Method of acquiring indoor positioning information, measurement device and network device

Abstract

A method for obtaining indoor positioning information comprises: receiving first measurement data sent by a plurality of network devices; determining a first network device identifier corresponding to a maximum RSRP in the plurality of first measurement data, and then obtaining a first target TOA corresponding to the first network device identifier; receiving second measurement data sent by the plurality of network devices, determining a second network device identifier corresponding to a maximum RSRP in the plurality of second measurement data, and then obtaining a second target TOA corresponding to the second network device identifier and a third target TOA corresponding to the first network device identifier; obtaining a fourth target TOA corresponding to the second network device identifier from the plurality of first measurement data, and determining a time synchronization error according to the first target TOA, the second target TOA, the third target TOA and the fourth target TOA. In this way, the time synchronization error between two network devices is determined according to two reference signals, which can improve the efficiency of measuring the time synchronization error. The application also provides a measurement device and a network device that can implement the above method.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to methods for acquiring indoor positioning information, measuring equipment, and network equipment. Background Technology

[0002] Indoor positioning technology is an important technology in wireless communication. During indoor positioning, the terminal transmits wireless signals to multiple miniature pico remote radio units (pRRUs), each with a time of arrival (TOA). The channel delays of different pRRUs result in a timing alignment error (TAE), which affects the TOA and consequently, the positioning accuracy.

[0003] One current method for measuring TAE is roughly as follows: use a rangefinder to measure the distance from the beacon location to the first PRRU and the distance from the beacon location to the second PRRU; obtain the TOA corresponding to the first PRRU and the TOA corresponding to the second PRRU based on the reference signal sent by the terminal at the beacon location; and determine the TAE based on the distance from the beacon location to the first PRRU, the distance from the beacon location to the second PRRU, and the two TOAs mentioned above.

[0004] Because measuring distance with a rangefinder is slow and requires sending the measured distance to the device measuring TAE, the above method is inefficient for measuring TAE due to the numerous manual steps involved. Furthermore, rangefinders require professional operation, making this method difficult to implement widely. Summary of the Invention

[0005] In view of this, this application provides a method, measuring device and network device for obtaining indoor positioning information, which can measure TAE based on reference signals sent by the terminal without the need for manual ranging, thus simplifying the measurement process and improving the efficiency of TAE measurement.

[0006] A first aspect provides a method for acquiring indoor positioning information. The method includes: after a terminal sends a first reference signal to multiple network devices from a first location, the multiple network devices determine first measurement data based on the first reference signal; after a measuring device receives the first measurement data sent by the multiple network devices, it determines that the first network device identifier is the network device identifier corresponding to the largest RSRP among the multiple first measurement data, and then obtains a first target TOA corresponding to the first network device identifier from the multiple first measurement data; after the terminal sends a second reference signal to the multiple network devices from a second location, the multiple network devices determine second measurement data based on the second reference signal; after the measuring device receives the second measurement data sent by the multiple network devices, it determines that the second network device identifier is the network device identifier corresponding to the largest RSRP among the multiple second measurement data, and then obtains a second target TOA corresponding to the second network device identifier and a third target TOA corresponding to the first network device identifier from the multiple second measurement data; and obtains a fourth target TOA corresponding to the second network device identifier from the multiple first measurement data, and then determines a time synchronization error based on the first target TOA, the second target TOA, the third target TOA, and the fourth target TOA. The first location corresponds to the location of the first network device, and the second location corresponds to the location of the second network device. Both the first and second measurement data include network device identifiers, target TOA, and RSRP. The time synchronization error is the difference between the channel delay of the first network device and the channel delay of the second network device.

[0007] In this manner, four Time of Arrival (TOA) can be obtained based on reference signals sent by the terminal at two locations. These four TOAs are then used to determine the time synchronization error between the channel delays of the two network devices. This method eliminates the need for manual ranging, thus simplifying the TAE measurement process and improving its efficiency.

[0008] In one possible implementation, determining the time synchronization error based on the first target TOA, the second target TOA, the third target TOA, and the fourth target TOA includes: determining that the first difference equals the fourth target TOA minus the first target TOA; determining that the second difference equals the second target TOA minus the third target TOA; and determining that the time synchronization error equals the average of the first difference and the second difference. This provides a specific method for calculating the time synchronization error.

[0009] In another possible implementation, the method for obtaining indoor positioning information further includes: obtaining the height difference between the location of the first network device and the first location; and determining a first horizontal distance based on the first target TOA, the second target TOA, the third target TOA, the fourth target TOA, and the height difference. The first horizontal distance is the horizontal distance between the first network device and the second network device. This allows the horizontal distance between the two network devices to be calculated based on the height difference and the four TOAs.

[0010] In another possible implementation, the method for obtaining indoor positioning information further includes: after the terminal sends a third reference signal to multiple network devices from a third location, each network device determines third measurement data based on the third reference signal; a measuring device receives the third measurement data sent by the multiple network devices respectively, and determines a second horizontal distance based on the first measurement data, the third measurement data, and the height difference; and determines a third horizontal distance based on the second measurement data, the third measurement data, and the height difference. After the terminal sends a fourth reference signal to multiple network devices from a fourth location, each network device determines fourth measurement data based on the third reference signal; the measuring device determines a fourth horizontal distance based on the first measurement data, the fourth measurement data, and the height difference; determines a fifth horizontal distance based on the second measurement data, the fourth measurement data, and the height difference; and determines a sixth horizontal distance based on the third measurement data, the fourth measurement data, and the height difference. Wherein, the second horizontal distance is the horizontal distance from the first network device to the third network device, the third horizontal distance is the horizontal distance from the second network device to the third network device, the fourth horizontal distance is the horizontal distance from the first network device to the fourth network device, the fifth horizontal distance is the horizontal distance from the second network device to the fourth network device, and the sixth horizontal distance is the horizontal distance from the third network device to the fourth network device. When there are four network devices indoors, the horizontal distance between any two network devices can be calculated. It should be understood that the method of this application can calculate the horizontal distance between any two network devices indoors, and the number of network devices indoors is not limited to four.

[0011] In another possible implementation, the method for obtaining indoor positioning information further includes: using the coordinates of the first network device as the origin of the topology map; determining the coordinates of the second network device based on the coordinates of the first network device and a first horizontal distance; determining the coordinates of the third network device based on the coordinates of the first network device, the coordinates of the second network device, a second horizontal distance, and a third horizontal distance; determining the first candidate coordinates and the second candidate coordinates of the fourth network device based on the coordinates of the first network device, the coordinates of the second network device, a fourth horizontal distance, and a fifth horizontal distance; calculating the seventh horizontal distance from the coordinates of the third network device to the first candidate coordinates and the eighth horizontal distance from the coordinates of the third network device to the second candidate coordinates; calculating the distance difference between the seventh and sixth horizontal distances and the distance difference between the eighth and sixth horizontal distances; selecting the coordinates of the fourth network device from the first and second candidate coordinates based on the minimum distance difference; and generating a topology map based on the coordinates of the first, second, third, and fourth network devices. After calculating the coordinates of the four network devices, a topology map can be generated based on these coordinates, and the topology map can represent the relative positional relationships of the network devices. It should be understood that there can be any number of network devices indoors, and the method of this application can calculate the coordinates of other network devices based on the coordinates of three network devices.

[0012] A second aspect provides a method for acquiring indoor positioning information. The method includes: receiving a first reference signal transmitted by a terminal at a first location; determining first measurement data based on the first reference signal; and transmitting the first measurement data to a measuring device; receiving a second reference signal transmitted by the terminal at a second location; determining second measurement data based on the second reference signal; and transmitting the second measurement data to the measuring device. Both the first and second measurement data include the network device identifier, the target TOA (Total Area of ​​Arrival), and the target RSRP (Real-Side Representation Point of Arrival). This allows the acquisition of the first and second measurement data based on the reference signals transmitted by the terminal at two locations. The first and second measurement data can be used to determine the TAE (Target Area of ​​Arrival), eliminating the need for manual measurement and improving the efficiency of TAE measurement.

[0013] In one possible implementation, determining the first measurement data based on multiple first reference signals includes: determining a TOA group and an RSRP group based on the multiple first reference signals; determining a target TOA based on the TOA group; determining a target RSRP based on the RSRP group; and generating the first measurement data based on the network device identifier, the target TOA, and the target RSRP. The TOA in the TOA group corresponds one-to-one with the first reference signal, and the RSRP in the RSRP group corresponds one-to-one with the first reference signal. When there are multiple first reference signals, multiple TOAs can be measured, and then a single TOA can be determined based on these multiple TOAs, which is then used as the measurement result. Similarly, a single RSRP can be determined based on multiple RSRPs, and this RSRP is used as the measurement result. This allows for stability processing of the TOA and RSRP, reducing measurement errors and improving the accuracy of the TOA and RSRP.

[0014] In another possible implementation, determining the target TOA based on the TOA group includes: removing the maximum and minimum TOA from the TOA group to obtain the remaining TOA group; and determining the target TOA as the average of the remaining TOA group. Since the maximum and minimum TOA are likely to deviate significantly from the actual TOA, averaging the remaining TOA after removing the maximum and minimum TOA can reduce the error in the TOA.

[0015] In another possible implementation, determining the target TOA based on the TOA group includes: calculating the average TOA of the TOA group; determining a first TOA reference value equal to the average TOA minus a preset duration; determining a second TOA reference value equal to the sum of the average TOA and the preset duration; selecting a reference TOA group from the TOA group; and determining the target TOA as the average value of the reference TOA group. The preset duration is less than or equal to 15 nanoseconds. The minimum TOA in the reference TOA group is greater than or equal to the first TOA reference value, and the maximum TOA in the reference TOA group is less than or equal to the second TOA reference value. This allows selecting TOAs from the middle portion of the TOA group and then averaging them. Since TOAs close to the lower or upper limits are more likely to deviate from the actual TOA, averaging from the middle portion of the TOA group reduces TOA error.

[0016] In another possible implementation, determining the target TOA based on the TOA group includes: sequentially selecting one TOA from the TOA group as the TOA to be processed; removing the TOA to be processed from the TOA group to obtain the remaining TOA; calculating the difference between the TOA to be processed and each TOA in the remaining TOA; summing the squares of all differences; and determining the target TOA as the TOA to be processed corresponding to the least sum of squares. This provides a method for clustering TOA groups, which can select the TOA closest to the mean from the TOA group, improving the accuracy of TOA selection.

[0017] In another possible implementation, determining the target RSRP based on the RSRP group includes: removing the maximum and minimum RSRP from the RSRP group to obtain the remaining RSRP group; and determining the target RSRP as the average of the remaining RSRP group. Since the maximum and minimum RSRP are likely to deviate significantly from the actual values, averaging the remaining RSRPs after removing the maximum and minimum RSRPs can reduce the error of the RSRP.

[0018] In another possible implementation, determining the target RSRP based on the RSRP group includes: calculating the average RSRP of the RSRP group; determining a first RSRP reference value based on the average RSRP and a preset decibel value; determining a second RSRP reference value based on the average RSRP and the preset decibel value; selecting a reference RSRP group from the RSRP group; and determining the target RSRP as the average value of the reference RSRP group. The preset decibel value can be, but is not limited to, 3 decibels. The preset decibel value is greater than or equal to the average RSRP minus the first RSRP reference value, and the preset decibel value is greater than or equal to the second RSRP reference value minus the average RSRP. The minimum RSRP in the reference RSRP group is greater than or equal to the first RSRP reference value, and the maximum RSRP in the reference RSRP group is less than or equal to the second RSRP reference value. This allows selecting RSRPs in the middle portion of the RSRP group and then averaging them. RSRPs close to the lower limit or upper limit are more likely to deviate from the actual RSRP; removing them during averaging reduces RSRP error.

[0019] In another possible implementation, determining the target RSRP based on the RSRP group includes: sequentially selecting one RSRP from the RSRP group as the RSRP to be processed; removing the RSRP to be processed from the RSRP group to obtain the remaining RSRPs; calculating the difference between the RSRP to be processed and each RSRP in the remaining RSRPs; summing the squares of all differences; and determining the target RSRP as the RSRP to be processed corresponding to the least sum of squares. This provides a method for clustering RSRP groups, which can select the RSRP closest to the mean from the RSRP group, thus improving the accuracy of RSRP.

[0020] A third aspect provides a measuring device having the function of acquiring indoor positioning information in any of the embodiments of the first aspect. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function.

[0021] A fourth aspect provides a network device having the function of acquiring indoor positioning information in any of the embodiments of the second aspect. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described function.

[0022] The fifth aspect provides a server including a processor and a memory, the memory being used to store a program; the processor executing the program to implement the method of the first aspect.

[0023] A sixth aspect provides a base station comprising a baseband unit and a miniature radio remote unit, the baseband unit comprising a processor and a memory, the memory being used to store a program, the processor executing the program to implement the method of the first aspect.

[0024] The seventh aspect provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method of the first aspect or the method of the second aspect.

[0025] The eighth aspect provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the method of the first aspect or the method of the second aspect.

[0026] A ninth aspect provides a chip system including at least one processor coupled to a memory for storing computer programs or instructions, the processor for executing the computer programs or instructions to implement the method of the first aspect or the method of the second aspect. Attached Figure Description

[0027] Figure 1A This is a schematic diagram of an indoor positioning scenario in an embodiment of this application;

[0028] Figure 1B This is another schematic diagram of an indoor positioning scenario in an embodiment of this application;

[0029] Figure 2 This is a flowchart of a method for obtaining indoor positioning information in an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of a TAE measurement scenario in an embodiment of this application;

[0031] Figure 4 This is a schematic diagram illustrating the measurement of the horizontal distance between two miniature radio frequency remote units in an embodiment of this application;

[0032] Figure 5 This is another flowchart of the method for obtaining indoor positioning information in the embodiments of this application;

[0033] Figure 6 This is a schematic diagram illustrating the determination of the coordinates of a third network device in an embodiment of this application;

[0034] Figure 7 This is a schematic diagram illustrating the determination of the coordinates of the fourth network device in an embodiment of this application;

[0035] Figure 8 This is another flowchart of the method for obtaining indoor positioning information in the embodiments of this application;

[0036] Figure 9 This is a structural diagram of the measuring device in an embodiment of this application;

[0037] Figure 10 This is a structural diagram of a network device in an embodiment of this application;

[0038] Figure 11 This is a structural diagram of a measurement server in an embodiment of this application;

[0039] Figure 12 This is a structural diagram of a baseband unit in an embodiment of this application. Detailed Implementation

[0040] The method for obtaining indoor positioning information disclosed in this application can be applied to communication systems including indoor communication devices. The communication system can be, but is not limited to, ultra-wideband (UWB) communication systems, 4G communication systems, 5G communication systems, or evolved communication systems beyond 5G. Indoor communication devices include indoor IoT devices, terminals, remote radio units, etc. IoT devices can be, but are not limited to, cameras, recording devices, and production equipment with sensors. Terminals can be, but are not limited to, mobile phones, tablets, wearable devices, virtual reality devices, augmented reality devices, and in-vehicle computers.

[0041] In addition to indoor communication equipment, the communication system may also include, but is not limited to, baseband units, core network equipment, or servers. Through the communication system, the location of equipment and / or personnel can be viewed, enabling functions such as material dispatching, personnel stagnation alarms, emergency response personnel counts, safety index heat maps, electronic fence access management, and SOS alarms.

[0042] Please see Figure 1AIn one example, the communication system includes a terminal 11, a first micro radio remote unit 121, a second micro radio remote unit 122, a third micro radio remote unit 123, a fourth micro radio remote unit 124, a radio remote hub 13, and a baseband unit 14.

[0043] The first miniature radio frequency remote unit 121, the second miniature radio frequency remote unit 122, the third miniature radio frequency remote unit 123, and the fourth miniature radio frequency remote unit 124 are wirelessly connected to the terminal. The first miniature radio frequency remote unit 121, the second miniature radio frequency remote unit 122, the third miniature radio frequency remote unit 123, and the fourth miniature radio frequency remote unit 124 are wiredly connected to the radio frequency remote hub 13. The radio frequency remote hub 13 and the baseband unit 14 are wiredly connected.

[0044] Please see Figure 1B In another example, the communication system includes a terminal 11, a first miniature remote radio unit 121, a second miniature remote radio unit 122, a third miniature remote radio unit 123, a fourth miniature remote radio unit 124, a remote radio hub 13, a baseband unit 14, a network 15, and a measurement server 16. Network 15 can be a core network or an Internet Protocol (IP) network. When network 15 is a core network, measurement server 16 is a core network device. When network 15 is an IP network, measurement server 16 is an application server.

[0045] The indoor positioning information in this application refers to information related to indoor positioning technology, including but not limited to the coordinates of TOA, TAE, or network devices. In the aforementioned scenario, the TAE between two miniature radio frequency remote units can be measured using methods described in the prior art. However, this measurement method requires professional manual ranging and the measured distance needs to be sent to the device measuring the TAE, resulting in numerous manual steps and low measurement efficiency.

[0046] To improve the efficiency of TAE measurement, this application provides a method for acquiring indoor positioning information. This method obtains four TOAs (Time of Arrival) based on reference signals transmitted from two locations, and determines the TAE of two network devices based on these four TOAs. This method eliminates the need for manual ranging, effectively improving the efficiency of TAE measurement. (See also...) Figure 2 One embodiment of the method for obtaining indoor positioning information in this application includes:

[0047] Step 201: Receive the first measurement data sent by multiple network devices respectively.

[0048] In one optional embodiment, the terminal receives an input instruction at a first position and sends a first reference signal according to the instruction. For example, when the terminal is in the first position, it displays a "Send Reference Signal" button. When the user clicks "Send Reference Signal," the terminal sends the first reference signal according to the input instruction. When the terminal is in a second position, it displays a "Send Reference Signal" button. When the user clicks "Send Reference Signal," the terminal sends a second reference signal according to the input instruction. And so on, the terminal can send reference signals at each position. After receiving the first reference signal, each network device determines first measurement data based on the first reference signal and then sends the first measurement data to a measurement device. The first measurement data for each network device includes the network device identifier, the target TOA, and the target reference signal receiving power (RSRP).

[0049] The network device can be a miniature radio remote unit or a miniature base station. A first location corresponds to the location of a first network device, and a second location corresponds to the location of a second network device. The distance between the geographical coordinates of the first location and the geographical coordinates of the first network device is less than a preset distance. For example, the first location is directly below the first network device, and the second location is directly below the second network device. Alternatively, the first location is directly above the first network device, and the second location is directly above the second network device.

[0050] Step 202: Determine the first network device identifier as the network device identifier corresponding to the maximum reference signal received power among the first measurement data sent by multiple network devices.

[0051] Since the distance from the first location to the first network device is shorter than the distance from the first location to other network devices, the signal attenuation from the first location to the first network device is minimal. Therefore, the RSRP obtained based on the first reference signal sent by the first network device is the largest RSRP among multiple first measurement data. The measurement data of the first network device can be found from the measurement data of multiple network devices based on the largest RSRP.

[0052] In one optional embodiment, the first measurement data sent by multiple network devices is shown in Table 1:

[0053]

[0054]

[0055] Table 1

[0056] In Table 1, RSRP is measured in decibels and milliwatts (dBm), and TOA is measured in nanoseconds (ns). Based on the measurement data in Table 1, the maximum RSRP is -93dBm, the network device identifier is 1, and the target TOA is 138ns.

[0057] Step 203: Obtain the arrival time of the first target corresponding to the first network device identifier from the first measurement data sent by multiple network devices.

[0058] The first target arrival time is used to indicate the duration of time it takes for the first reference signal to arrive at the first network device.

[0059] Step 204: Receive the second measurement data sent by multiple network devices respectively.

[0060] In one optional embodiment, the terminal receives an input instruction at the second location and sends a second reference signal according to the instruction. Multiple network devices indoors receive the second reference signal sent by the terminal, determine second measurement data based on the second reference signal, and send the second measurement data to a measurement device. The second measurement data for each network device includes a network device identifier, a target TOA, and a target RSRP. It should be understood that the first and second reference signals may be sent by the same terminal at different times, or the first and second reference signals may be sent by different terminals.

[0061] Step 205: Determine the second network device identifier as the network device identifier corresponding to the maximum reference signal received power among the second measurement data sent by multiple network devices.

[0062] Since the distance from the second location to the second network device is shorter than the distance from the second location to other network devices, the RSRP obtained based on the second reference signal sent by the second network device is the largest RSRP among the second measurement data sent by multiple network devices. The measurement data of the second network device can be found from the measurement data of multiple network devices based on the largest RSRP.

[0063] Step 206: Obtain the arrival time of the second target corresponding to the second network device identifier and the arrival time of the third target corresponding to the first network device identifier from the second measurement data sent by multiple network devices.

[0064] The second target arrival time is used to indicate the duration of the second reference signal arriving at the second network device, and the third target arrival time is used to indicate the duration of the second reference signal arriving at the first network device.

[0065] Step 207: Obtain the arrival time of the fourth target corresponding to the second network device identifier from the first measurement data sent by multiple network devices.

[0066] The fourth target arrival time is used to indicate the duration of the first reference signal reaching the second network device.

[0067] Step 208: Determine the time synchronization error based on the arrival times of the first target, the second target, the third target, and the fourth target.

[0068] The time synchronization error is the difference in channel latency between two network devices. After obtaining the time synchronization error, a time synchronization error measurement completion message can be sent to the terminal, or the measured time synchronization error can be sent to the terminal. It should be understood that the first network device identifier refers to the identifier of the first network device, and the second network device identifier refers to the identifier of the second network device.

[0069] In an optional embodiment, step 208 includes: determining that a first difference is equal to a fourth target TOA minus a first target TOA; determining that a second difference is equal to a second target TOA minus a third target TOA; and determining that the time synchronization error is equal to the average of the first difference and the second difference.

[0070] The following example illustrates the formula for calculating time synchronization error. (See attached image.) Figure 3 Let ts1 be the channel delay from pRRU121 to the baseband unit via RF remote hub 13, and ts2 be the channel delay from pRRU122 to the baseband unit 14 via RF remote hub 13. Then TAE = ts2 - ts1. The height of pRRU121 from the first position and the height of pRRU122 from the second position are both h. The distance from terminal 11 from the first position to pRRU122 and the distance from terminal 11 from the second position to pRRU121 are both dy. Let TOA1 be the first target TOA, TOA2 be the second target TOA, TOA3 be the third target TOA, and TOA4 be the fourth target TOA. Then TOA1 = ts1 + h / c, TOA4 = ts2 + dy / c, TOA2 = ts2 + h / c, and TOA3 = ts1 + dy / c. Where c is the speed of light.

[0071] Based on the above formula, it can be deduced that...

[0072] TAE=ts2-ts1=(TOA4-dy / c)-(TOA1-h / c);

[0073] TAE=ts2-ts1=(TOA2-h / c)-(TOA3-dy / c);

[0074] Adding the above formulas together, we can see that...

[0075] 2*TAE=(TOA4-TOA1)+(TOA2-TOA3);

[0076] That is, TAE=((TOA4-TOA1)+(TOA2-TOA3)) / 2.

[0077] In this embodiment, the TAE between two network devices can be determined based on reference signals sent from different locations of the terminal, eliminating the need for manual ranging. This simplifies the TAE measurement process and improves its efficiency. After acquiring the TAE, positioning calculations are performed based on the TOA and TAE, which improves positioning accuracy.

[0078] In addition to TAE, the positioning information in this application also includes, but is not limited to, the horizontal distance between network devices. This application can also calculate the horizontal distance between network devices based on TOA. In an optional embodiment, the method for obtaining indoor positioning information further includes: obtaining the height difference between the location of the first network device and the first location; and determining the first horizontal distance based on the first target TOA, the second target TOA, the third target TOA, the fourth target TOA, and the height difference.

[0079] In this embodiment, the measuring device can obtain the height difference from a locally stored configuration file or database. Alternatively, after receiving the height difference input by the user, the terminal sends the height difference to the measuring device via a network device. This height difference can be considered as the height difference between each network device and its corresponding location, such as the height difference between the second network device and the second location. When multiple network devices are deployed on the ceiling of a room, and the user is holding the terminal directly below the network devices, the height of the terminal and the network devices is usually the same. This method is also applicable to other scenarios where the height difference remains consistent. The first horizontal distance is the horizontal distance from the first network device to the second network device.

[0080] The formula for calculating distance is introduced below. Please refer to [link / reference]. Figure 4 The communication system includes pRRU 121, pRRU 122, radio frequency remote hub 13, and baseband unit 14. The horizontal distance between pRRU 121 and pRRU 122 is dx. When the terminal 11 is in the first position, it measures the height difference between pRRU 121 and the first position as h, and the distance from the first position to pRRU 122 is dy. dy, dx, and h satisfy the following formula:

[0081]

[0082] dy, TOA1, TOA2, TOA3, TOA4 and h satisfy the following formula:

[0083]

[0084] It can be inferred that,

[0085] Similarly, when terminal 11 is in the second position, it measures the height difference h between pRRU122 and the second position, and the distance dy from the second position to pRRU121. Based on the measurements of dy and h from the second position, dx can also be calculated.

[0086] It should be understood that after sending a reference signal at the location corresponding to each network device, the horizontal distance between any two network devices can be calculated using the method described above. The process of calculating the horizontal distance between any two network devices out of the four network devices is described below:

[0087] In an optional embodiment, the method for obtaining indoor positioning information further includes: after the terminal sends a third reference signal at a third location, multiple network devices can determine third measurement data based on the third reference signal and send the third measurement data to a measurement device; the measurement device determines a second horizontal distance based on the first measurement data, the third measurement data, and the height difference; and determines a third horizontal distance based on the second measurement data, the third measurement data, and the height difference.

[0088] After the terminal sends the fourth reference signal at the fourth position, multiple network devices determine the fourth measurement data based on the fourth reference signal and send the fourth measurement data to the measuring device; the measuring device determines the fourth horizontal distance based on the first measurement data, the fourth measurement data and the height difference; determines the fifth horizontal distance based on the second measurement data, the fourth measurement data and the height difference; and determines the sixth horizontal distance based on the third measurement data, the fourth measurement data and the height difference.

[0089] The third position corresponds to the position of the third network device, and the fourth position corresponds to the position of the fourth network device. For example, the third position is directly below the third network device, and the fourth position is directly below the fourth network device. Alternatively, the third position is directly above the third network device, and the fourth position is directly above the fourth network device. The second horizontal distance is the horizontal distance between the first and third network devices, the third horizontal distance is the horizontal distance between the second and third network devices, the fourth horizontal distance is the horizontal distance between the first and fourth network devices, the fifth horizontal distance is the horizontal distance between the second and fourth network devices, and the sixth horizontal distance is the horizontal distance between the third and fourth network devices.

[0090] In this embodiment, measurement data for multiple paths originating from a given location can be determined based on a reference signal transmitted from that location. Four Time-of-Area (TOA) measurements can be obtained from the measurement data of two paths. The horizontal distance between network devices can be determined based on the four TOA measurements and the height difference. The above steps are similar to... Figure 2 The steps for calculating the distance are similar in the optional embodiments shown, and will not be repeated here.

[0091] The indoor positioning information in this application also includes the coordinates or topology map of the network devices. In current wireless positioning technologies, the coordinates of network devices are pre-drawn on computer-aided design (CAD) drawings, and then converted into network device coordinates in a configuration file. In actual engineering projects, due to limitations such as cable length during installation and property restrictions at installation locations, the network device coordinates on the CAD drawing may not match the actual deployment location. When the network device coordinates on the CAD drawing are incorrect, positioning the terminal based on those coordinates will result in positioning errors.

[0092] This application can obtain the horizontal distance between two network devices based on two reference signals, and generate a topology map based on the horizontal distance between the network devices. Since the horizontal distances between network devices in the topology map are generated based on the actual reference signals, the accuracy of the topology map can be guaranteed. The method for generating the topology map in this application is described below; please refer to [link / reference]. Figure 5 In another optional embodiment, the method for obtaining indoor positioning information in this application further includes:

[0093] Step 501: Use the coordinates of the first network device as the origin of the topology map, and determine the coordinates of the second network device based on the coordinates of the first network device and the first horizontal distance.

[0094] In one example, the x-axis of the topology graph is generated based on the coordinates of the first network device and the coordinates of the second network device. In another example, the y-axis of the topology graph is generated based on the coordinates of the first network device and the coordinates of the second network device.

[0095] Step 502: Determine the coordinates of the third network device based on the coordinates of the first network device, the coordinates of the second network device, the second horizontal distance, and the third horizontal distance. The second horizontal distance is the horizontal distance between the first network device and the third network device, and the third horizontal distance is the horizontal distance between the second network device and the third network device.

[0096] Optionally, the coordinates of the first network device, the coordinates of the second network device, the second horizontal distance, and the third horizontal distance are used as input data for the coordinate system circle equation. The output results include two coordinates, and one coordinate is selected from the output results as the coordinates of the third network device.

[0097] In another alternative embodiment, the coordinates of the first network device, the coordinates of the second network device, the second horizontal distance, and the third horizontal distance are used as input data for the straight line slope equation. The output includes two coordinates, and one coordinate is selected from the output as the coordinates of the third network device.

[0098] Step 503: Determine the first candidate coordinates and the second candidate coordinates of the fourth network device based on the coordinates of the first network device, the coordinates of the second network device, the fourth horizontal distance, and the fifth horizontal distance.

[0099] The fourth horizontal distance is the horizontal distance between the first network device and the fourth network device, and the fifth horizontal distance is the horizontal distance between the second network device and the fourth network device. Using the coordinates of the first network device, the coordinates of the second network device, the fourth horizontal distance, and the fifth horizontal distance as input data for the equation of the circle in the coordinate system, the output includes first candidate coordinates and second candidate coordinates. Alternatively, using the coordinates of the first network device, the coordinates of the second network device, the fourth horizontal distance, and the fifth horizontal distance as input data for the equation of the slope of a straight line, the output includes first candidate coordinates and second candidate coordinates.

[0100] Step 504: Calculate the seventh horizontal distance from the coordinates of the third network device to the first candidate coordinates and the eighth horizontal distance from the coordinates of the third network device to the second candidate coordinates.

[0101] Step 505: Calculate the distance difference between the seventh and sixth horizontal distances and the distance difference between the eighth and sixth horizontal distances.

[0102] Step 506: Select the coordinates of the fourth network device from the first and second candidate coordinates based on the minimum distance difference.

[0103] The sixth horizontal distance is the horizontal distance between the third network device and the fourth network device, and the sixth horizontal distance is determined based on the third measurement data, the fourth measurement data, and the height difference.

[0104] When the distance difference between the seventh horizontal distance and the sixth horizontal distance is less than the distance difference between the eighth horizontal distance and the sixth horizontal distance, it means that the distance difference between the seventh horizontal distance and the sixth horizontal distance is the minimum distance difference. Based on the minimum distance difference, the first candidate coordinates can be determined as the coordinates of the fourth network device.

[0105] When the distance difference between the eighth horizontal distance and the sixth horizontal distance is less than the distance difference between the seventh horizontal distance and the sixth horizontal distance, it means that the distance difference between the eighth horizontal distance and the sixth horizontal distance is the minimum distance difference. Based on the minimum distance difference, the second candidate coordinates can be determined as the coordinates of the fourth network device.

[0106] Step 507: Generate a topology map based on the coordinates of the first network device, the second network device, the third network device, and the fourth network device.

[0107] A topology map can show the location relationships between network devices. After generating the topology map, overlaying it with a Geographic Information System (GIS) map can display the geographical locations of network devices on a real map.

[0108] In this embodiment, a topology map can be generated based on the coordinates of four network devices to display their relative positions. This allows the coordinates of each network device in the topology map to be determined based on reference signals transmitted from the four locations, avoiding errors caused by manually reading network device positions from CAD drawings. It should be understood that the above method can obtain the coordinates of any number of network devices; therefore, the number of network devices in the topology map is not limited to the examples above.

[0109] Secondly, this application can generate a topology map based on reference signals sent from multiple locations, eliminating the need for manual reading of CAD drawings or measurement of network device coordinates, thus improving the efficiency of topology map generation.

[0110] The following section details the process of calculating the coordinates of network devices. (See also...) Figure 6 Let the x-axis be the horizontal axis and the y-axis be the vertical axis. The coordinates of the first network device are p1 (0,0), and the horizontal distance from the first network device to the second network device is denoted as d1. Then the coordinates of the second network device are p2 (d1,0). The horizontal distance from the first network device to the third network device is denoted as d2, and the horizontal distance from the second network device to the third network device is denoted as d3. The coordinates of p3 are (x3, y3). Then d1, d2, d3, x3, and y3 satisfy the following formula:

[0111] d2 2 =y3 2 +x3 2

[0112] d3 2 =y3 2 +(d1-x3) 2

[0113] From the above formula, it can be deduced that...

[0114]

[0115]

[0116] It should be understood that p3 and p4 are two points symmetrical about the x-axis. Either p3 or p4 can be chosen as the coordinates of the third network device.

[0117] See Figure 7The horizontal axis is the x-axis, and the vertical axis is the y-axis. The coordinates of the first network device are p1 (0,0), the coordinates of the second network device are p2 (d1,0), the coordinates of the third network device are p3 (x3, y3), the first candidate coordinates of the fourth network device are p5 (x5, y5), and the second candidate coordinates of the fourth network device are p6 (x6, y6).

[0118] Based on the horizontal distance d4 from the first network device to the fourth network device and the horizontal distance d5 from the second network device to the fourth network device, d1, d4, d5, x5, and y5 satisfy the following formula:

[0119]

[0120]

[0121] Then d1, d4, d5, x6, y6 satisfy the following formula:

[0122]

[0123]

[0124] Calculate the horizontal distance d7 between p3 and p5 based on the coordinates of p3 and p5, and calculate the horizontal distance d8 between p3 and p6 based on the coordinates of p3 and p6.

[0125] Based on h, d6 is calculated using the TOA measured at the third position and the TOA measured at the fourth position. When the difference between d7 and d6 is less than the difference between d8 and d6, p5 is determined to be the coordinate of the fourth network device.

[0126] The above describes the method for determining the coordinates of four network devices. It should be understood that regardless of the number of network devices indoors, once the coordinates of three network devices are determined, the coordinates of the other network devices can be calculated.

[0127] The indoor positioning information in this application includes measurement data such as TOA or RSRP. The method for network devices to acquire measurement data is described below; please refer to [link / reference]. Figure 8 Another embodiment of the method for obtaining indoor positioning information in this application includes:

[0128] Step 801: Receive the first reference signal sent by the terminal at the first position.

[0129] Step 802: Determine the first measurement data based on the first reference signal. The first measurement data includes the identifier of the network device, the target arrival time, and the target reference signal reception power.

[0130] Optionally, step 802 includes: when there are multiple first reference signals, determining a TOA group and an RSRP group based on the multiple first reference signals; determining a target TOA based on the TOA group; determining a target RSRP based on the RSRP group; and generating first measurement data based on the network device identifier, the target TOA, and the target RSRP.

[0131] Step 803: Send the first measurement data to the measuring device.

[0132] Step 804: Receive the second reference signal sent by the terminal at the second location.

[0133] Step 805: Determine the second measurement data based on the second reference signal.

[0134] Optionally, step 805 includes: when there are multiple second reference signals, determining a TOA group and an RSRP group based on the multiple second reference signals; determining a target TOA based on the TOA group; determining a target RSRP based on the RSRP group; and generating second measurement data based on the network device identifier, the target TOA, and the target RSRP. The second measurement data includes the network device identifier, the target TOA, and the target RSRP.

[0135] Step 806: Send the second measurement data to the measuring device.

[0136] In this embodiment, the network device can obtain first measurement data and second measurement data based on reference signals sent from two locations. The first measurement data and second measurement data can be used to determine the time synchronization error.

[0137] The applicant discovered that errors in RSRP measurement can lead to inaccuracies in the correspondence between location and TOA. For example, in the measurement data corresponding to the first location, if the RSRP of the second network device is larger than that of the first network device, then the network device identifiers corresponding to the two RSRPs are the same, the TOA of the two network devices are equal, and the TAE is 0, which will cause errors in the TAE result. Furthermore, TOA errors affect the accuracy of TAE. Generally, the more reference signals there are, the smaller the error between the measured data and the actual data. Therefore, this application provides several methods to improve the accuracy of TOA and RSRP.

[0138] In some embodiments of this application, a target TOA can be determined based on a TOA group, and one of the RSRPs can be selected from the RSRP group as the target RSRP. In other embodiments of this application, a TOA can be selected from the TOA group as the target TOA, and the target RSRP can be determined based on the RSRP group.

[0139] This application describes several methods for determining the target TOA based on the TOA group, and several embodiments are presented below.

[0140] In an optional embodiment, determining the target TOA based on the TOA group includes: removing the maximum and minimum TOA from the TOA group to obtain the remaining TOA group; and determining the target TOA as the average value of the remaining TOA group.

[0141] The maximum and minimum TOA values ​​are likely to deviate significantly from the actual TOA values. Removing the maximum and minimum TOA values ​​and then calculating the average of the remaining TOA values ​​can reduce the influence of the maximum and minimum TOA values ​​on the average, thereby improving the accuracy of the TOA values.

[0142] In another optional embodiment, determining the target TOA based on the TOA group includes: calculating the average TOA of the TOA group; determining a first TOA reference value equal to the average TOA minus a preset duration; determining a second TOA reference value equal to the sum of the average TOA and the preset duration; selecting a reference TOA group from the TOA group; and determining the target TOA as the average value of the reference TOA group.

[0143] In this embodiment, the preset duration is less than or equal to 15 nanoseconds, such as 10 nanoseconds, 5 nanoseconds, etc. The specific value of the preset duration can be set according to the actual situation, and this application does not limit it. When the difference between the TOA of the TOA group and the average TOA is greater than 15 nanoseconds, it indicates that the TOA is likely to deviate from the actual TOA.

[0144] The minimum TOA in the reference TOA group is greater than or equal to the first TOA reference value, and the maximum TOA in the reference TOA group is less than or equal to the second TOA reference value. A reference TOA group is selected from the TOA group based on the interval [first TOA reference value, second TOA reference value]. Calculating the average value of the reference TOA group can eliminate the influence of extreme values ​​on the average value, thereby reducing the error between the target TOA and the actual TOA.

[0145] In another alternative embodiment, determining the target TOA based on the TOA group includes: performing clustering processing on the TOA group to obtain the target TOA.

[0146] In this embodiment, the clustering method can be, but is not limited to, K-means clustering. Specifically, a TOA is selected sequentially from the TOA group as the TOA to be processed, and the TOA to be processed is removed from the TOA group to obtain the remaining TOA; the difference between the TOA to be processed and each TOA in the remaining TOA is calculated; the squares of all differences are summed; the target TOA is determined as the TOA to be processed corresponding to the least sum of squares. In this way, the TOA closest to the mean can be selected from the TOA group. Compared with other TOA in the TOA group, this TOA has the smallest error with the actual TOA.

[0147] It should be noted that the method for determining the target TOA based on the TOA group is not limited to the examples above. In one example, the maximum or minimum value can be removed, and then the average of the remaining TOAs can be calculated. In another example, TOAs greater than the second TOA reference value are removed, and the average of the remaining TOAs can be calculated. In yet another example, TOAs less than the first TOA reference value are removed, and the average of the remaining TOAs can be calculated.

[0148] This application describes several methods for determining the target RSRP based on the RSRP group, and several embodiments are presented below.

[0149] In an optional embodiment, determining the target RSRP based on the RSRP group includes: removing the maximum and minimum RSRP from the RSRP group to obtain the remaining RSRP group; and determining the target RSRP as the average value of the remaining RSRP group.

[0150] In another optional embodiment, determining the target RSRP based on the RSRP group includes: calculating the average RSRP of the RSRP group; determining a first RSRP reference value based on the average RSRP and a preset decibel value; determining a second RSRP reference value based on the average RSRP and the preset decibel value; and selecting a reference RSRP group from the RSRP group.

[0151] In this embodiment, the preset decibel value is less than or equal to 3 dB, for example, 2 dB or 1 dB. The preset decibel value can be set according to actual conditions, and this application does not limit it. The average RSRP minus the first RSRP reference value is ≤ 3 dB, and the second RSRP reference value minus the average RSRP value is ≤ 3 dB. When the absolute value of the difference between the RSRP of the RSRP group and the average RSRP value is greater than 3 dB, it indicates that the RSRP is likely to deviate from the actual RSRP.

[0152] The minimum RSRP in the reference RSRP group is greater than or equal to the first RSRP reference value, and the maximum RSRP in the reference RSRP group is less than or equal to the second RSRP reference value; the target RSRP is determined as the average value of the reference RSRP group. This allows selecting the RSRP from the middle portion of the RSRP group, eliminating the influence of the average value and thus reducing the error between the target RSRP and the actual RSRP.

[0153] In another alternative embodiment, determining the target RSRP based on the RSRP group includes: performing clustering processing on the RSRP group to obtain the target RSRP.

[0154] In this embodiment, the clustering method can be, but is not limited to, K-means clustering. Specifically, an RSRP is selected sequentially from the RSRP group as the RSRP to be processed. The RSRP to be processed is removed from the RSRP group to obtain the remaining RSRPs. The difference between the RSRP to be processed and each RSRP in the remaining RSRPs is calculated, and the squares of all differences are summed. The target RSRP is determined as the RSRP to be processed corresponding to the least sum of squares. In this way, the RSRP closest to the mean can be selected from the RSRP group. Compared with other RSRPs in the RSRP group, this RSRP has the smallest error with the actual RSRP, thereby improving the accuracy of RSRP.

[0155] It should be noted that the method for determining the target TOA based on RSRP groups is not limited to the examples above. In one example, the maximum or minimum value can be removed, and then the average value is calculated based on the remaining RSRP. In another example, RSRPs greater than the second RSRP reference value are removed, and the average value is calculated based on the remaining RSRP. In yet another example, RSRPs less than the first RSRP reference value are removed, and the average value is calculated based on the remaining RSRP.

[0156] The measuring equipment is described below, and it can achieve... Figure 2 The illustrated embodiment or Figure 5 The illustrated embodiment presents a method for obtaining indoor positioning information. A detailed description follows; please refer to [link / reference]. Figure 9 In one embodiment, the measuring device 900 of this application includes:

[0157] The receiving unit 901 is configured to receive first measurement data sent by multiple network devices, the first measurement data including network device identifier, target TOA and target RSRP;

[0158] Processing unit 902 is further configured to determine the first network device identifier as the network device identifier corresponding to the maximum RSRP among the first measurement data sent by multiple network devices;

[0159] Processing unit 902 is further configured to obtain a first target TOA corresponding to a first network device identifier from first measurement data sent by multiple network devices;

[0160] The receiving unit 901 is also configured to receive second measurement data sent by multiple network devices respectively;

[0161] Processing unit 902 is further configured to determine the second network device identifier as the network device identifier corresponding to the maximum RSRP among the second measurement data sent by multiple network devices;

[0162] The processing unit 902 is further configured to obtain a second target TOA corresponding to a second network device identifier and a third target TOA corresponding to a first network device identifier from the second measurement data sent by multiple network devices;

[0163] Processing unit 902 is further configured to obtain a fourth target TOA corresponding to a second network device identifier from first measurement data sent by multiple network devices;

[0164] The processing unit 902 is further configured to determine the time synchronization error based on the first target TOA, the second target TOA, the third target TOA and the fourth target TOA, wherein the time synchronization error is the difference between the channel delay of the first network device and the channel delay of the second network device.

[0165] In this embodiment, the measuring device 900 can achieve... Figure 2 The steps performed by the measuring device in the illustrated embodiment or optional embodiments can also be implemented. Figure 5 The steps performed by the measuring device in the illustrated embodiment or alternative embodiments. Figure 9 For a glossary of terms, the steps performed by each unit, and the beneficial effects in the illustrated embodiments, please refer to [link / reference needed]. Figure 2 or Figure 5 The corresponding description in the illustrated embodiment.

[0166] In an optional embodiment, the processing unit 902 is specifically configured to determine that the first difference is equal to the fourth target TOA minus the first target TOA; determine that the second difference is equal to the second target TOA minus the third target TOA; and determine that the time synchronization error is equal to the average of the first difference and the second difference.

[0167] In another alternative embodiment,

[0168] The receiving unit 901 is also used to receive the height difference sent by the first network device, wherein the height difference is the height difference between the position of the first network device and the first position;

[0169] Processing unit 902 is also configured to determine a first horizontal distance based on the first target TOA, the second target TOA, the third target TOA, the fourth target TOA and the height difference, wherein the first horizontal distance is the horizontal distance from the first network device to the second network device.

[0170] In another alternative embodiment,

[0171] The receiving unit 901 is also used to receive third measurement data sent by multiple network devices respectively;

[0172] The processing unit 902 is further configured to determine a second horizontal distance based on the first measurement data, the third measurement data, and the height difference, wherein the second horizontal distance is the horizontal distance between the first network device and the third network device; and to determine a third horizontal distance based on the second measurement data, the third measurement data, and the height difference, wherein the third horizontal distance is the horizontal distance between the second network device and the third network device.

[0173] The receiving unit 901 is also configured to receive fourth measurement data sent by multiple network devices respectively, the fourth measurement data being determined based on a fourth reference signal sent by the terminal at a fourth location;

[0174] The processing unit 902 is further configured to determine a fourth horizontal distance based on the first measurement data, the fourth measurement data, and the height difference, wherein the fourth horizontal distance is the horizontal distance between the first network device and the fourth network device; determine a fifth horizontal distance based on the second measurement data, the fourth measurement data, and the height difference, wherein the fifth horizontal distance is the horizontal distance between the second network device and the fourth network device; and determine a sixth horizontal distance based on the third measurement data, the fourth measurement data, and the height difference, wherein the sixth horizontal distance is the horizontal distance between the third network device and the fourth network device.

[0175] In another alternative embodiment,

[0176] The processing unit 902 is further configured to: use the coordinates of the first network device as the origin of the topology map; determine the coordinates of the second network device based on the coordinates of the first network device and the first horizontal distance; determine the coordinates of the third network device based on the coordinates of the first network device, the coordinates of the second network device, the second horizontal distance, and the third horizontal distance; determine the first candidate coordinates and the second candidate coordinates of the fourth network device based on the coordinates of the first network device, the coordinates of the second network device, the fourth horizontal distance, and the fifth horizontal distance; calculate the seventh horizontal distance from the coordinates of the third network device to the first candidate coordinates and the eighth horizontal distance from the coordinates of the third network device to the second candidate coordinates; calculate the distance difference between the seventh horizontal distance and the sixth horizontal distance and the distance difference between the eighth horizontal distance and the sixth horizontal distance; select the coordinates of the fourth network device from the first candidate coordinates and the second candidate coordinates based on the minimum distance difference; and generate the topology map based on the coordinates of the first network device, the second network device, the third network device, and the fourth network device.

[0177] The network device described below is a description of the application, which can achieve... Figure 8 The method for obtaining indoor positioning information in the illustrated embodiment. See also... Figure 10 In one embodiment, the network device 1000 includes:

[0178] The receiving unit 1001 is used to receive the first reference signal sent by the terminal at the first position;

[0179] Processing unit 1002 is configured to determine first measurement data based on a first reference signal, the first measurement data including the identifier of the network device, the target TOA and the target RSRP;

[0180] The transmitting unit 1003 is used to transmit the first measurement data to the measuring device;

[0181] The receiving unit 1001 is also used to receive a second reference signal sent by the terminal at the second position;

[0182] The processing unit 1002 is also configured to determine the second measurement data based on the second reference signal;

[0183] The transmitting unit 1003 is also used to transmit the second measurement data to the measuring device.

[0184] In this embodiment, network device 1000 can achieve... Figure 8 The steps performed by the network device in the illustrated embodiment or optional embodiment. Figure 10 For a glossary of terms, the steps performed by each unit, and the beneficial effects in the illustrated embodiments, please refer to [link / reference needed]. Figure 8 The corresponding description in the illustrated embodiment.

[0185] In another alternative embodiment, the processing unit 1002 is specifically configured to, when there are multiple first reference signals, determine a TOA group and an RSRP group based on the multiple first reference signals; determine a target TOA based on the TOA group; determine a target RSRP based on the RSRP group; and generate first measurement data based on the identifier of the network device, the target TOA, and the target RSRP.

[0186] In another optional embodiment, the processing unit 1002 is specifically used to remove the maximum TOA and minimum TOA from the TOA group to obtain the remaining TOA group; and to determine the target TOA as the average value of the remaining TOA group.

[0187] In another optional embodiment, the processing unit 1002 is specifically used to calculate the average TOA of the TOA group; determine that the first TOA reference value is equal to the average TOA minus a preset duration, wherein the preset duration is less than or equal to 15 nanoseconds; determine that the second TOA reference value is equal to the sum of the average TOA and the preset duration; select a reference TOA group from the TOA group, wherein the minimum TOA in the reference TOA group is greater than or equal to the first TOA reference value, and the maximum TOA in the reference TOA group is less than or equal to the second TOA reference value; and determine the target TOA as the average value of the reference TOA group.

[0188] In another optional embodiment, the processing unit 1002 is specifically configured to sequentially select one TOA from the TOA group as the TOA to be processed; calculate the difference between the TOA to be processed and each TOA in the remaining TOA group, wherein the remaining TOA group is obtained by removing the TOA to be processed from the TOA group; sum the squares of all the differences; and determine the target TOA as the TOA to be processed corresponding to the least squares.

[0189] In another alternative embodiment, the processing unit 1002 is specifically used to remove the maximum and minimum RSRP from the RSRP group to obtain the remaining RSRP group; and to determine the target RSRP as the average value of the remaining RSRP group.

[0190] In another optional embodiment, the processing unit 1002 is specifically used to calculate the average RSRP of the RSRP group; determine a first RSRP reference value based on the average RSRP and a preset decibel value, wherein the preset decibel value is greater than or equal to the average RSRP minus the first RSRP reference value, and the preset decibel value is 3 dB; determine a second RSRP reference value based on the average RSRP and the preset decibel value, wherein the preset decibel value is greater than or equal to the second RSRP reference value minus the average RSRP; select a reference RSRP group from the RSRP group, wherein the minimum RSRP in the reference RSRP group is greater than or equal to the first RSRP reference value, and the maximum RSRP in the reference RSRP group is less than or equal to the second RSRP reference value; and determine the target RSRP as the average value of the reference RSRP group.

[0191] In another optional embodiment, the processing unit 1002 is specifically configured to sequentially select one RSRP from the RSRP group as the RSRP to be processed; calculate the difference between the RSRP to be processed and each RSRP in the remaining RSRPs, the remaining RSRPs being obtained by removing the RSRP to be processed from the RSRP group; sum the squares of all the differences; and determine the target RSRP as the RSRP to be processed corresponding to the least squares.

[0192] The measurement equipment described in this application can be a measurement server, a baseband unit, or a core network device. The hardware structure of the measurement equipment is described below; please refer to [link / reference]. Figure 11 One embodiment of the measurement server 1100 in this application includes a processor 1101, a memory 1102, and a network interface 1103 connected via a bus 1104. The number of processors 1101, memory 1102, and network interfaces 1103 may be one or more.

[0193] In this embodiment, the memory 1102 is used to store programs or instructions. The processor 1101 executes the programs or instructions stored in the memory 1102. Figure 2 The illustrated embodiment or Figure 5 The steps performed by the measuring device in the illustrated embodiment.

[0194] It should be understood that the processor 1101 mentioned in this embodiment can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0195] It should also be understood that the memory 1102 mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM).

[0196] Network interface 1103 can be used to receive or send data.

[0197] The following section uses the baseband unit as an example to introduce the measurement equipment. (See attached document.) Figure 12One embodiment of the baseband unit 1200 of this application includes a processor 1201, a memory 1202, and a network interface 1203 connected via a bus 1204. The number of processors 1201 and memory 1202 can be one or more. The number of network interfaces 1203 is typically multiple.

[0198] In this embodiment, the memory 1202 is used to store programs or instructions. The processor 1201 executes the programs or instructions stored in the memory 1202. Figure 2 The steps performed by the measuring device in the illustrated embodiment.

[0199] Network interface 1203 can be used to communicate with miniature radio remote units, core network equipment, or other base stations.

[0200] This application also provides a base station, which includes a miniature radio frequency remote unit and... Figure 10 The baseband unit 1200 in the illustrated embodiment. The number of miniature radio frequency remote units can be three or more. The miniature radio frequency remote units can achieve... Figure 2 The function of each network device in the illustrated embodiments or Figure 8 The network devices in the illustrated embodiments have functions such as those of a first network device, a second network device, a third network device, or a fourth network device.

[0201] It should be noted that the information interaction and execution process between the modules / units of the above-mentioned device are based on the same concept as the method embodiments of this application, and the resulting technical effects are the same as those of the method embodiments of this application. For details, please refer to the description in the method embodiments shown above in this application, and will not be repeated here.

[0202] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method for obtaining indoor positioning information described in the above embodiments or optional embodiments.

[0203] This application also provides a computer program product that, when run on a computer, causes the computer to perform a method for obtaining indoor positioning information as shown in the embodiments or alternative embodiments described above.

[0204] This application also provides a chip system comprising a processor and a memory coupled to each other. The memory stores computer programs or instructions, and the processing unit executes the computer programs or instructions stored in the memory to cause the measuring device to perform the steps performed by the measuring device in the above embodiments. Optionally, the memory is an on-chip memory, such as a register, cache, etc., or it can be a site-specific memory located outside the chip, such as read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM), etc. The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for implementing the above-described method of acquiring indoor positioning information.

[0205] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided in this application, the connection relationships between modules indicate that they have communication connections, which can specifically be implemented as one or more communication buses or signal lines.

[0206] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, and of course, it can also be implemented by special hardware including application-specific integrated circuits, special CPUs, special memory, special components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0207] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0208] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

[0209] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for acquiring indoor positioning information, characterized in that, include: The terminal receives first measurement data sent by multiple network devices, the first measurement data including network device identifier, target arrival time (TOA) and target reference signal received power (RSRP), and the first measurement data is determined based on a first reference signal sent by the terminal at a first location. The first network device identifier is determined as the network device identifier corresponding to the maximum RSRP among the first measurement data sent by the plurality of network devices; Obtain the first target TOA corresponding to the first network device identifier from the first measurement data sent by the plurality of network devices; The system receives second measurement data sent by the plurality of network devices, the second measurement data being determined based on a second reference signal sent by the terminal at a second location; The second network device identifier is determined to be the network device identifier corresponding to the maximum RSRP among the second measurement data sent by the plurality of network devices; Obtain the second target TOA corresponding to the second network device identifier and the third target TOA corresponding to the first network device identifier from the second measurement data sent by the plurality of network devices; Obtain the fourth target TOA corresponding to the second network device identifier from the first measurement data sent by the plurality of network devices; The time synchronization error is determined based on the first target TOA, the second target TOA, the third target TOA, and the fourth target TOA. The time synchronization error is the difference between the channel delay of the first network device and the channel delay of the second network device. The channel delay of the first network device is the delay of the signal passing through the first network device and the RF remote hub to the baseband unit. The channel delay of the second network device is the delay of the signal passing through the second network device and the RF remote hub to the baseband unit. The first network device is a first miniature RF remote unit, and the second network device is a second miniature RF remote unit.

2. The method according to claim 1, characterized in that, The determination of time synchronization error based on the first target TOA, the second target TOA, the third target TOA, and the fourth target TOA includes: The first difference is determined to be equal to the fourth target TOA minus the first target TOA; The second difference is determined to be equal to the second target TOA minus the third target TOA; The time synchronization error is determined to be equal to the average of the first difference and the second difference.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the height difference between the location of the first network device and the first location; A first horizontal distance is determined based on the first target TOA, the second target TOA, the third target TOA, the fourth target TOA, and the height difference. The first horizontal distance is the horizontal distance between the first network device and the second network device.

4. The method according to claim 3, characterized in that, The method further includes: The third measurement data sent by the plurality of network devices are received respectively, and the third measurement data is determined based on the third reference signal sent by the terminal at the third location; Based on the first measurement data, the third measurement data, and the height difference, a second horizontal distance is determined, which is the horizontal distance between the first network device and the third network device. Based on the second measurement data, the third measurement data, and the height difference, a third horizontal distance is determined, which is the horizontal distance between the second network device and the third network device. The terminal receives fourth measurement data sent by the plurality of network devices, the fourth measurement data being determined based on a fourth reference signal sent by the terminal at a fourth location. Based on the first measurement data, the fourth measurement data and the height difference determine the fourth horizontal distance, which is the horizontal distance between the first network device and the fourth network device; Based on the second measurement data, the fourth measurement data, and the height difference, a fifth horizontal distance is determined, which is the horizontal distance between the second network device and the fourth network device; Based on the third measurement data, the fourth measurement data, and the height difference, a sixth horizontal distance is determined, which is the horizontal distance between the third network device and the fourth network device.

5. The method according to claim 4, characterized in that, The method further includes: The coordinates of the first network device are used as the origin of the topology map, and the coordinates of the second network device are determined based on the coordinates of the first network device and the first horizontal distance. The coordinates of the third network device are determined based on the coordinates of the first network device, the coordinates of the second network device, the second horizontal distance, and the third horizontal distance. Based on the coordinates of the first network device, the coordinates of the second network device, the fourth horizontal distance, and the fifth horizontal distance, the first candidate coordinates and the second candidate coordinates of the fourth network device are determined; Calculate the seventh horizontal distance from the coordinates of the third network device to the first candidate coordinates and the eighth horizontal distance from the coordinates of the third network device to the second candidate coordinates; Calculate the distance difference between the seventh horizontal distance and the sixth horizontal distance, and the distance difference between the eighth horizontal distance and the sixth horizontal distance; The coordinates of the fourth network device are selected from the first candidate coordinates and the second candidate coordinates based on the minimum distance difference; A topology map is generated based on the coordinates of the first network device, the second network device, the third network device, and the fourth network device.

6. A measuring device, characterized in that, include: The receiving unit is configured to receive first measurement data sent by multiple network devices respectively. The first measurement data includes network device identifier, target arrival time (TOA), and target reference signal received power (RSRP). The first measurement data is determined based on a first reference signal sent by the terminal at a first location. The processing unit is configured to determine the first network device identifier as the network device identifier corresponding to the maximum RSRP among the first measurement data sent by the plurality of network devices; The processing unit is further configured to obtain the first target TOA corresponding to the first network device identifier from the first measurement data sent by the plurality of network devices; The receiving unit is further configured to receive second measurement data sent by the plurality of network devices respectively, wherein the second measurement data is determined based on a second reference signal sent by the terminal at the second location; The processing unit is further configured to determine the second network device identifier as the network device identifier corresponding to the maximum RSRP among the second measurement data sent by the plurality of network devices; The processing unit is further configured to obtain a second target TOA corresponding to the second network device identifier and a third target TOA corresponding to the first network device identifier from the second measurement data sent by the plurality of network devices; The processing unit is further configured to obtain the fourth target TOA corresponding to the second network device identifier from the first measurement data sent by the plurality of network devices; The processing unit is further configured to determine a time synchronization error based on the first target TOA, the second target TOA, the third target TOA, and the fourth target TOA. The time synchronization error is the difference between the channel delay of the first network device and the channel delay of the second network device. The channel delay of the first network device is the delay of the signal passing through the first network device and the radio frequency remote hub to the baseband unit. The channel delay of the second network device is the delay of the signal passing through the second network device and the radio frequency remote hub to the baseband unit. The first network device is a first miniature radio frequency remote unit, and the second network device is a second miniature radio frequency remote unit.

7. The measuring device according to claim 6, characterized in that, The processing unit is specifically used to determine that the first difference is equal to the fourth target TOA minus the first target TOA; to determine that the second difference is equal to the second target TOA minus the third target TOA; and to determine that the time synchronization error is equal to the average of the first difference and the second difference.

8. The measuring device according to claim 6, characterized in that, The receiving unit is further configured to obtain the height difference between the position of the first network device and the first position; The processing unit is further configured to determine a first horizontal distance based on the first target TOA, the second target TOA, the third target TOA, the fourth target TOA and the height difference, wherein the first horizontal distance is the horizontal distance from the first network device to the second network device.

9. The measuring device according to claim 8, characterized in that, The receiving unit is further configured to receive third measurement data sent by the plurality of network devices respectively, wherein the third measurement data is determined based on a third reference signal sent by the terminal at a third location; The processing unit is further configured to determine a second horizontal distance based on the first measurement data, the third measurement data, and the height difference, wherein the second horizontal distance is the horizontal distance from the first network device to the third network device; and to determine a third horizontal distance based on the second measurement data, the third measurement data, and the height difference, wherein the third horizontal distance is the horizontal distance from the second network device to the third network device. The receiving unit is further configured to receive fourth measurement data sent by the plurality of network devices respectively, the fourth measurement data being determined based on a fourth reference signal sent by the terminal at a fourth location; The processing unit is further configured to: determine a fourth horizontal distance based on the first measurement data, the fourth measurement data, and the height difference, wherein the fourth horizontal distance is the horizontal distance between the first network device and the fourth network device; determine a fifth horizontal distance based on the second measurement data, the fourth measurement data, and the height difference, wherein the fifth horizontal distance is the horizontal distance between the second network device and the fourth network device; and determine a sixth horizontal distance based on the third measurement data, the fourth measurement data, and the height difference, wherein the sixth horizontal distance is the horizontal distance between the third network device and the fourth network device.

10. The measuring device according to claim 9, characterized in that, The processing unit is further configured to: use the coordinates of the first network device as the origin of the topology map; determine the coordinates of the second network device based on the coordinates of the first network device and the first horizontal distance; determine the coordinates of the third network device based on the coordinates of the first network device, the coordinates of the second network device, the second horizontal distance, and the third horizontal distance; determine the first candidate coordinates and the second candidate coordinates of the fourth network device based on the coordinates of the first network device, the coordinates of the second network device, the fourth horizontal distance, and the fifth horizontal distance; and calculate the seventh horizontal distance from the coordinates of the third network device to the first candidate coordinates and the eighth horizontal distance from the coordinates of the third network device to the second candidate coordinates. Calculate the distance difference between the seventh horizontal distance and the sixth horizontal distance, and the distance difference between the eighth horizontal distance and the sixth horizontal distance; select the coordinates of the fourth network device from the first candidate coordinates and the second candidate coordinates based on the minimum distance difference; generate a topology map based on the coordinates of the first network device, the second network device, the third network device, and the fourth network device.

11. A computer-readable storage medium comprising instructions, characterized in that, When it is run on a computer, it causes the computer to perform the method of any one of claims 1 to 5.

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