Mobile base station positioning method, apparatus, computer equipment, and mobile base station

Abstract

This application relates to a method, apparatus, computer equipment, storage medium, computer program product, and mobile base station for mobile base station positioning. The method includes: establishing a first coordinate system and a second coordinate system, and obtaining relationship parameters between the first and second coordinate systems; in the case of positioning a terminal to be positioned, obtaining positioning request information of the terminal to be positioned; sending reference signal resource set configuration information based on the positioning request information, and generating a channel estimation matrix for the terminal to be positioned based on the detection reference signals returned by the terminal to be positioned; locating the terminal to be positioned using the channel estimation matrix, the position of the mobile base station in the second coordinate system, and the relationship parameters, thereby obtaining first location information of the terminal to be positioned; wherein the first location information is used to determine the location of the terminal to be positioned. This method can solve the problem of single-anchor-point positioning based on mobile base stations, and can also be used for personnel search and rescue operations in typical mountainous areas, disaster areas, battlefields, at night, and in severe weather conditions.

Description

Technical Field

[0001] This application relates to the fields of wireless communication technology and navigation and positioning technology, and in particular to a mobile base station positioning method, apparatus, computer equipment, storage medium, computer program product and mobile base station. Background Technology

[0002] The continuous development of information technology has given rise to a large number of emerging digital industries and applications. These new applications are increasingly reliant on accurate location information, especially in emerging technology fields such as the Internet of Things, autonomous driving, smart cities, and the industrial Internet. Wide-area coverage and accurate positioning are prerequisites for many technological applications, thus placing higher demands on accurate positioning.

[0003] Under this premise, 5G (the fifth-generation mobile communication technology) has come into the public eye.

[0004] Future 5G applications will include three-dimensional spatial coverage, and drone-based relay communication will be an essential communication support facility. Currently, most drone positioning methods rely on locating the drone itself, and no methods based on single-site drone positioning terminals have been reported. While methods using visual positioning terminals for drones have been researched, they have limitations, such as being affected by weather, obstructions, and lighting conditions. Summary of the Invention

[0005] Therefore, it is necessary to provide a mobile base station positioning method, device, computer equipment, storage medium, computer program product, and mobile base station to address the above-mentioned technical problems, which can utilize the high-precision direction finding and ranging capabilities of wireless communication systems to achieve the positioning of terminals within the coverage area.

[0006] Firstly, this application provides a mobile base station positioning method. The method includes:

[0007] Establish a first coordinate system and a second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system;

[0008] When locating a terminal to be located, obtain the location request information of the terminal to be located;

[0009] Based on the positioning request information, reference signal resource set configuration information is sent, and the channel estimation matrix of the terminal to be located is generated according to the detection reference signal returned by the terminal to be located.

[0010] The terminal to be located is located by means of the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and the first position information of the terminal to be located is obtained; wherein the first position information is used to determine the position of the terminal to be located.

[0011] In one embodiment, sending reference signal resource set configuration information based on the positioning request information and generating the channel estimation matrix of the terminal to be located based on the detection reference signal returned by the terminal to be located includes:

[0012] Based on the positioning request information, send reference signal resource set configuration information to the terminal to be located;

[0013] Receive the detection reference signal; the detection reference signal is a signal sent by the terminal to be located according to the configuration information.

[0014] Based on the probe reference signal, a channel estimation matrix for the terminal to be located is generated.

[0015] In one embodiment, locating the terminal to be located using the channel estimation matrix and the position and relationship parameters of the mobile base station in the second coordinate system, and obtaining the first location information of the terminal to be located, includes:

[0016] The relative position parameters are obtained through the channel estimation matrix; the relative position parameters are related to the relative positions of the mobile base station and the terminal to be located.

[0017] The position of the terminal to be positioned in the first coordinate system is obtained based on the relative position parameters;

[0018] The location of the terminal to be located is determined by the position of the mobile base station in the second coordinate system, the position of the terminal to be located in the first coordinate system, and the relationship parameters, thereby obtaining the first location information of the terminal to be located.

[0019] In one embodiment, after locating the terminal to be located using the channel estimation matrix and the position and relationship parameters of the mobile base station in the second coordinate system, and obtaining the first location information of the terminal to be located, the method further includes:

[0020] Preset the travel trajectory of the mobile base station;

[0021] The mobile base station acquires multiple first location information of the terminal to be located at multiple time points along its travel trajectory, and generates a dataset of first location information of the terminal to be located.

[0022] Based on the travel trajectory of the mobile base station and the first location information dataset, the second location information of the terminal to be located is obtained.

[0023] In one embodiment, after locating the terminal to be located using the channel estimation matrix and the position and relationship parameters of the mobile base station in the second coordinate system, and obtaining the first location information of the terminal to be located, the method further includes:

[0024] Predict the area of ​​the terminal to be located and the position of the mobile base station in the second coordinate system at the next moment based on the first location information of the terminal to be located.

[0025] Move the mobile base station to the predicted location of the mobile base station;

[0026] Repeat the above steps until the mobile base station is close enough to the terminal to be located to obtain the third location information of the terminal to be located.

[0027] In one embodiment, when locating a terminal to be located, obtaining the location request information of the terminal to be located includes:

[0028] The mobile base station obtains the location information of the terminal to be located according to the task requirements; or the terminal to be located requests location from the mobile base station, and the mobile base station obtains the location request information of the terminal to be located.

[0029] Secondly, this application also provides a mobile base station positioning device. The device includes:

[0030] The communication establishment module is used to establish a first coordinate system and a second coordinate system, and to obtain the relationship parameters between the first coordinate system and the second coordinate system;

[0031] The information receiving module is used to obtain the positioning request information of the terminal to be located when the terminal to be located is being located.

[0032] The channel estimation module is used to send reference signal resource set configuration information based on the positioning request information, and generate the channel estimation matrix of the terminal to be located based on the detection reference signal returned by the terminal to be located.

[0033] The information processing module is used to locate the terminal to be located by means of the channel estimation matrix and the position and relationship parameters of the mobile base station in the second coordinate system, and to obtain the first position information of the terminal to be located; wherein the first position information is used to determine the position of the terminal to be located.

[0034] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0035] Establish a first coordinate system and a second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system;

[0036] When locating a terminal to be located, obtain the location request information of the terminal to be located;

[0037] Based on the positioning request information, reference signal resource set configuration information is sent, and the channel estimation matrix of the terminal to be located is generated according to the detection reference signal returned by the terminal to be located.

[0038] The terminal to be located is located by means of the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and the first position information of the terminal to be located is obtained; wherein the first position information is used to determine the position of the terminal to be located.

[0039] Fourthly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0040] Establish a first coordinate system and a second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system;

[0041] When locating a terminal to be located, obtain the location request information of the terminal to be located;

[0042] Based on the positioning request information, reference signal resource set configuration information is sent, and the channel estimation matrix of the terminal to be located is generated according to the detection reference signal returned by the terminal to be located.

[0043] The terminal to be located is located by means of the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and the first position information of the terminal to be located is obtained; wherein the first position information is used to determine the position of the terminal to be located.

[0044] Fifthly, this application also provides a computer program product. This computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0045] Establish a first coordinate system and a second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system;

[0046] When locating a terminal to be located, obtain the location request information of the terminal to be located;

[0047] Based on the positioning request information, reference signal resource set configuration information is sent, and the channel estimation matrix of the terminal to be located is generated according to the detection reference signal returned by the terminal to be located.

[0048] The terminal to be located is located by means of the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and the first position information of the terminal to be located is obtained; wherein the first position information is used to determine the position of the terminal to be located.

[0049] Sixthly, this application also provides a mobile base station. The mobile base station includes:

[0050] Airborne mobile devices used to carry base stations;

[0051] Base stations, including antenna arrays, are mounted on mobile devices in the air for positioning purposes.

[0052] In one embodiment, the antenna array is in a horizontal position.

[0053] The aforementioned mobile base station positioning method, apparatus, computer equipment, storage medium, computer program product, and mobile base station establish a first coordinate system and a second coordinate system, and obtain the relationship parameters between the first and second coordinate systems. When positioning a terminal to be located, the method acquires the positioning request information of the terminal to be located. Based on the positioning request information, it sends reference signal resource set configuration information and generates a channel estimation matrix for the terminal to be located based on the detection reference signal returned by the terminal. The method then locates the terminal to be located using the channel estimation matrix, the position of the mobile base station in the second coordinate system, and the relationship parameters, obtaining the first position information of the terminal to be located, which is used to determine the position of the terminal. This method can utilize the high-precision direction finding and ranging capabilities of wireless communication systems to achieve the positioning of terminals within the coverage area. It solves the problem of single-anchor point positioning based on mobile base stations and can be applied to integrated communication and positioning application scenarios based on mobile base stations, directly using wireless communication equipment to transmit and receive positioning signals to achieve positioning functionality. This method can be implemented in typical mountainous areas, disaster areas, battlefields, and environments with severe weather, and can be used for tasks such as personnel search and rescue and nighttime operations using mobile base stations. Attached Figure Description

[0054] Figure 1 This is a flowchart of a mobile base station positioning method in one embodiment;

[0055] Figure 2 This is a schematic diagram illustrating the application of a mobile base station positioning method in one embodiment.

[0056] Figure 3 This is a flowchart illustrating the steps of generating the channel estimation matrix of the terminal to be located based on the location request information in one embodiment.

[0057] Figure 4 This is a flowchart illustrating the steps of locating a terminal and obtaining the terminal's first location information using a channel estimation matrix, the location of a mobile base station in a second coordinate system, and relational parameters.

[0058] Figure 5 A flowchart of a mobile base station positioning method in another embodiment;

[0059] Figure 6 This is a schematic diagram illustrating the application of the mobile base station positioning method in another embodiment;

[0060] Figure 7 A flowchart of a mobile base station positioning method in another embodiment;

[0061] Figure 8 This is a schematic diagram illustrating the application of the mobile base station positioning method in another embodiment;

[0062] Figure 9 This is a flowchart of a mobile base station positioning method in one embodiment;

[0063] Figure 10 A flowchart of a mobile base station positioning method in another embodiment;

[0064] Figure 11 A flowchart of a mobile base station positioning method in another embodiment;

[0065] Figure 12 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0067] The PNT (Positioning, navigation, and timing) system, with GNSS (Global Navigation Satellite System) technology at its core, is constantly evolving, aiming to provide all-weather, full-coverage, highly dynamic, real-time, and differentiated PNT services.

[0068] However, GNSS positioning signals are extremely weak and must receive line-of-sight signals from multiple satellites simultaneously. When some GNSS signals are blocked, it can cause NLOS (Non-light of sight) and multipath phenomena, which seriously affect the accuracy of terminal measurements.

[0069] As 5G communication technology evolves, its new characteristics, such as high bandwidth, low latency, and high frequency, not only significantly improve communication capacity but also bring new opportunities for high-precision positioning based on the 5G system. For example, 5G communication will utilize the millimeter-wave band, whose short wavelength characteristics facilitate the use of large-scale array technology. The sharp beamforming of large-scale antenna technology is more conducive to high-precision direction finding, and the shorter latency requirement of the millimeter-wave band also helps to improve the accuracy of distance measurement.

[0070] The high-precision direction finding capabilities of 5G systems enable mobile base stations equipped with 5G to provide single-site positioning services. Compared to other positioning methods, this cooperative positioning approach is not only more flexible and cost-effective in deployment, but also embodies the integration of communication and positioning. More importantly, mobile base station-based single-site positioning systems are the best supplement to areas where GNSS positioning systems cannot effectively cover. The flexible deployment of mobile base station-based positioning systems allows for applications in emergency rescue scenarios, such as searching for victims while hiking or rescuing people trapped in earthquake-stricken areas. Furthermore, the strong sensing capabilities based on 5G system channel state information can also be applied to environmental sensing scenarios.

[0071] Current methods for locating mobile base stations are mostly based on the calibration of the mobile base station's own location. Research on locating terminals using mobile base stations usually employs visual positioning, but visual positioning has certain limitations.

[0072] The large arrays and high bandwidth of next-generation wireless communication systems make high-precision positioning possible. Since communication coverage based on mobile base stations is an inevitable trend, utilizing communication equipment from mobile base stations to simultaneously provide positioning services is a very promising application.

[0073] Therefore, a basic method for single-site positioning based on mobile base stations is proposed. The mobile base station hovers in the air, and the location coordinates of the terminal within the coverage area are determined through static measurements. Furthermore, a single-site positioning method based on mobile base station trajectory assistance is proposed, which further utilizes the trajectory information of the mobile base station to improve single-site positioning accuracy. Further, a progressive search method for terminal positioning based on mobile base stations is proposed. This method ultimately locks the terminal's location by taking multiple measurements and gradually approaching the terminal.

[0074] In one embodiment, such as Figure 1 As shown, a mobile base station positioning method is provided. This embodiment illustrates the application of this method to a base station. It can be understood that, for example, this method can be applied to... Figure 2 In the environment shown, a mobile base station is launched and hovers. Its communication base station effectively covers a certain area below. The mobile base station carries an antenna array, which enhances communication signal transmission through array signal processing technology. The mobile base station, combined with inertial navigation systems, vision, and gimbal technology, ensures the antenna array is horizontal, meaning its normal is vertical and points towards the ground. The mobile base station locates the terminal 202 to be located. This method is for scenarios where GNSS signals cannot effectively cover the area. This method can also be applied to servers, and to systems including terminals and servers, and is implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0075] Step 102: Establish the first coordinate system and the second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system.

[0076] In one embodiment, the first coordinate system has the center of the mobile base station as the origin, the orientation of the mobile base station as the positive x-axis, and the normal of the mobile base station as the positive z-axis.

[0077] In one embodiment, the second coordinate system is the global coordinate system in which the three-dimensional object is located.

[0078] In one embodiment, the relationship parameters between the first coordinate system and the second coordinate system include the rotation angle required to transform from the first coordinate system to the second coordinate system and the transformation matrix for transforming coordinate values ​​in the first coordinate system to coordinate values ​​in the second coordinate system.

[0079] In one embodiment, (α, β, γ) represents the angle of rotation required to transform from the first coordinate system to the second coordinate system, γ represents the angle of counterclockwise rotation around the z-axis, β represents the angle of counterclockwise rotation around the x-axis, and α represents the angle of counterclockwise rotation around the y-axis.

[0080] In one embodiment, R represents the transformation matrix that transforms coordinate values ​​from the first coordinate system to coordinate values ​​in the second coordinate system.

[0081] In one embodiment, the mobile base station is a mobile device, such as a vehicle, ship, or drone, equipped with a communication base station that has positioning capabilities. The base station is equipped with an antenna array, which enhances communication signal transmission through array signal processing technology. The mobile base station combines inertial navigation, vision, and gimbal technologies to ensure that the antenna array is in a horizontal position, i.e., the antenna array normal is perpendicular to the ground.

[0082] In one embodiment, the mobile base station establishes a communication link with the terminal to be located.

[0083] Step 104: When locating the terminal to be located, obtain the location request information of the terminal to be located.

[0084] In one embodiment, the terminal to be located requests location from the mobile base station, or the mobile base station needs to obtain the location information of the terminal to be located according to task requirements.

[0085] Step 106: Send reference signal resource set configuration information based on the positioning request information, and generate the channel estimation matrix of the terminal to be located based on the detection reference signal returned by the terminal to be located.

[0086] In one embodiment, the mobile base station configures an uplink reference signal resource set according to the terminal's positioning requirements and sends the reference signal resource set configuration information to the terminal.

[0087] In one embodiment, the terminal to be located receives reference signal resource set configuration information and sends an SRS (Sounding Reference Signal) signal according to the configuration information.

[0088] In one embodiment, the mobile base station receives SRS signals from various terminals, processes the received SRS signals, and estimates the channel estimation matrix H for different terminals. i H i This represents the channel estimation matrix received by the mobile base station for the i-th terminal to be located.

[0089] In one embodiment, the channel estimation matrix H i This represents the wireless channel coefficient from the terminal antenna to the antenna array of the airborne mobile device base station.

[0090] Step 108: Locate the terminal to be located using the channel estimation matrix and the position and relationship parameters of the mobile base station in the second coordinate system, and obtain the first location information of the terminal to be located; wherein the first location information is used to determine the location of the terminal to be located.

[0091] In one embodiment, the mobile base station obtains the azimuth angle φ of the terminal relative to the mobile base station from the channel estimation matrix. i With pitch angle θ i The distance d between the terminal to be located and the mobile base station i , where φ i θ represents the azimuth angle of the i-th terminal to be located, received by the mobile base station. i d represents the pitch angle of the i-th terminal to be located received by the mobile base station. i This represents the distance between the i-th terminal to be located and the mobile base station.

[0092] In one embodiment, the mobile base station calculates the three-dimensional coordinates of the terminal to be located in the first coordinate system based on the estimation results. Where subscript L represents the first coordinate system and subscript T represents the terminal to be located.

[0093] In one embodiment, the mobile base station obtains its coordinates in a second coordinate system. Where subscript G represents the second coordinate system and subscript D represents the mobile base station.

[0094] In one embodiment, the mobile base station is based on its coordinates in a second coordinate system. The coordinates of the terminal are calculated by using the angles (α, β, γ) required for the transformation from the first coordinate system to the second coordinate system.

[0095] In one embodiment, the first location information may be used to determine the location of the terminal to be located, which may be used to make the location of the terminal to be located measured by the mobile base station more accurate.

[0096] The aforementioned mobile base station positioning method utilizes the high-precision direction finding and ranging capabilities of wireless communication systems to locate terminals within the coverage area. It is particularly applicable to integrated communication and positioning application scenarios based on mobile base stations, directly using wireless communication equipment to transmit and receive positioning signals to achieve positioning functions. Mobile base stations can be used for tasks such as personnel search and rescue in typical mountainous areas, disaster areas, battlefields, nighttime, and extreme weather conditions.

[0097] In one embodiment, when locating a terminal to be located, obtaining the location request information of the terminal to be located includes:

[0098] The mobile base station obtains the location information of the terminal to be located according to the task requirements; or the terminal to be located requests location from the mobile base station, and the mobile base station obtains the location request information of the terminal to be located.

[0099] In one embodiment, the mobile base station may obtain the location information of the terminal to be located according to the task requirements, or the terminal to be located may request location from the mobile base station, thereby allowing the mobile base station to obtain the location information of the terminal to be located.

[0100] In one embodiment, such as Figure 3 As shown, the process of sending reference signal resource set configuration information based on the positioning request information and generating the channel estimation matrix of the terminal to be located based on the detection reference signal returned by the terminal to be located includes:

[0101] Step 302: Send reference signal resource set configuration information to the terminal to be located based on the positioning request information.

[0102] In one embodiment, the mobile base station configures an uplink reference signal resource set according to the terminal's positioning accuracy, positioning time, and other requirements, and sends the reference signal resource set configuration information to the terminal.

[0103] Step 304: Receive the detection reference signal; the detection reference signal is a signal sent by the terminal to be located according to the configuration information.

[0104] In one embodiment, the terminal to be located receives reference signal resource set configuration information and, based on the configuration information, sends an SRS signal on a determined time-frequency resource.

[0105] Step 306: Generate the channel estimation matrix of the terminal to be located based on the detection reference signal.

[0106] In one embodiment, the mobile base station receives SRS signals from various terminals and, in conjunction with known configuration information, processes the received SRS signals to estimate the channel estimation matrix H for different terminals. i .

[0107] In one embodiment, the channel estimation matrix H for different terminals is estimated using methods such as least squares or least mean square error. i .

[0108] In this embodiment, reference signal resource set configuration information is sent to the terminal to be located based on the positioning request information; a detection reference signal is received; the detection reference signal is a signal sent by the terminal to be located according to the configuration information; based on the detection reference signal, a channel estimation matrix of the terminal to be located is generated, which can prepare for obtaining information such as the azimuth angle, elevation angle, and distance between the terminal and the center of the mobile base station antenna array from the channel estimation matrix.

[0109] In one embodiment, such as Figure 4 As shown, the terminal to be located is located using the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and the first location information of the terminal to be located includes:

[0110] Step 402: Obtain the relative position parameters through the channel estimation matrix; the relative position parameters are related to the relative positions of the mobile base station and the terminal to be located.

[0111] In one embodiment, the mobile base station uses array direction finding techniques to obtain information from the channel estimation matrix H. i The azimuth angle φ of the terminal relative to the mobile base station is obtained from the data. i With pitch angle θ i .

[0112] In one embodiment, the azimuth angle φ is calculated in the first coordinate system. i With pitch angle θ i .

[0113] In one embodiment, this array direction finding technology can be used for digital beamforming, fast Fourier transform, multiple signal classification, analog beam direction finding, and other technologies.

[0114] In one embodiment, the mobile base station uses ranging technology to detect H i The distance d between the terminal and the mobile base station is obtained. i .

[0115] In one embodiment, the ranging technology can be applied to techniques such as digital beamforming, fast Fourier transform, and multiple signal classification.

[0116] Step 404: Obtain the position of the terminal to be positioned in the first coordinate system based on the relative position parameters.

[0117] In one embodiment, the mobile base station calculates the three-dimensional coordinates of the terminal to be located in the first coordinate system based on the estimation results. This coordinate can be represented as:

[0118]

[0119] Where, d i φ is the distance between the terminal and the mobile base station. i Let θ be the azimuth angle of the terminal relative to the mobile base station. i This refers to the pitch angle of the terminal relative to the mobile base station.

[0120] Step 406: Locate the terminal to be located by using the position of the mobile base station in the second coordinate system, the position of the terminal to be located in the first coordinate system, and the relationship parameters, and obtain the first location information of the terminal to be located.

[0121] In one embodiment, the mobile base station obtains its coordinates in a second coordinate system.

[0122] In one embodiment, the mobile base station is based on its coordinates in a second coordinate system. The coordinates of the terminal are calculated by using the angles (α, β, γ) required for the transformation from the first coordinate system to the second coordinate system.

[0123] In one embodiment, the mobile base station calculates the location of the mobile terminal according to the following formula.

[0124]

[0125] Where R is the transformation matrix that transforms the coordinate values ​​in the first coordinate system to the coordinate values ​​in the second coordinate system.

[0126] In one embodiment, because the system of equations is highly nonlinear, an optimization algorithm is required to solve it. When the mobile base station is horizontal, with angle α being 0 and angle β being π, the system of equations can be further simplified, and the position of the terminal to be located can be solved using the least squares method.

[0127] In this embodiment, relative position parameters are obtained through the channel estimation matrix. These relative position parameters are related to the relative positions of the mobile base station and the terminal to be located. The position of the terminal to be located in the first coordinate system is obtained based on the relative position parameters. The terminal is located using the position of the mobile base station in the second coordinate system, the position of the terminal to be located in the first coordinate system, and related parameters, thus obtaining the terminal's first position information. By obtaining the terminal's relative position parameters from the channel estimation matrix and utilizing the mobile base station's own position information, the problem of single-anchor-point positioning based on the mobile base station is solved.

[0128] Due to the limitations of mobile base station equipment performance, simple direction finding and ranging functions cannot obtain accurate measurement results, especially in non-line-of-sight situations where accurate line-of-sight measurements cannot be obtained. Therefore, it is necessary to introduce a predetermined trajectory-assisted method to enhance positioning performance.

[0129] In one embodiment, optionally, such as Figure 5 As shown, a flowchart of a mobile base station positioning method in another embodiment is provided. Figure 6 The diagram illustrates the application of the mobile base station positioning method in this embodiment. The mobile base station is launched and hovers, its communication function effectively covering a certain area below. The antenna array mounted on the mobile base station utilizes inertial navigation systems, vision, and gimbal technology to ensure the array remains horizontal, i.e., the array normal is vertical and points towards the ground. The mobile base station travels along a preset track. For example, the mobile base station moves from position 602 at time t-3 to position 604 at time t-2, position 606 at time t-1, and finally to position 608 at time t. This allows the acquisition of terminal location data at multiple points in time along the trajectory, making the acquired terminal location information more accurate.

[0130] In one embodiment, such as Figure 5 As shown, after locating the terminal to be located using the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and obtaining the first location information of the terminal to be located, the process further includes:

[0131] Step 502: Preset the travel trajectory of the mobile base station.

[0132] In one embodiment, the mobile base station determines its travel trajectory based on its location information at time t, and sets up repeated measurement steps at the predetermined trajectory location to measure the terminal coordinates multiple times.

[0133] Step 504: The mobile base station acquires multiple first location information of the terminal to be located at multiple time points along the travel trajectory, and generates a first location information dataset of the terminal to be located.

[0134] In one embodiment, the mobile base station obtains the measurement dataset. in Let t be the coordinates of the terminal location measured by the mobile base station at time t.

[0135] In one embodiment, a first location information dataset for the terminal is generated based on the location of the mobile base station at each measurement point and the first location information from multiple measurements.

[0136] In one embodiment, the location of the terminal to be located remains basically unchanged during multiple measurements by the mobile base station, which is equivalent to locating the terminal by multiple mobile base stations.

[0137] In one embodiment, the location of the terminal to be located may be movable or remain substantially unchanged, and this is not limited thereto.

[0138] In one embodiment, the mobile base station may apply signal identification technology to eliminate abnormal measurement values; abnormal measurement values ​​include measurements that are eliminated at non-line-of-sight using non-line-of-sight identification methods.

[0139] Step 506: Obtain the second location information of the terminal to be located based on the travel trajectory of the mobile base station and the first location information dataset.

[0140] In one embodiment, a mobile base station uses a fusion algorithm to solve for the terminal's second location information.

[0141] In one embodiment, the second location information includes the location information of the terminal to be located, obtained by applying the first location information dataset.

[0142] In one embodiment, the mobile base station obtains the second location information of the terminal to be located based on multiple first location information, and the second location information is more accurate than the first location information.

[0143] In one embodiment, the mobile base station receives SRS signals from various terminals at time t, processes the received SRS signals, and estimates the channel estimation matrix H for different terminals. i,t H i,t This represents the channel estimation matrix received by the mobile base station at time t for the i-th terminal to be located.

[0144] In one embodiment, the channel estimation matrix H i,t This represents the wireless channel coefficient from the terminal antenna to the antenna array of the airborne mobile device base station.

[0145] In one embodiment, the mobile base station uses array direction finding techniques to obtain information from the channel estimation matrix H. i,t The azimuth angle φ of the terminal relative to the mobile base station is obtained from the data. i，t With pitch angle θ i，t This angle is obtained in the first coordinate system, where φi，t θ represents the azimuth angle of the i-th terminal to be located relative to the mobile base station at time t. i，t This represents the elevation angle of the i-th terminal to be located relative to the mobile base station, received by the mobile base station at time t.

[0146] In one embodiment, the mobile base station uses ranging technology to detect H i,t The distance d between the terminal and the mobile base station is obtained. i,t , where d i,t This represents the distance between the i-th terminal to be located and the mobile base station, as received by the mobile base station at time t.

[0147] In one embodiment, the mobile base station calculates the three-dimensional coordinates of the terminal to be located in the first coordinate system based on the estimation results. This coordinate can be represented as:

[0148]

[0149] Where, d i,t φ is the distance between the terminal and the mobile base station. i，t Let θ be the azimuth angle of the terminal relative to the mobile base station. i，t This refers to the pitch angle of the terminal relative to the mobile base station.

[0150] In one embodiment, the mobile base station obtains its coordinates in a second coordinate system.

[0151] In one embodiment, the mobile base station is based on its coordinates in a second coordinate system. The angle (α) represents the rotation required to transform from the first coordinate system to the second coordinate system. t ,β t γ t The coordinates of the terminal are calculated.

[0152] In one embodiment, (α) t ,β t γ t ) represents the angle of rotation required to transform from the first coordinate system to the second coordinate system, γ. t β represents the angle of counterclockwise rotation about the z-axis. t α represents the angle of counterclockwise rotation about the x-axis. t It represents the angle of counterclockwise rotation around the y-axis.

[0153] In one embodiment, the mobile base station calculates the location of the mobile terminal according to the following formula.

[0154]

[0155] Among them, R t The transformation matrix for converting coordinate values ​​from the first coordinate system to the second coordinate system can be represented as follows:

[0156] In one embodiment, since the system of equations is highly nonlinear, an optimization algorithm is required to solve it. When the array is horizontal, α t Angle is 0, β t If the angle is π, the system of equations can be further simplified, and the position of the terminal to be located can be solved by the least squares method.

[0157] In this embodiment, a preset travel trajectory of a mobile base station is used. The mobile base station acquires multiple first location information of the terminal to be located at multiple time points along the travel trajectory, generating a first location information dataset of the terminal to be located. Based on the travel trajectory of the mobile base station and the first location information dataset, second location information of the terminal to be located is obtained. By measuring multiple times along the preset trajectory, the accuracy of the measurement results of the mobile base station is improved based on the multiple acquisitions of the first location information.

[0158] Since the mission requires the mobile base station to eventually approach and lock onto the terminal to be located, the mobile base station needs to measure the terminal coordinates multiple times in an asymptotic manner. Each measurement narrows the target area based on the previous measurement result, and after each measurement, the trajectory of approaching the mobile terminal is calculated based on the current result until the mobile base station is close enough to the terminal.

[0159] In one embodiment, optionally, such as Figure 7 As shown, a flowchart of a mobile base station positioning method in another embodiment is provided. Figure 8 This is a schematic diagram illustrating the application of the mobile base station positioning method in this embodiment. Further, a progressive terminal search method is provided. The mobile base station is currently airborne and hovering, its communication function effectively covering a certain area below. The antenna array mounted on the mobile base station can utilize inertial navigation systems, vision, and gimbal technology to ensure the array is in a horizontal state, i.e., the array normal is vertical and points towards the ground. For example, the mobile base station moves from position 802 (hovering position t1) to position 804 (hovering position t2), and then to position 806 (hovering position t3), continuously adjusting the hovering position of the mobile base station to approach the terminal to be located.

[0160] In one embodiment, such as Figure 7 As shown, after locating the terminal to be located using the channel estimation matrix, the position and relationship parameters of the mobile base station in the second coordinate system, and obtaining the first location information of the terminal to be located, the process further includes:

[0161] Step 702: Predict the area of ​​the terminal to be located and the position of the mobile base station in the second coordinate system at the next moment based on the first location information of the terminal to be located.

[0162] In one embodiment, the mobile base station determines the region S where the terminal is located based on the location information at time t. area (t), calculate the hovering position of the mobile base station at the next time step (i.e., time t+1).

[0163] In one embodiment, the mobile base station can effectively identify obstacles ahead using technologies such as vision, thereby avoiding collisions with obstacles. Simultaneously, based on the obstacle information, it can generate the next hovering position of the mobile base station.

[0164] In one embodiment, a mobile base station may apply signal identification technology to eliminate abnormal measurements, such as applying non-line-of-sight identification methods to eliminate measurements taken at non-line-of-sight distances.

[0165] Step 704: Move the mobile base station to the predicted location of the mobile base station.

[0166] In one embodiment, the mobile base station travels to a predetermined location.

[0167] Step 706: Repeat the above steps until the mobile base station is close enough to the terminal to be located to obtain the third location information of the terminal to be located.

[0168] In one embodiment, the third location information includes the location information of the terminal to be located, obtained by moving a mobile base station to a position sufficiently close to the terminal to be located.

[0169] In one embodiment, the mobile base station determines the hovering position at the next moment based on the first location information until it is close enough to the terminal to be located, and obtains the third location information of the terminal to be located. The third location information is more accurate than the first location information.

[0170] In one embodiment, the mobile base station repeats the above steps until it is close enough to the terminal.

[0171] In one embodiment, the mobile base station receives SRS signals from terminals at time t, processes the received SRS signals, and estimates the channel estimation matrix H for different terminals. t H t This represents the channel estimation matrix of the terminal to be located received by the mobile base station at time t.

[0172] In one embodiment, the channel estimation matrix H t This represents the wireless channel coefficient from the terminal antenna to the antenna array of the airborne mobile device base station.

[0173] In one embodiment, the mobile base station uses array direction finding techniques to obtain information from the channel estimation matrix H. t The azimuth angle φ of the terminal relative to the mobile base station is obtained from the data. t With pitch angle θ t This angle is calculated in the first coordinate system, where φ t θ represents the azimuth angle of the terminal to be located received by the mobile base station at time t. t This represents the elevation angle of the terminal to be located received by the mobile base station at time t.

[0174] In one embodiment, the mobile base station uses ranging technology to detect H t The distance d between the terminal and the mobile base station is obtained. t , where d t This represents the distance between the target terminal and the mobile base station as received by the mobile base station at time t.

[0175] In one embodiment, the mobile base station calculates the three-dimensional coordinates of the terminal to be located in the first coordinate system based on the estimation results. This coordinate can be represented as:

[0176]

[0177] Where, d t φ is the distance between the terminal and the mobile base station. t Let θ be the azimuth angle of the terminal relative to the mobile base station. t This refers to the pitch angle of the terminal relative to the mobile base station.

[0178] In one embodiment, the mobile base station obtains its coordinates in a second coordinate system.

[0179] In one embodiment, the mobile base station is based on its coordinates in a second coordinate system. The angle (α) represents the rotation required to transform from the first coordinate system to the second coordinate system. t ,β t γ t The coordinates of the terminal are calculated.

[0180] In one embodiment, (α) t ,β t γ t ) represents the angle of rotation required to transform from the first coordinate system to the second coordinate system, γ. t β represents the angle of counterclockwise rotation about the z-axis. t α represents the angle of counterclockwise rotation about the x-axis. t It represents the angle of counterclockwise rotation around the y-axis.

[0181] In one embodiment, the mobile base station calculates the location of the mobile terminal according to the following formula.

[0182]

[0183] Among them, R t The transformation matrix for converting coordinate values ​​from the first coordinate system to the second coordinate system can be represented as follows:

[0184] In one embodiment, since the system of equations is highly nonlinear, an optimization algorithm is required to solve it. When the array is horizontal, α t Angle is 0, β t If the angle is π, the system of equations can be further simplified, and the position of the terminal to be located can be solved by the least squares method.

[0185] In one embodiment, both the second and third location information are based on the first location information and are more accurate than the first location information. However, the methods for obtaining the second and third location information are different. The second location information is obtained by the mobile base station after acquiring multiple first location information and generating a first location information dataset based on the multiple first location information. The third location information is obtained by the mobile base station continuously approaching the terminal to be located based on the first location information until it is close enough to the terminal to be located.

[0186] In this embodiment, the region of the terminal to be located and the position of the mobile base station in the second coordinate system at the next moment are predicted based on the first location information of the terminal to be located; the mobile base station is moved to the predicted position of the mobile base station; the above steps are repeated until the mobile base station is close enough to the terminal to be located, and the third location information of the terminal to be located is obtained. The region where the terminal is located is determined by the first location information, and the target region is continuously narrowed down by multiple calculations until the mobile base station is close enough to the terminal to be located, so that the measurement results are more accurate.

[0187] In one embodiment, a mobile base station is provided, comprising:

[0188] Airborne mobile devices used to carry base stations;

[0189] Base stations, including antenna arrays, are mounted on mobile devices in the air for positioning purposes.

[0190] In one embodiment, the aerial mobile device includes a drone.

[0191] In one embodiment, the antenna array of the mobile base station is horizontal. For example, the mobile base station is equipped with a communication base station with positioning capabilities. This base station has an antenna array that ensures the array is perfectly horizontal by combining an inertial navigation system with visual gimbal technology. The base station exchanges information with a fixed data exchange center via wireless backhaul. The mobile base station can provide positioning services to terminals within its effective coverage area.

[0192] For scenarios where GNSS signals cannot effectively cover the area, this invention provides a mobile base station positioning method, device, computer equipment, storage medium, computer program product, and mobile base station. The location of the mobile base station itself can be obtained using technologies such as movable or fixed positioning anchor points, vision, and inertial navigation systems, and its location can be a relative or absolute coordinate position.

[0193] In one embodiment, such as Figure 9 As shown, a mobile base station positioning method is provided, which includes the following steps:

[0194] Step 902: Establish the first coordinate system and the second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system.

[0195] Step 904: The mobile base station obtains the location information of the terminal to be located according to the task requirements; or the terminal to be located requests location from the mobile base station, and the mobile base station obtains the location request information of the terminal to be located.

[0196] Step 906: Send reference signal resource set configuration information to the terminal to be located based on the positioning request information.

[0197] Step 908: Receive the detection reference signal; the detection reference signal is a signal sent by the terminal to be located according to the configuration information.

[0198] Step 910: Generate the channel estimation matrix of the terminal to be located based on the probe reference signal.

[0199] Step 912: Obtain the relative position parameters through the channel estimation matrix; the relative position parameters are related to the relative positions of the mobile base station and the terminal to be located.

[0200] Step 914: Obtain the position of the terminal to be positioned in the first coordinate system based on the relative position parameters.

[0201] Step 916: Locate the terminal to be located by using the position of the mobile base station in the second coordinate system, the position of the terminal to be located in the first coordinate system, and the relationship parameters, and obtain the first location information of the terminal to be located.

[0202] In another embodiment, such as Figure 10As shown, a mobile base station positioning method is provided, which includes the following steps:

[0203] Step 1002: Establish the first coordinate system and the second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system.

[0204] Step 1004: The mobile base station obtains the location information of the terminal to be located according to the task requirements; or the terminal to be located requests location from the mobile base station, and the mobile base station obtains the location request information of the terminal to be located.

[0205] Step 1006: Send reference signal resource set configuration information to the terminal to be located based on the positioning request information.

[0206] Step 1008: Receive the detection reference signal; the detection reference signal is a signal sent by the terminal to be located according to the configuration information.

[0207] Step 1010: Generate the channel estimation matrix of the terminal to be located based on the detection reference signal.

[0208] Step 1012: Obtain the relative position parameters through the channel estimation matrix; the relative position parameters are related to the relative positions of the mobile base station and the terminal to be located.

[0209] Step 1014: Obtain the position of the terminal to be positioned in the first coordinate system based on the relative position parameters.

[0210] Step 1016: Locate the terminal by using the location of the mobile base station in the second coordinate system, the location of the terminal to be located in the first coordinate system, and the relationship parameters, and obtain the first location information of the terminal.

[0211] Step 1018: Preset the travel trajectory of the mobile base station.

[0212] Step 1020: The mobile base station acquires multiple first location information of the terminal to be located at multiple time points along the travel trajectory, and generates a first location information dataset of the terminal to be located.

[0213] Step 1022: Obtain the second location information of the terminal to be located based on the travel trajectory of the mobile base station and the first location information dataset.

[0214] In another embodiment, such as Figure 11 As shown, a mobile base station positioning method is provided, which includes the following steps:

[0215] Step 1102: Establish the first coordinate system and the second coordinate system, and obtain the relationship parameters between the first coordinate system and the second coordinate system.

[0216] Step 1104: The mobile base station obtains the location information of the terminal to be located according to the task requirements; or the terminal to be located requests location from the mobile base station, and the mobile base station obtains the location request information of the terminal to be located.

[0217] Step 1106: Send reference signal resource set configuration information to the terminal to be located based on the positioning request information.

[0218] Step 1108: Receive the detection reference signal; the detection reference signal is a signal sent by the terminal to be located according to the configuration information.

[0219] Step 1110: Generate the channel estimation matrix of the terminal to be located based on the probe reference signal.

[0220] Step 1112: Obtain the relative position parameters through the channel estimation matrix; the relative position parameters are related to the relative positions of the mobile base station and the terminal to be located.

[0221] Step 1114: Obtain the position of the terminal to be positioned in the first coordinate system based on the relative position parameters.

[0222] Step 1116: Locate the terminal by using the position of the mobile base station in the second coordinate system, the position of the terminal to be located in the first coordinate system, and the relationship parameters, and obtain the first location information of the terminal.

[0223] Step 1118: Predict the region of the terminal and the position of the mobile base station in the second coordinate system at the next moment based on the terminal's first location information.

[0224] Step 1120: Move the mobile base station to the predicted location of the mobile base station.

[0225] Step 1122: Repeat the above steps until the mobile base station is close enough to the terminal to be located to obtain the terminal's third location information.

[0226] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0227] Based on the same inventive concept, this application also provides a mobile base station positioning device for implementing the mobile base station positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the mobile base station positioning device provided below can be found in the limitations of the mobile base station positioning method described above, and will not be repeated here.

[0228] In one embodiment, a mobile base station positioning device is provided, comprising: a communication establishment module, an information receiving module, a channel estimation module, and an information processing module, wherein:

[0229] The communication establishment module is used to establish a first coordinate system and a second coordinate system, and to obtain the relationship parameters between the first coordinate system and the second coordinate system;

[0230] The information receiving module is used to obtain the positioning request information of the terminal to be located when the terminal to be located is being located.

[0231] The channel estimation module is used to send reference signal resource set configuration information based on the positioning request information, and generate the channel estimation matrix of the terminal to be located based on the detection reference signal returned by the terminal to be located.

[0232] The information processing module is used to locate the terminal to be located by means of the channel estimation matrix and the position and relationship parameters of the mobile base station in the second coordinate system, and to obtain the first position information of the terminal to be located; wherein the first position information is used to determine the position of the terminal to be located.

[0233] In one embodiment, the information receiving module is further configured to allow the mobile base station to obtain the location information of the terminal to be located according to the task requirements; or for the terminal to be located to request location from the mobile base station, and for the mobile base station to obtain the location request information of the terminal to be located.

[0234] In one embodiment, the channel estimation module is further configured to send reference signal resource set configuration information to the terminal to be located based on the positioning request information; receive a probe reference signal; the probe reference signal is a signal sent by the terminal to be located according to the configuration information; and generate a channel estimation matrix for the terminal to be located based on the probe reference signal.

[0235] In one embodiment, the information processing module is further configured to obtain relative position parameters through a channel estimation matrix; the relative position parameters are related to the relative positions of the mobile base station and the terminal to be located; obtain the position of the terminal to be located in a first coordinate system based on the relative position parameters; locate the terminal by means of the base station position of the mobile base station in a second coordinate system, the position of the terminal to be located in the first coordinate system, and the relationship parameters, thereby obtaining the first position information of the terminal.

[0236] In one embodiment, the information processing module is further configured to preset the travel trajectory of the mobile base station; the mobile base station acquires multiple first location information of the terminal to be located at multiple time points on the travel trajectory, and generates a first location information dataset of the terminal to be located; and acquires second location information of the terminal to be located based on the travel trajectory of the mobile base station and the first location information dataset.

[0237] In one embodiment, the information processing module is further configured to predict the region of the terminal and the position of the mobile base station in the second coordinate system at the next moment based on the terminal's first location information; move the mobile base station to the predicted position of the mobile base station; repeat the above steps until the mobile base station is close enough to the terminal to be located, and obtain the terminal's third location information.

[0238] Each module in the aforementioned mobile base station positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0239] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 12 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi (Wireless Fidelity), mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a mobile base station positioning method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0240] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0241] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0242] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0243] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0244] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0245] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0246] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0247] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A mobile base station positioning method, characterized by, The method comprises: establishing a first coordinate system and a second coordinate system, and obtaining a relationship parameter between the first coordinate system and the second coordinate system; the relationship parameter comprises a conversion matrix for converting a coordinate value in the first coordinate system into a coordinate value in the second coordinate system; in the case of positioning a terminal to be positioned, obtaining positioning request information of the terminal to be positioned; based on the positioning request information, sending reference signal resource set configuration information, and generating a channel estimation matrix of the terminal to be positioned according to a sounding reference signal returned by the terminal to be positioned; positioning the terminal to be positioned by using the channel estimation matrix, the position of the movable base station in the second coordinate system, and the relationship parameter, and obtaining first position information of the terminal to be positioned; wherein the first position information is used to determine the position of the terminal to be positioned; the positioning of the terminal to be positioned by using the channel estimation matrix, the position of the movable base station in the second coordinate system, and the relationship parameter, and the obtaining of the first position information of the terminal to be positioned comprise: obtaining a relative position parameter by using the channel estimation matrix; the relative position parameter is related to the relative position of the movable base station and the terminal to be positioned; obtaining the position of the terminal to be positioned in the first coordinate system according to the relative position parameter; positioning the terminal to be positioned by using the position of the movable base station in the second coordinate system, the position of the terminal to be positioned in the first coordinate system, and the relationship parameter, and obtaining the first position information of the terminal to be positioned.

2. The method of claim 1, wherein, the sending of the reference signal resource set configuration information based on the positioning request information, and the generation of the channel estimation matrix of the terminal to be positioned according to the sounding reference signal returned by the terminal to be positioned comprise: sending the reference signal resource set configuration information to the terminal to be positioned based on the positioning request information; receiving a sounding reference signal; the sounding reference signal is a signal sent by the terminal to be positioned according to the configuration information; generating the channel estimation matrix of the terminal to be positioned based on the sounding reference signal.

3. The method of claim 1, wherein, after the positioning of the terminal to be positioned by using the channel estimation matrix, the position of the movable base station in the second coordinate system, and the relationship parameter, and the obtaining of the first position information of the terminal to be positioned, the method further comprises: presetting a travel trajectory of the movable base station; obtaining a plurality of first position information of the terminal to be positioned at a plurality of time points on the travel trajectory of the movable base station, and generating a first position information data set of the terminal to be positioned; obtaining second position information of the terminal to be positioned according to the travel trajectory of the movable base station and the first position information data set.

4. The method of claim 1, wherein, after the positioning of the terminal to be positioned by using the channel estimation matrix, the position of the movable base station in the second coordinate system, and the relationship parameter, and the obtaining of the first position information of the terminal to be positioned, the method further comprises: predicting an area of the terminal to be positioned and a position of the movable base station in the second coordinate system at the next time point according to the first position information of the terminal to be positioned; moving the movable base station to the predicted position of the movable base station; repeating the above steps until the movable base station is close enough to the terminal to be positioned, and obtaining third position information of the terminal to be positioned.

5. The method of claim 1, wherein, The obtaining of the positioning request information of the terminal to be positioned comprises: The mobile base station obtains the position information of the terminal to be positioned according to a task requirement, or the terminal to be positioned requests positioning from the mobile base station, and the mobile base station obtains the positioning request information of the terminal to be positioned.

6. A mobile base station positioning apparatus, characterized by comprising: The device comprises: The communication establishment module is configured to establish a first coordinate system and a second coordinate system, and obtain a relationship parameter between the first coordinate system and the second coordinate system; the relationship parameter comprises a conversion matrix for converting a coordinate value in the first coordinate system into a coordinate value in the second coordinate system; The information receiving module is configured to obtain the positioning request information of the terminal to be positioned in the case of positioning the terminal to be positioned; The channel estimation module is configured to send reference signal resource set configuration information based on the positioning request information, and generate a channel estimation matrix of the terminal to be positioned according to a sounding reference signal returned by the terminal to be positioned; The information processing module is configured to position the terminal to be positioned by using the channel estimation matrix, the position of the mobile base station in the second coordinate system, and the relationship parameter, and obtain first position information of the terminal to be positioned; the first position information is used to determine the position of the terminal to be positioned. The information processing module is further configured to obtain a relative position parameter by using the channel estimation matrix; the relative position parameter is related to the relative position of the mobile base station and the terminal to be positioned; the position of the terminal to be positioned in the first coordinate system is obtained according to the relative position parameter; the terminal to be positioned is positioned by using the position of the mobile base station in the second coordinate system, the position of the terminal to be positioned in the first coordinate system, and the relationship parameter, and the first position information of the terminal to be positioned is obtained. 7.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-6 when the computer program is executed by the processor. The processor, when executing the computer program, implements the steps of the method in any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method in any one of claims 1 to 5.

9. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method in any one of claims 1 to 5.

10. A mobile base station, characterized by comprising: Comprise: An aerial mobile device for carrying a base station; The base station comprises an antenna array and is carried on the aerial mobile device and is used for positioning; The mobile base station is configured to: establish a first coordinate system and a second coordinate system, and obtain a relationship parameter between the first coordinate system and the second coordinate system; the relationship parameter comprises a conversion matrix for converting a coordinate value in the first coordinate system into a coordinate value in the second coordinate system; obtain the positioning request information of the terminal to be positioned in the case of positioning the terminal to be positioned; send reference signal resource set configuration information based on the positioning request information, and generate a channel estimation matrix of the terminal to be positioned according to a sounding reference signal returned by the terminal to be positioned; position the terminal to be positioned by using the channel estimation matrix, the position of the mobile base station in the second coordinate system, and the relationship parameter, and obtain first position information of the terminal to be positioned; The first position information is used to determine the position of the terminal to be positioned. The first position information is used to determine the position of the terminal to be positioned. The positioning of the terminal to be positioned by the relationship parameter and the position of the mobile base station in the second coordinate system through the channel estimation matrix obtains the first position information of the terminal to be positioned. A relative position parameter is obtained through the channel estimation matrix, and the relative position parameter is related to the relative position of the mobile base station and the terminal to be positioned. The position of the terminal to be positioned in the first coordinate system is obtained according to the relative position parameter. The terminal to be positioned is positioned by the relationship parameter and the position of the mobile base station in the second coordinate system, and the first position information of the terminal to be positioned is obtained.

11. The mobile base station of claim 10, wherein, The antenna array is in a horizontal state.

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