station, where the first signal is a downlink positioning reference signal; The terminal to be positioned determines the carrier phase of the first signal; The terminal to be positioned obtains a preliminary positioning result of the terminal to be positioned through a predetermined positioning method according to the carrier phase of the first signal; The terminal to be positioned obtains the integer ambiguity of the terminal to be positioned according to the preliminary positioning result; The terminal to be positioned receives the base station-side time delay estimated by a reference device; The terminal to be positioned performs positioning on the terminal to be positioned according to the carrier phase of the first signal, the integer ambiguity of the terminal to be positioned, and the estimated base station-side time delay, and obtains a corrected positioning result of the terminal to be positioned.

2. The positioning method according to claim 1, characterized in that, it further includes: The terminal to be positioned forwards the carrier phase of the first signal to a location management function module.

3. A positioning method, characterized in that, it includes: The base station receives a first signal sent by a terminal to be positioned, where the first signal is a downlink positioning reference signal; The base station determines the carrier phase of the first signal; The base station obtains a preliminary positioning result of the terminal to be positioned through a predetermined positioning method according to the carrier phase of the first signal; The base station obtains the integer ambiguity of the terminal to be positioned according to the preliminary positioning result; The base station receives the base station-side time delay estimated by a reference device; The base station performs positioning on the terminal to be positioned according to the carrier phase of the first signal, the integer ambiguity of the terminal to be positioned, and the estimated base station-side time delay, and obtains a corrected positioning result of the terminal to be positioned.

4. The positioning method according to claim 3, characterized in that, it further includes: The base station forwards the carrier phase of the first signal to a location management function module.

5. A terminal to be positioned, characterized in that, it includes: A signal receiving module, configured to receive a first signal sent by a base station, where the first signal is a downlink positioning reference signal; A carrier phase measurement module, configured to determine the carrier phase of the first signal; A positioning module, configured to obtain a preliminary positioning result of the terminal to be positioned through a predetermined positioning method according to the carrier phase of the first signal; obtain the integer ambiguity of the terminal to be positioned according to the preliminary positioning result; receive the base station-side time delay estimated by a reference device; perform positioning on the terminal to be positioned according to the carrier phase of the first signal, the integer ambiguity of the terminal to be positioned, and the estimated base station-side time delay, and obtain a corrected positioning result of the terminal to be positioned.

6. The terminal to be positioned according to claim 5, characterized in that, The terminal to be positioned is further configured to forward the carrier phase of the first signal to a location management function module.

7. A base station, characterized in that, it includes: A signal receiving module, configured to receive a first signal sent by a terminal to be positioned, where the first signal is a downlink positioning reference signal; A carrier phase measurement module, configured to determine the carrier phase of the first signal; A positioning module, configured to obtain a preliminary positioning result of a terminal to be positioned according to the carrier phase of the first signal through a predetermined positioning method; obtain the integer ambiguity of the terminal to be positioned according to the preliminary positioning result; receive the base station-side time delay estimated by a reference device; and perform positioning on the terminal to be positioned according to the carrier phase of the first signal, the integer ambiguity of the terminal to be positioned, and the estimated base station-side time delay, so as to obtain a corrected positioning result of the terminal to be positioned.

8. The base station according to claim 7, wherein the base station is further configured to forward the carrier phase of the first signal to a location management function module.

9. A base station, wherein it includes: a memory, configured to store instructions; a processor, configured to execute the instructions, so that the base station executes the positioning method as described in claim 3 or 4.

10. A positioning system, wherein it includes a base station, a reference device, and a terminal to be positioned as described in claim 5 or 6.

11. A positioning system, wherein it includes a terminal to be positioned, a reference device, and a base station as described in any one of claims 7-9.

12. A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the positioning method as described in any one of claims 1-4 is implemented.

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