A terminal positioning method, device and storage medium

Abstract

The application provides a terminal positioning method, device and storage medium, and relates to an emergency communication base station terminal positioning technology. The method comprises the following steps: an unmanned aerial vehicle emergency base station acquires a flight route and a hovering position; the unmanned aerial vehicle emergency base station searches for a terminal according to the flight route and goes to the hovering position; the unmanned aerial vehicle emergency base station acquires unmanned aerial vehicle position information; the unmanned aerial vehicle emergency base station acquires terminal coding information, signal strength and signal receiving and sending time difference of the terminal; a three-dimensional positioning system acquires the unmanned aerial vehicle position information, the terminal coding information, the signal strength and the signal receiving and sending time difference in real time; and the three-dimensional positioning system acquires terminal position information according to the unmanned aerial vehicle position information, the terminal coding information, the signal strength and the signal receiving and sending time difference. According to the method, the communication base station is not limited by position and power resources, and the positioning of terminal equipment is realized in a disaster site, so that the emergency rescue capability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to terminal positioning technology, and in particular to a terminal positioning method, device and storage medium. BACKGROUND

[0002] The positioning of the terminal device can be achieved by acquiring the terminal position information through satellite positioning and signal strength testing with the aid of the communication base station, and by monitoring the mobile terminal through the positioning device. After the deployment of the communication base station and the positioning device, the information sent by the terminal is received, and the accurate positioning of the terminal device is realized through the positioning analysis algorithm.

[0003] However, the above-mentioned terminal positioning method needs the aid of the communication base station and the positioning device. When natural disasters occur and power is interrupted, the communication base station and the positioning device are damaged or cannot be powered, which results in that the rescue personnel cannot realize wireless communication at the disaster site and cannot obtain the position information and disaster situation of the disaster-stricken people in time. At the same time, the deployment of new communication base stations and positioning devices is time-consuming and laborious, and cannot produce effects actively and quickly. SUMMARY

[0004] The present application provides a terminal positioning method, device and storage medium, which are used to solve the problem that the communication base station cannot perform terminal device positioning and emergency rescue due to the limitation of power resources at the disaster site.

[0005] In a first aspect, the present application provides a terminal positioning device, which comprises an unmanned aerial vehicle emergency base station and a three-dimensional positioning system.

[0006] The terminal positioning method comprises the following steps.

[0007] The unmanned aerial vehicle emergency base station acquires a flight route and a hovering position.

[0008] The unmanned aerial vehicle emergency base station searches for a terminal according to the flight route and the hovering position.

[0009] The unmanned aerial vehicle emergency base station acquires unmanned aerial vehicle position information.

[0010] The unmanned aerial vehicle emergency base station acquires terminal code information, signal strength and signal receiving and sending time difference of the terminal.

[0011] The three-dimensional positioning system acquires the unmanned aerial vehicle position information, the terminal code information, the signal strength and the signal receiving and sending time difference in real time.

[0012] The three-dimensional positioning system obtains terminal position information according to the unmanned aerial vehicle position information, the terminal code information, the signal strength and the signal receiving and sending time difference.

[0013] In a possible design, the unmanned aerial vehicle emergency base station comprises an unmanned aerial vehicle.

[0014] The UAV goes to M hovering positions according to the flight route, where M is a positive integer;

[0015] The UAV hovers at the kth hovering position, where k is an integer less than or equal to M;

[0016] Correspondingly, the UAV emergency base station goes to the hovering position to search for the terminal according to the flight route, comprising:

[0017] The UAV goes to the kth hovering position according to the flight route;

[0018] If k is equal to 1, the UAV goes from the starting position to the first hovering position;

[0019] If k is greater than 1, the UAV goes from the (k-1)th hovering position to the kth hovering position;

[0020] If k is equal to M, the UAV goes from the (M-1)th hovering position to the Mth hovering position;

[0021] The UAV hovers at the kth hovering position until the UAV emergency base station cannot find a new terminal.

[0022] In a possible design, the UAV emergency base station further comprises a UAV positioning module;

[0023] Correspondingly, the UAV emergency base station acquires the UAV position information, comprising:

[0024] The UAV positioning module hovers at the kth hovering position to acquire the kth UAV position information.

[0025] In a possible design, the UAV emergency base station further comprises a lightweight emergency simulation base station;

[0026] The lightweight emergency simulation base station searches for N times of terminals at the k hovering positions, where N is a positive integer, and i is a positive integer less than or equal to N;

[0027] Correspondingly, the UAV emergency base station acquires the terminal coding information, signal strength, and signal receiving and sending time difference of the terminal, comprising:

[0028] The lightweight emergency simulation base station obtains the (N+1)th international mobile subscriber identity of the (N+1)th terminal at the kth hovering position;

[0029] The lightweight emergency simulation base station obtains the (N+1)th terminal coding information according to the (N+1)th international mobile subscriber identity;

[0030] If the (N+1)th international mobile subscriber identity is detected to be uncoded, the lightweight emergency simulation base station codes the (N+1)th terminal to obtain the (i+1)th terminal coding information;

[0031] If the N+1 international mobile subscriber identity code is detected to be encoded, the lightweight emergency simulation base station obtains the N+1 terminal corresponding to the N+1 terminal encoding information;

[0032] The lightweight emergency simulation base station obtains the N+1 signal strength of the N+1 terminal, the N+1 signal receiving and sending time difference.

[0033] In a possible design, the lightweight emergency simulation base station discloses to send a broadcast signal, positioning measurement information;

[0034] Correspondingly, the lightweight emergency simulation base station obtains the N+1 international mobile subscriber identity code of the N+1 terminal at the k hovering position, comprising:

[0035] The lightweight emergency simulation base station discloses to send a broadcast signal;

[0036] The lightweight emergency simulation base station receives the N+1 international mobile subscriber identity code of the N+1 terminal in response;

[0037] Correspondingly, the lightweight emergency simulation base station obtains the N+1 signal strength of the N+1 terminal, the N+1 signal receiving and sending time difference, comprising:

[0038] The lightweight emergency simulation base station sends positioning measurement information to the N+1 terminal;

[0039] The lightweight emergency simulation base station receives the N+1 signal strength of the N+1 terminal in response, the N+1 signal receiving and sending time difference.

[0040] In a possible design, the three-dimensional positioning system comprises an information processing module, a geographic information module;

[0041] Correspondingly, the three-dimensional positioning system obtains terminal position information according to the unmanned aerial vehicle position information, terminal encoding information, signal strength, signal receiving and sending time difference, comprising:

[0042] The information processing module filters the signal strength to obtain the effective signal strength;

[0043] The information processing module obtains effective unmanned aerial vehicle position information and effective signal receiving and sending time difference according to the effective signal strength;

[0044] The information processing module obtains terminal single position information according to the effective unmanned aerial vehicle position information, effective signal strength and effective signal receiving and sending time difference;

[0045] The information processing module obtains effective signal strength encoding information by encoding according to the effective signal strength;

[0046] The information processing module obtains terminal position information according to the effective signal strength encoding information and terminal single position information;

[0047] The information processing module sends the terminal position information to the geographic information module.

[0048] The geographic information module receives and presents the terminal position information in real time.

[0049] In a possible design, the three-dimensional positioning system further includes a route processing module.

[0050] Correspondingly, before the UAV emergency base station obtains the flight route and the hovering position, the UAV emergency base station further includes:

[0051] The route processing module obtains the search area and the search distance of the UAV emergency base station.

[0052] The route processing module obtains the flight route and the M hovering positions according to the search area and the search distance.

[0053] The route processing module sends the flight route and the M hovering positions to the UAV of the UAV emergency base station.

[0054] In a second aspect, the present application provides a terminal positioning device, including a UAV emergency base station and a three-dimensional positioning system.

[0055] The UAV emergency base station is configured to obtain a flight route and a hovering position, search for a terminal according to the flight route and the hovering position, and obtain UAV position information, terminal encoding information, signal strength, and signal receiving and sending time difference.

[0056] The three-dimensional positioning system is configured to obtain the UAV position information, the terminal encoding information, the signal strength, and the signal receiving and sending time difference, and obtain terminal position information according to the UAV position information, the terminal encoding information, the signal strength, and the signal receiving and sending time difference.

[0057] The UAV emergency base station includes a UAV, a UAV positioning module, and a lightweight emergency simulation base station.

[0058] The UAV is configured to search for a terminal according to a flight route and a hovering position.

[0059] The UAV positioning module is configured to obtain UAV position information at the hovering position.

[0060] The lightweight emergency simulation base station is configured to obtain terminal encoding information, signal strength, and signal receiving and sending time difference.

[0061] The three-dimensional positioning system includes a route processing module, an information processing module, and a geographic information module.

[0062] The route processing module is configured to obtain a flight route and a hovering position.

[0063] The information processing module is configured to obtain terminal position information according to the UAV position information, the terminal encoding information, the signal strength, and the signal receiving and sending time difference.

[0064] The geographic information module is configured to display the terminal position information in real time.

[0065] In a third aspect, the present application provides an electronic device including a processor and a memory connected to the processor in communication;

[0066] The memory stores computer execution instructions;

[0067] The processor executes the computer execution instructions stored in the memory to implement a heavy vehicle safety communication method in a closed scene.

[0068] In a fourth aspect, the present application provides a computer readable storage medium, and the computer readable storage medium stores computer programs / instructions, and the computer programs / instructions are executed by the processor to implement a heavy vehicle safety communication method in a closed scene.

[0069] The terminal positioning method, device and storage medium provided by the present application achieve the following technical effects: through the flight route, the UAV emergency base station searches for the terminal at the hovering position, and the UAV position information of the hovering position is obtained, thereby solving the terminal search problem; by simplifying the communication process of the UAV emergency base station, only the positioning of the terminal is implemented, and the transmission of networked data is not performed, thereby solving the problem that the base station is large in size and weight and cannot perform emergency positioning of the terminal; through the three-dimensional positioning system, the data reported by the UAV emergency base station is acquired in real time, and data processing is performed in real time, thereby solving the terminal position information acquisition problem. BRIEF DESCRIPTION OF DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0071] Figure 1 The structure of a terminal positioning device provided by the present application Figure One ;

[0072] Figure 2 The flow of a terminal positioning method provided by the present application Figure One ;

[0073] Figure 3 The flow of a UAV emergency base station control method provided by the present application Figure Two ;

[0074] Figure 4 A schematic diagram of the principle of a UAV flight route provided for an embodiment of the present application Figure One ;

[0075] Figure 5 A schematic diagram of the working principle of a lightweight emergency simulation base station provided for an embodiment of the present application Figure Three ;

[0076] Figure 6 A schematic diagram of the process of searching for a terminal by a UAV emergency base station provided for an embodiment of the present application Figure Four ;

[0077] Figure 7 A schematic diagram of the process of a three-dimensional positioning system control method provided for an embodiment of the present application Figure Five ;

[0078] Figure 8 A schematic diagram of the principle of a positioning algorithm operation provided for an embodiment of the present application Figure Two ;

[0079] Figure 9 A schematic diagram of the process of a route processing module control method provided for an embodiment of the present application Figure Six ;

[0080] Figure 10 A schematic diagram of the process of a terminal position information acquisition method provided for an embodiment of the present application Figure Seven ;

[0081] Figure 11 A schematic diagram of the structure of an electronic device provided for an embodiment of the present application Figure Two .

[0082] BRIEF DESCRIPTION OF THE DRAWINGS

[0083] 10 - UAV emergency base station; 11 - UAV; 12 - UAV positioning module; 13 - lightweight emergency simulation base station; 20 - three-dimensional positioning system; 21 - route processing module; 22 - information processing module; 23 - geographic information module. DETAILED DESCRIPTION

[0084] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements throughout the description. The following exemplary embodiments are not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application, as detailed in the appended claims, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0085] First, the related concepts or terms involved in the present application are explained:

[0086] Terminal coding information: refers to the coding of each terminal. Since the International Mobile Subscriber Identity (IMSI) of each terminal is unique, the unmanned emergency base station obtains the terminal coding information of each terminal through coding according to the International Mobile Subscriber Identity.

[0087] Reference Signal Receiving Power (RSRP): refers to the reference signal receiving power. It is one of the key parameters that can represent the strength of the terminal wireless signal and the physical layer measurement requirement, and is the linear average value of the received power on the resource elements carrying the reference signal on the measurement frequency bandwidth.

[0088] Receive-Transmit Date Difference: refers to the difference between the time when the communication base station sends the communication signal and the time when the terminal receives the communication signal. In the communication field, the distance between the communication base station and the terminal can be calculated according to the Receive-Transmit Date Difference, and the distance between the two is equal to the product of the Receive-Transmit Date Difference and the speed of light.

[0089] Figure 1 The structure of a terminal positioning device provided by the embodiment of the present application Figure One ;

[0090] Figure 2 The flowchart of a terminal positioning method provided by the embodiment of the present application Figure One .

[0091] As shown in Figure 1 , the terminal positioning device comprises an unmanned emergency base station and a three-dimensional positioning system; as shown in Figure 2 , the terminal positioning method comprises:

[0092] S201: The unmanned aerial vehicle emergency base station acquires a flight route and a hovering position;

[0093] S202: The unmanned aerial vehicle emergency base station acquires a flight route and a hovering position;

[0094] Specifically, the terminal positioning methods include, but are not limited to, positioning device positioning and communication base station positioning. The positioning device positioning is performed by a global navigation satellite system (GNSS). The communication base station positioning is a positioning method specific to mobile communication, and the communication base station positioning methods include, but are not limited to, an angle-of-arrival (AOA) positioning method, a time difference of arrival (TDOA) positioning method, an assisting-global navigation satellite system (A-GNSS) positioning method, and a cell of origin (COO) positioning method.

[0095] When a natural disaster occurs and causes power interruption, a communication base station is damaged or cannot be powered, and wireless communication cannot be achieved at a disaster site, the position information and disaster situation of disaster victims cannot be obtained by rescue personnel in time. In addition, it takes time and effort to deploy a new communication base station, and the new communication base station cannot actively and quickly respond to the emergency rescue at the site. The positioning device needs to receive radio signals sent by multiple satellites. Once the terminal is in an area where radio signals cannot be received or the radio signal multipath effect is obvious, the terminal cannot be positioned according to the positioning device.

[0096] The unmanned aerial vehicle emergency base station can be free from various resource limitations and quickly arrive at the site to search for the terminal in the search area.

[0097] S203: The unmanned aerial vehicle emergency base station acquires unmanned aerial vehicle position information;

[0098] Specifically, after the unmanned aerial vehicle emergency base station arrives at the specified hovering position, the position information of the unmanned aerial vehicle emergency base station is acquired, and calculation data for obtaining the terminal position information is provided.

[0099] S204: The unmanned aerial vehicle emergency base station acquires terminal encoding information, signal strength, and signal receiving and sending time difference of the terminal;

[0100] Specifically, by performing lightweight processing on the emergency base station, on the basis of ensuring access of terminals of different operators, the communication process of the emergency base station is simplified and modified, only terminal coding information, signal strength, signal receiving and sending time difference of the terminal are obtained, initial connection between the emergency base station and the terminal is established, no networking data transmission is performed, thereby greatly reducing the volume, weight and cost of the emergency base station, and laying a foundation for emergency rescue of terminal positioning.

[0101] S205: The three-dimensional positioning system acquires, in real time, the position information of the unmanned aerial vehicle, the terminal coding information, the signal strength, and the signal receiving and sending time difference.

[0102] Specifically, after the unmanned aerial vehicle emergency base station reaches the hovering position, the position information of the unmanned aerial vehicle is sent to the three-dimensional positioning system in real time, and the three-dimensional positioning system receives the position information of the unmanned aerial vehicle in real time; after the unmanned aerial vehicle emergency base station searches for the terminal, the terminal coding information, the signal strength, and the signal receiving and sending time difference are sent to the three-dimensional positioning system in real time, and the terminal coding information, the signal strength, and the signal receiving and sending time difference are received by the unmanned aerial vehicle emergency base station in real time.

[0103] S206: The three-dimensional positioning system obtains the position information of the terminal according to the position information of the unmanned aerial vehicle, the terminal coding information, the signal strength, and the signal receiving and sending time difference.

[0104] Specifically, the three-dimensional positioning system obtains, in real time, the position information of the searched terminal through a series of data processing according to the position information of the unmanned aerial vehicle, the terminal coding information, the signal strength, and the signal receiving and sending time difference, and realizes emergency rescue in the disaster site.

[0105] The method provided in the embodiment achieves the following technical effects: through the flight route, the unmanned aerial vehicle emergency base station goes to the hovering position to search for the terminal and obtain the position information of the unmanned aerial vehicle at the hovering position, thereby solving the problem of terminal search; through simplifying the communication process of the unmanned aerial vehicle emergency base station, only the positioning of the terminal is realized, no networking data transmission is performed, thereby solving the problem that the base station is large in volume and weight and cannot perform emergency positioning of the terminal; through the three-dimensional positioning system, data reported by the unmanned aerial vehicle emergency base station is acquired in real time and data processing is performed, thereby solving the problem of obtaining the position information of the terminal.

[0106] The following specifically describes a terminal positioning method of the present application by using one specific embodiment.

[0107] Figure 3 A flowchart of a method for controlling an unmanned aerial vehicle emergency base station provided in the embodiment of the present application Figure Two ;

[0108] Figure 4 A principle diagram of a flight route of an unmanned aerial vehicle provided in the embodiment of the present application Figure One ;

[0109] Figure 5 A flowchart of a working principle of a light-weight emergency simulation base station provided for an embodiment of the present application Figure Three ;

[0110] Figure 6 A flowchart of a terminal searching process of a UAV emergency base station provided for an embodiment of the present application Figure Four ;

[0111] Figure 7 A flowchart of a three-dimensional positioning system control method provided for an embodiment of the present application Figure Five ;

[0112] Figure 8 A schematic diagram of a positioning algorithm operation principle provided for an embodiment of the present application Figure Two ;

[0113] Figure 9 A flowchart of a route processing module control method provided for an embodiment of the present application Figure Six ;

[0114] Figure 10 A flowchart of a terminal position information acquisition method provided for an embodiment of the present application Figure Seven .

[0115] As shown in Figure 3 , the UAV emergency base station comprises a UAV;

[0116] The UAV goes to M hovering positions according to a flight route, where M is a positive integer;

[0117] The UAV hovers at the kth hovering position, where k is an integer less than or equal to M;

[0118] Correspondingly, S202: the UAV emergency base station goes to the hovering position to search for the terminal according to the flight route, comprising:

[0119] S301: the UAV goes to the kth hovering position according to the flight route;

[0120] If k is equal to 1, the UAV goes to the first hovering position from the starting position;

[0121] If k is greater than 1, the UAV goes to the kth hovering position from the k-1th hovering position;

[0122] If k is equal to M, the UAV goes to the Mth hovering position from the M-1th hovering position.

[0123] S302: the UAV hovers at the kth hovering position until the UAV emergency base station cannot find a new terminal;

[0124] Specifically, the UAV emergency base station flies along a flight route to search for the terminal (End User, EU), and the UAV completes the search for all terminals in the entire search area; the flight route of the UAV includes but is not limited to a grid cycle flight and a random trajectory flight; the terminal search mode of the UAV emergency base station includes but is not limited to a search while hovering and a search while flying; considering the search radius and search time of the UAV emergency base station, in order to ensure that all areas in the search area can be searched and the information of the terminal is obtained in time, the embodiment selects the UAV grid cycle flight, and searches for the terminal at the hovering position.

[0125] In the search area, the UAV performs a rapid grid cycle search. As shown in Figure 4 The UAV starts from a starting position, first flies along a straight line to an opposite end, and then flies along a straight line away from the starting position to a temporary end by a distance of 2N meters; the UAV repeats the above actions until the entire area is flown. During the process of flying along a straight line to the opposite end, a hovering position is set every N meters to ensure that all areas in the search area can be searched.

[0126] The flight trajectory of the UAV is shown by arrows. The UAV starts from a starting position, goes to a first hovering position to search for a terminal, and then leaves the first hovering position after no new terminal is searched for at the first hovering position. Similarly, the UAV starts from a k-1th hovering position, goes to a kth hovering position to search for a terminal, and then leaves the kth hovering position after no new terminal is searched for at the kth hovering position. Until the UAV starts from an M-1th hovering position, goes to an Mth hovering position to search for a terminal, and then leaves the Mth hovering position after no new terminal is searched for at the Mth hovering position.

[0127] In another preferred embodiment, the UAV emergency base station further comprises a UAV positioning module;

[0128] Correspondingly, S203: the UAV emergency base station acquires UAV position information, including:

[0129] S303: The UAV positioning module hovers at the kth hovering position and acquires the kth UAV position information.

[0130] Specifically, the method for the UAV positioning module to obtain the UAV position information includes, but is not limited to, a Global Navigation Satellite System (GNSS). Considering that the UAV positioning module needs to quickly and accurately obtain the UAV position information, the embodiment selects a Global Positioning System (GPS) or a BeiDou Navigation Satellite System (BDS) in the GNSS to obtain the UAV position information.

[0131] The UAV positioning module searches for the terminal at the kth hovering position. If the terminal is searched

[0132] In another preferred embodiment, the UAV emergency base station further comprises a lightweight emergency simulation base station.

[0133] The lightweight emergency simulation base station searches for N terminals at the kth hovering position, wherein the N terminals include i different terminals, N is a positive integer, and i is a positive integer less than or equal to N.

[0134] Correspondingly, S204: The UAV emergency base station obtains terminal encoding information, signal strength, and signal receiving and sending time difference of the terminal, including:

[0135] S304: The lightweight emergency simulation base station obtains an (N+1)th international mobile subscriber identity of an (N+1)th terminal at the kth hovering position.

[0136] S305: The lightweight emergency simulation base station obtains (N+1)th terminal encoding information according to the (N+1)th international mobile subscriber identity.

[0137] If it is detected that the (N+1)th international mobile subscriber identity is not encoded, the lightweight emergency simulation base station encodes the (N+1)th terminal to obtain (i+1)th terminal encoding information.

[0138] If it is detected that the (N+1)th international mobile subscriber identity is encoded, the lightweight emergency simulation base station obtains (N+1)th terminal encoding information corresponding to the (N+1)th terminal.

[0139] S306: The lightweight emergency simulation base station obtains (N+1)th signal strength and (N+1)th signal receiving and sending time difference of the (N+1)th terminal.

[0140] In another preferred embodiment, the lightweight emergency simulation base station discloses to send a broadcast signal and positioning measurement information.

[0141] Correspondingly, S304: The lightweight emergency simulation base station obtains an (N+1)th international mobile subscriber identity of an (N+1)th terminal at the kth hovering position, including:

[0142] S3041: The light-weighted emergency analog base station publicly sends a broadcast signal;

[0143] S3042: The light-weighted emergency analog base station receives an N+1th international mobile subscriber identity (IMSI) in response to the N+1th terminal.

[0144] Correspondingly, S306: The light-weighted emergency analog base station acquires an N+1th signal strength and an N+1th signal reception-transmission time difference of the N+1th terminal, including:

[0145] S3061: The light-weighted emergency analog base station sends positioning measurement information to the N+1th terminal.

[0146] S3062: The light-weighted emergency analog base station receives an N+1th signal strength and an N+1th signal reception-transmission time difference in response to the N+1th terminal.

[0147] Specifically, the light-weighted emergency analog base station has a multi-spectrum bandwidth radio frequency working capability, which meets the access of different mobile terminals of operators including but not limited to China Mobile, China Telecom, China Unicom, and China Radio Television; the light-weighted emergency analog base station adopts a minimum working bandwidth, which meets the initial connection of base stations and terminals including but not limited to second-generation mobile communication technology specifications to fifth-generation mobile communication technology specifications.

[0148] As shown in Figure 5 , the light-weighted emergency analog base station acquires information of an N+1th terminal EU N+1 by a single base station positioning method, and the working principle is as follows:

[0149] S501: The light-weighted emergency analog base station sends broadcast information.

[0150] The broadcast information sent by the light-weighted emergency analog base station includes a primary synchronization signal (PSS), a secondary synchronization signal (SSS), and a physical broadcast channel (PBCH).

[0151] S502: The terminal listens to the broadcast information and obtains a cell identifier.

[0152] The terminal EU N+1 obtains a cell identifier (Cell-ID) of the light-weighted emergency analog base station according to the broadcast information.

[0153] S503: The terminal accesses the light-weighted emergency analog base station and reports an international mobile subscriber identity (IMSI).

[0154] The International Mobile Subscriber Identity (IMSI) of the terminal is unique, and the IMSI of different terminals is different. The light-weight emergency simulation base station receives the IMSI of the terminal EU N+1 . N+1 .

[0155] S504: The light-weight emergency simulation base station transmits a positioning test signal.

[0156] S505: The terminal reports the test signal.

[0157] The terminal EU N+1 According to the positioning test signal, the Reference Signal Receiving Power (RSRP) R N+1 , and the Receive-Transmit Date Difference (RTDD) T N+1 .

[0158] The light-weight emergency simulation base station periodically transmits the test signal, and the terminal reports the test signal in real time.

[0159] As shown in Figure 6 , the unmanned aerial vehicle emergency base station searches for the terminal, and the working principle is as follows:

[0160] S601: The unmanned aerial vehicle starts from the starting position according to the flight route and hovers at the hovering position of the first terminal found.

[0161] S602: The unmanned aerial vehicle positioning module obtains the unmanned aerial vehicle position information at the hovering position.

[0162] S603: The light-weight emergency simulation base station numbers the first terminal and obtains the terminal information of the first terminal, including but not limited to terminal coding information, signal strength, and signal receive-transmit time difference.

[0163] S604: The light-weight emergency simulation base station determines whether a new terminal is detected.

[0164] If a new terminal is detected, S605 is performed.

[0165] If no new terminal is detected, S608 is performed.

[0166] S605: The light-weight emergency simulation base station determines whether the International Mobile Subscriber Identity (IMSI) of the terminal is coded.

[0167] If the International Mobile Subscriber Identity (IMSI) of the terminal is coded, S607 is performed.

[0168] If the international mobile subscriber identity of the terminal is not coded, S606 is performed;

[0169] S606: The lightweight emergency analog base station codes the terminal;

[0170] S607: The lightweight emergency analog base station acquires terminal information of the terminal, including but not limited to terminal coding information, signal strength, and signal receiving and sending time difference;

[0171] S608: The lightweight emergency analog base station reports the terminal information;

[0172] S609: The unmanned aerial vehicle positioning module reports unmanned aerial vehicle position information;

[0173] S610: The unmanned aerial vehicle goes to the next hovering position according to the flight route;

[0174] S611: The unmanned aerial vehicle judges whether to leave the Mth hovering position;

[0175] If the Mth hovering position is left, S614 is performed;

[0176] If the Mth hovering position is not left, S612 is performed;

[0177] S612: The unmanned aerial vehicle positioning module acquires unmanned aerial vehicle position information;

[0178] S613: The lightweight emergency analog base station judges whether a new terminal is detected;

[0179] If a new terminal is detected, S605 is performed;

[0180] If a new terminal is not detected, S610 is performed;

[0181] S614: The unmanned aerial vehicle returns.

[0182] In another preferred embodiment, as shown in Figure 7 , the three-dimensional positioning system includes an information processing module and a geographic information module;

[0183] Correspondingly, S206: The three-dimensional positioning system obtains terminal position information according to unmanned aerial vehicle position information, terminal coding information, signal strength, and signal receiving and sending time difference, including:

[0184] S701: The information processing module screens signal strength to obtain effective signal strength;

[0185] Specifically, the information processing module continuously receives the signal strength Rin i of the ith terminal EU i To ensure the reliability of the position of the ith terminal, the information processing module needs to screen out the signal strength Rini The values ​​are relatively low and relatively high.

[0186] Threshold values ​​refer to the required signal strength levels. They meet the calculation requirements for signal strength and serve as the basis for determining the minimum and maximum acceptable values, as well as for calculating the terminal location. Threshold values ​​include the lower threshold value R. L High threshold value R D .

[0187] The information processing module measures the signal strength Rin i The effective signal strength R is selected from those that are greater than the lower threshold RL and less than the higher threshold RD. i .

[0188] S702: The information processing module obtains the effective UAV location information and the effective signal reception and transmission time difference based on the effective signal strength;

[0189] Specifically, each time the information processing module acquires a terminal EU i Effective signal strength R i and effective signal strength R i Corresponding valid UAV location information Pu k Signal reception and transmission time difference T i The number of valid data F recorded by the information processing module i Increase by 1.

[0190] S703: The information processing module obtains the terminal's single-time location information based on the valid UAV location information, valid signal strength, and valid signal reception-transmission time difference;

[0191] Specifically, the information processing module uses a single-base station positioning method (Cell of Origin, COO) to determine the effective UAV position information Pu based on the k-th hovering position. k Terminal EU i Effective signal strength R i Signal reception and transmission time difference T i Calculate the terminal's single location information P i Terminal single location information P i It is expressed using longitude, latitude, and altitude.

[0192] S704: The information processing module obtains the effective signal strength encoded information through encoding based on the effective signal strength;

[0193] Specifically, the information processing module records the first number of valid data F. i Let j be a positive integer. There are j terminals (EUs). i Effective signal strength R i Terminal single location information Pi , respectively, are denoted as j groups of effective signal strength encoding information R ij , j groups of terminal single position information P ij .

[0194] S705: The information processing module obtains terminal position information according to the effective signal strength and the terminal single position information;

[0195] Specifically, the j groups of effective signal strength encoding information R ij , the j groups of terminal single position information P ij , and the second effective data (R ij , P ij ) composed of the j groups of effective signal strength encoding information R ij and the j groups of terminal single position information P ij perform positioning algorithm operation to obtain terminal position information S ij , and the terminal position information S ij is expressed by longitude, latitude, and height.

[0196] When new second effective data (R ij , P ij ) is input, as shown in Figure 8 , the information processing module immediately starts the positioning algorithm operation to obtain updated terminal position information S ij . This process is continuously updated and optimized to obtain more accurate terminal position information S ij as the second effective data is continuously input. When the number F i of the first effective data is greater than the first effective data threshold F A , the terminal position information S ij meets the emergency rescue positioning requirement.

[0197] S706: The information processing module sends the terminal position information to the geographic information module;

[0198] S707: The geographic information module receives and presents the terminal position information in real time.

[0199] Specifically, the geographic information module receives the terminal position information S ij and presents it on a map in real time.

[0200] In another preferred embodiment, the three-dimensional positioning system includes a route processing module;

[0201] Correspondingly, S201: Before the unmanned aerial vehicle emergency base station obtains the flight route and the hovering position, it further includes:

[0202] S901: The route processing module obtains a search area and a search distance of the unmanned aerial vehicle emergency base station;

[0203] S902: The route processing module obtains a flight route and M hovering positions according to the search area and the search distance;

[0204] S903: The route processing module sends the flight route and M hovering positions to the drone at the drone emergency base station.

[0205] Specifically, the route processing module automatically calculates a comprehensive search path, and the drone hovers according to the hovering position generated by the algorithm.

[0206] like Figure 10 As shown, the three-dimensional positioning system obtains the terminal's location information, and its working principle is as follows:

[0207] S1001: The information processing module acquires the drone's location information in real time;

[0208] S1002: The information processing module records the first valid data quantity F of the i-th terminal. i =0;

[0209] S1003: The information processing module acquires terminal encoding information, signal strength, and signal reception-transmission time difference in real time;

[0210] S1004: Information processing module filters signal strength Rin i The effective signal strength R i ;

[0211] S1005: Information processing module determines signal strength Rin i Size;

[0212] If R L <Rin i <R D Execute S1006;

[0213] If Rin i <R L Rin i >R D Execute S1004;

[0214] S1006: The information processing module records the first number of valid data F. i Increase by 1;

[0215] S1007: The information processing module acquires valid UAV location information. k j terminals EU i Effective signal strength R i Signal reception and transmission time difference T i ;

[0216] S1008: The information processing module, based on valid UAV location information, Pu k and j terminals EU i Effective signal strength R i, signal receiving and sending time difference T i , calculate j terminal single position information P ij ;

[0217] S1009: information processing module according to the effective signal strength R i , through the encoding, obtain effective signal strength encoding information R ij ;

[0218] S1010: information processing module judges F i And the size of F A ;

[0219] If F i > F A , execute S1011;

[0220] If F i ≤ F A , execute S1003;

[0221] S1011: information processing module according to the second effective data (R ij , P ij ) calculate terminal position information S ij , then continue to execute S1003;

[0222] S1012: geographical information module real-time acquisition terminal position information S ij ;

[0223] S1013: geographical information module real-time presentation real-time acquisition terminal position information S ij .

[0224] The method provided by the embodiment achieves the following technical effects: the unmanned aerial vehicle emergency base station searches for the terminal at the hovering position through the flight route, and acquires the unmanned aerial vehicle position information of the hovering position, thereby solving the terminal searching problem; the communication process of the unmanned aerial vehicle emergency base station is simplified, and only the positioning of the terminal is implemented, without transmission of networking data, thereby solving the problem that the base station is large in size and weight and cannot perform terminal emergency positioning; through the three-dimensional positioning system, the data reported by the unmanned aerial vehicle emergency base station is acquired in real time, and data processing is performed, thereby solving the terminal position information acquisition problem; the light-weight emergency simulation base station has multi-frequency spectrum bandwidth radio frequency working capability, thereby solving the problem of access of different mobile terminals of different operators; the light-weight emergency simulation base station uses the minimum working bandwidth to simplify and transform the base station communication process, and only the initial connection between the base station and the terminal is established, without transmission of networking data, thereby solving the problem that the base station is large in size and weight and high in cost; the unmanned aerial vehicle adopts the hovering mode, the unmanned aerial vehicle positioning module collects the unmanned aerial vehicle position information of each hovering position, and the light-weight emergency simulation base station collects the terminal information, thereby solving the terminal information collection problem in the search area; the route processing module automatically calculates a set of carpet search path, thereby solving the problem of selection of the flight route and the hovering position of the unmanned aerial vehicle; the information processing module calculates the terminal single position information and the terminal position information in real time, the more the number of collected terminals is, the more accurate the terminal position information is, thereby solving the terminal accurate positioning problem; and the geographic information module presents the position of the terminal in real time, thereby solving the terminal emergency search problem.

[0225] The electronic device or the host device can be divided into functional modules according to the method examples described above. For example, each functional module can be divided according to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. When actually implemented, another division mode can be used.

[0226] Figure 1 A structure diagram of a terminal positioning device provided by the embodiment of the present application Figure One As shown in Figure 1 , the terminal positioning device provided by the embodiment of the present application includes an unmanned aerial vehicle emergency base station 10 and a three-dimensional positioning system 20.

[0227] The unmanned aerial vehicle emergency base station 10 is used to acquire a flight route and a hovering position, search for a terminal at the hovering position according to the flight route, acquire unmanned aerial vehicle position information, terminal encoding information, signal strength, and signal receiving and sending time difference of the terminal.

[0228] The three-dimensional positioning system 20 is used to obtain the UAV position information, the terminal coding information, the signal strength, the signal receiving and sending time difference, and obtain the terminal position information according to the UAV position information, the terminal coding information, the signal strength and the signal receiving and sending time difference.

[0229] The UAV emergency base station 10 comprises a UAV 11, a UAV positioning module 12 and a light-weight emergency simulation base station 13.

[0230] The UAV 11 is used to go to the hovering position according to the flight route.

[0231] The UAV positioning module 12 is used to obtain the UAV position information at the hovering position.

[0232] The light-weight emergency simulation base station 13 is used to obtain the terminal coding information, the signal strength and the signal receiving and sending time difference.

[0233] The three-dimensional positioning system 20 comprises a route processing module 21, an information processing module 22 and a geographic information module 23.

[0234] The route processing module 21 is used to obtain the flight route and the hovering position.

[0235] The information processing module 22 is used to obtain the terminal position information according to the UAV position information, the terminal coding information, the signal strength and the signal receiving and sending time difference.

[0236] The geographic information module 23 is used to display the terminal position information in real time.

[0237] Further, the UAV emergency base station 10 is specifically used for:

[0238] S201: The UAV emergency base station obtains the flight route and the hovering position.

[0239] S202: The UAV emergency base station goes to the hovering position to search for the terminal according to the flight route.

[0240] S203: The UAV emergency base station obtains the UAV position information.

[0241] S204: The UAV emergency base station obtains the terminal coding information, the signal strength and the signal receiving and sending time difference of the terminal.

[0242] Further, the UAV 11 is specifically used for:

[0243] S301: The UAV goes to the kth hovering position according to the flight route.

[0244] S302: The UAV hovers at the kth hovering position until the UAV emergency base station cannot search for a new terminal.

[0245] Further, the unmanned aerial vehicle positioning module 12 is specifically used for:

[0246] S303: The unmanned aerial vehicle positioning module hovers at the kth hovering position, and acquires kth unmanned aerial vehicle position information.

[0247] Further, the lightweight emergency simulation base station 13 is specifically used for:

[0248] S304: The lightweight emergency simulation base station acquires the N+1th international mobile subscriber identity of the N+1th terminal at the kth hovering position;

[0249] S305: The lightweight emergency simulation base station acquires N+1th terminal coding information according to the N+1th international mobile subscriber identity;

[0250] If it is detected that the N+1th international mobile subscriber identity is not coded, the lightweight emergency simulation base station codes the N+1th terminal to acquire N+1th terminal coding information;

[0251] If it is detected that the N+1th international mobile subscriber identity is coded, the lightweight emergency simulation base station acquires N+1th terminal coding information corresponding to the N+1th terminal.

[0252] S306: The lightweight emergency simulation base station acquires N+1th signal strength and N+1th signal receiving and sending time difference of the N+1th terminal.

[0253] S3041: The lightweight emergency simulation base station publicly sends a broadcast signal;

[0254] S3042: The lightweight emergency simulation base station receives the N+1th international mobile subscriber identity in response of the N+1th terminal;

[0255] S3061: The lightweight emergency simulation base station sends positioning measurement information to the N+1th terminal;

[0256] S3062: The lightweight emergency simulation base station receives N+1th signal strength and N+1th signal receiving and sending time difference in response of the N+1th terminal.

[0257] Further, the three-dimensional positioning system 20 is specifically used for:

[0258] S205: The three-dimensional positioning system acquires unmanned aerial vehicle position information, terminal coding information, signal strength, and signal receiving and sending time difference in real time;

[0259] S206: The three-dimensional positioning system acquires terminal position information according to the unmanned aerial vehicle position information, the terminal coding information, the signal strength, and the signal receiving and sending time difference;

[0260] Further, the route processing module 21 is specifically used for:

[0261] S901: The route processing module obtains the search area and the search distance of the UAV emergency base station;

[0262] S902: The route processing module obtains the flight route and M hovering positions based on the search area and search distance;

[0263] S903: The route processing module sends the flight route and M hovering positions to the drone at the drone emergency base station.

[0264] Furthermore, the information processing module 22 is specifically used for:

[0265] S701: The information processing module filters signal strength to obtain valid signal strength;

[0266] S702: The information processing module obtains the effective UAV location information and the effective signal reception and transmission time difference based on the effective signal strength;

[0267] S703: The information processing module obtains the terminal's single-time location information based on the valid UAV location information, valid signal strength, and valid signal reception-transmission time difference;

[0268] S704: The information processing module obtains the effective signal strength encoded information through encoding based on the effective signal strength;

[0269] S705: The information processing module obtains the terminal location information based on the effective signal strength and the terminal's single location information;

[0270] S706: The information processing module sends the terminal location information to the geographic information module;

[0271] Furthermore, the geographic information module 23 is specifically used for:

[0272] S707: The geographic information module receives and displays the terminal's location information in real time.

[0273] This embodiment provides a terminal positioning device that can perform the terminal positioning device described in the above embodiment. Its implementation principle and technical effects are similar, and will not be repeated here.

[0274] In a specific implementation of the aforementioned terminal positioning method, each module can be implemented as a processor. The processor can execute computer execution instructions stored in the memory, thereby enabling the processor to execute the aforementioned heavy-duty vehicle safety communication method in a closed scenario.

[0275] Figure 11 Schematic diagram of the structure of the electronic device provided in the embodiments of this application Figure Two .like Figure 11As shown, the electronic device 11 includes at least one processor 1101 and a memory 1102. The electronic device 11 further includes a communication component 1103. Among them, the processor 1101, the memory 1102 and the communication component 1103 are connected through the bus 1104.

[0276] In the specific implementation process, the at least one processor 1101 executes the computer execution instructions stored in the memory 1102, so that the at least one processor 1101 executes the heavy truck safety communication method in a closed scene as executed by the electronic device side.

[0277] The specific implementation process of the processor 1101 can refer to the above-mentioned method embodiments, which have similar implementation principles and technical effects, and will not be repeated here.

[0278] In the above embodiments, it should be understood that the processor can be a central processing unit (English: Central Processing Unit, for short: CPU), and can also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, for short: DSP), application specific integrated circuits (English: Application Specific Integrated Circuit, for short: ASIC) and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like. The steps of the method disclosed in the application can be directly embodied as hardware processor execution or executed by hardware and software modules in the processor.

[0279] The memory can contain a high-speed RAM memory, and can also include a non-volatile storage NVM, such as at least one disk memory.

[0280] The bus can be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral component interconnect (Peripheral Component, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus in the drawings of the present application does not limit only one bus or one type of bus.

[0281] The functions implemented by the electronic device and the host device are described above, and the scheme provided by the embodiments of the present application is introduced. It can be understood that, in order to implement the above functions, the electronic device or the host device comprises a hardware structure and / or a software module corresponding to each function. The units and algorithm steps of each example described in combination with the embodiments disclosed in the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or in the form of computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present application.

[0282] The application also provides a computer-readable storage medium, and the computer-readable storage medium stores computer-executable instructions. When the processor executes the computer-executable instructions, the method for heavy truck safety communication in a closed scene is implemented.

[0283] The computer-readable storage medium described above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0284] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the electronic device or the host device.

[0285] The application also provides a computer program product, which comprises a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to make the electronic device execute the scheme provided by any one of the above embodiments.

[0286] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and various storage media that can store program codes.

[0287] In the embodiments of the present application, the terms such as "first", "second" and the like are used to distinguish the same items or similar items with basically the same functions and effects, and do not limit the sequence thereof. Those skilled in the art can understand that the terms such as "first", "second" and the like do not limit the quantity and execution sequence, and the terms such as "first", "second" and the like do not necessarily mean different.

[0288] It should be noted that in the embodiments of the present application, the words "exemplary" or "for example" are used to mean example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary" or "for example" are used in the sense of presenting related concepts in a specific manner.

[0289] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0290] Other embodiments of the present application will be apparent to those skilled in the art upon consideration of the specification and practice of the application disclosed. The present application is intended to cover any variations, uses or adaptive changes of the present application following the general principles of the present application and including known or customary technical means in the art not disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present application are indicated by the following claims.

[0291] It should be understood that the present application is not limited to the precise construction that has been described and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present application. The scope of the present application is only limited by the appended claims.

Claims

1. A terminal positioning method, characterized in that, The terminal positioning device includes: an emergency base station for unmanned aerial vehicles (UAVs) and a three-dimensional positioning system, wherein the three-dimensional positioning system includes: an information processing module and a geographic information module; the method includes: The drone emergency base station obtains flight routes and hovering positions; The drone emergency base station will travel to the hovering location to search for the terminal based on the flight route; The drone emergency base station acquires the drone's location information; The UAV emergency base station acquires the terminal encoding information, signal strength, and signal reception-transmission time difference of the terminal. The three-dimensional positioning system acquires the UAV's location information, terminal encoding information, signal strength, and signal reception-transmission time difference in real time. The information processing module filters the signal strength to obtain a valid signal strength; the valid signal strength is a signal strength that is greater than a low threshold value and less than a high threshold value. The information processing module obtains the effective UAV location information and the effective signal reception-transmission time difference based on the effective signal strength. The information processing module obtains the terminal's single-time location information based on the valid UAV location information, the valid signal strength, and the valid signal reception-transmission time difference. The information processing module obtains the effective signal strength encoded information by encoding based on the effective signal strength. The information processing module obtains the terminal location information based on the effective signal strength encoding information and the terminal single location information; The information processing module sends the terminal location information to the geographic information module; The geographic information module receives and displays the terminal's location information in real time.

2. The method according to claim 1, characterized in that, The aforementioned drone emergency base station includes: a drone; The drone travels to M hovering positions according to the flight route, where M is a positive integer; The drone hovers at the kth hovering position, where k is an integer less than or equal to M; The drone emergency base station searches for the terminal at the hovering location according to the flight path, including: The drone proceeds to the kth hovering position according to the flight path; If k equals 1, the drone moves from the starting position to the first hovering position; If k is greater than 1, the drone moves from the (k-1)th hovering position to the kth hovering position; If k equals M, the drone moves from the (M-1)th hovering position to the Mth hovering position; The drone hovers at the kth hovering position until the drone's emergency base station can no longer find the new terminal.

3. The method according to claim 2, characterized in that, The drone emergency base station also includes: a drone positioning module; The drone emergency base station acquires the drone's location information, including: The UAV positioning module hovers at the k-th hovering position to obtain the k-th UAV position information.

4. The method according to claim 3, characterized in that, The drone emergency base station also includes: a lightweight emergency simulation base station; The lightweight emergency simulation base station searches for terminals N times at k hovering positions, including i different terminals, where N is a positive integer and i is a positive integer less than or equal to N; The UAV emergency base station acquires the terminal encoding information, signal strength, and signal reception-transmission time difference of the terminal, including: The lightweight emergency simulation base station obtains the N+1th International Mobile Subscriber Identity (IMSI) of the N+1th terminal at the kth hovering position. The lightweight emergency simulation base station obtains the N+1th terminal encoding information based on the N+1th International Mobile Subscriber Identity (IMSI). If it is detected that the N+1th International Mobile Subscriber Identity has not been encoded, the lightweight emergency simulation base station encodes the N+1th terminal to obtain the i+1th terminal encoding information; If the N+1th International Mobile Subscriber Identity (IMSI) is detected to be encoded, the lightweight emergency simulation base station obtains the N+1th terminal encoding information corresponding to the N+1th terminal. The lightweight emergency simulation base station obtains the N+1th signal strength and the N+1th signal reception-transmission time difference of the N+1th terminal.

5. The method according to claim 4, characterized in that, The lightweight emergency simulation base station publicly transmits broadcast signals and location measurement information; The lightweight emergency simulation base station obtains the (N+1)th International Mobile Subscriber Identity (IMSI) of the N+1 terminal at the kth hovering position, including: The lightweight emergency simulation base station publicly transmits the broadcast signal; The lightweight emergency simulation base station receives the N+1th International Mobile Subscriber Identity (IMSI) from the N+1th terminal. The lightweight emergency simulation base station acquires the (N+1)th signal strength and the (N+1)th signal reception-transmission time difference of the (N+1)th terminal, including: The lightweight emergency simulation base station sends the positioning measurement information to the N+1th terminal; The lightweight emergency simulation base station receives the N+1th signal strength and the N+1th signal reception-transmission time difference from the N+1th terminal response.

6. The method according to claim 1, characterized in that, The three-dimensional positioning system further includes: a route processing module; Before the drone emergency base station acquires the flight path and the hovering position, it also includes: The route processing module acquires the search area and the search distance of the UAV emergency base station; The route processing module obtains the flight route and the M hovering positions based on the search area and the search distance; The route processing module sends the flight route and the M hovering positions to the drone at the drone emergency base station.

7. A terminal positioning device, characterized in that, include: Unmanned aerial vehicle (UAV) emergency base station and 3D positioning system; The drone emergency base station is used to obtain flight routes and hovering positions, and to search for terminals at the hovering positions according to the flight routes. Acquire the drone's location information, the terminal's terminal encoding information, signal strength, and signal reception-transmission time difference; The three-dimensional positioning system includes: an information processing module and a geographic information module; The information processing module is used to filter the signal strength to obtain a valid signal strength; the valid signal strength is a signal strength greater than a low threshold and less than a high threshold; based on the valid signal strength, valid UAV location information and valid signal reception-transmission time difference are obtained; based on the valid UAV location information, the valid signal strength, and the valid signal reception-transmission time difference, single-time terminal location information is obtained; based on the valid signal strength, valid signal strength encoding information is obtained through encoding; based on the valid signal strength encoding information and the single-time terminal location information, terminal location information is obtained. The information processing module is used to send the terminal location information to the geographic information module; receive and display the terminal location information in real time; The drone emergency base station includes: a drone, a drone positioning module, and a lightweight emergency simulation base station; The drone is used to travel to the hovering position according to the flight route; The drone positioning module is used to obtain the drone's position information at the hovering position; The lightweight emergency simulation base station is used to acquire the terminal encoding information, the signal strength, and the signal reception-transmission time difference. The three-dimensional positioning system includes: a route processing module, an information processing module, and a geographic information module; The route processing module is used to obtain the flight route and the hovering position; The information processing module is used to obtain terminal location information based on the UAV location information, the terminal encoding information, the signal strength, and the signal reception-transmission time difference; The geographic information module is used to display the terminal's location information in real time.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 6.

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