Positioning method, apparatus, and user equipment

Abstract

The application discloses a positioning method, device and user equipment, which are used for positioning a target terminal by a target measurement station, and reduce positioning cost under the premise of ensuring high-precision positioning. The positioning method provided by the application comprises the following steps: sending measurement station information used for positioning measurement of a target terminal to the target terminal, so that the target terminal determines a target measurement station according to the measurement station information; receiving positioning measurement data reported by the target measurement station, wherein the positioning measurement data comprises an identifier of the target terminal, an identifier of a positioning measurement signal sent by the target terminal, and a time when the positioning measurement signal sent by the target terminal arrives at the target measurement station; based on the positioning measurement data reported by the target measurement station, selecting positioning measurement data reported by at least three target measurement stations used for positioning the same target terminal, and determining position information of the target terminal based on the positioning measurement data reported by the at least three target measurement stations.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a positioning method, apparatus and user equipment. Background Technology

[0002] With the widespread adoption of wireless user terminals such as smartphones and smartwatches, a large demand for wireless positioning has emerged. However, to improve positioning accuracy, the current method mainly relies on adding more 5G communication base stations for calibration, which places high demands on the deployment density of 5G communication base stations. This not only makes construction difficult but also increases positioning costs. Summary of the Invention

[0003] This application provides a positioning method, apparatus, and user equipment to achieve positioning of a target terminal through a target measurement station, thereby reducing positioning costs while ensuring high-precision positioning.

[0004] This application provides a positioning method, including:

[0005] The measurement station information used to perform positioning measurements on the target terminal is sent to the target terminal, so that the target terminal can determine the target measurement station based on the measurement station information;

[0006] The system receives positioning measurement data reported by the target measurement station, wherein the positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station.

[0007] Based on the positioning measurement data reported by the target measurement station, the positioning measurement data reported by at least three target measurement stations are selected for positioning the same target terminal, and the location information of the target terminal is determined based on the positioning measurement data reported by the selected at least three target measurement stations.

[0008] This method involves sending measurement station information for locating a target terminal to the target terminal, allowing the target terminal to determine the target measurement station based on this information; receiving positioning measurement data reported by the target measurement station, wherein the positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station; based on the positioning measurement data reported by the target measurement station, selecting positioning measurement data reported by at least three target measurement stations for locating the same target terminal, and determining the location information of the target terminal based on the selected positioning measurement data reported by at least three target measurement stations, thereby achieving target terminal positioning through target measurement stations, reducing positioning costs while ensuring high-precision positioning.

[0009] In some embodiments, selecting positioning measurement data reported by at least three target measurement stations for locating the same target terminal based on the positioning measurement data reported by the target measurement station includes:

[0010] For the same positioning measurement signal from the same target terminal, select at least three target measurement stations with the shortest arrival time of the positioning measurement signal at the target measurement station.

[0011] This method enables the selection of positioning measurement data reported by at least three target measurement stations for calculating the location information of the target terminal.

[0012] In some embodiments, determining the location information of the target terminal based on positioning measurement data reported by at least three selected target measurement stations includes:

[0013] From the positioning measurement data reported by the at least three target measurement stations, select the first arrival time reported by the first target measurement station, the second arrival time reported by the second target measurement station, and the third arrival time reported by the third target measurement station;

[0014] The first arrival time, the second arrival time, and the third arrival time are subtracted from each other in pairs. The three time differences are then multiplied by the transmission speed of the positioning measurement signal to obtain three distance differences.

[0015] Based on the three distance differences and the location information of the first target measuring station, the second target measuring station, and the third target measuring station, the location information of the target terminal is determined.

[0016] This method enables the calculation of the target terminal's location information using positioning measurement data reported by the target measurement station.

[0017] In some embodiments, when the target measurement station is an image acquisition device, the positioning measurement data reported by the target measurement station further includes: image data;

[0018] When the selected at least three target measurement stations include image acquisition devices, after determining the location information of the target terminal corresponding to the measurement signal, the method includes:

[0019] Establish the association between the image data reported by the selected image acquisition device and the location information of the target terminal to obtain the visual location information of the target terminal.

[0020] This method associates the location of the target terminal with the image data acquired by the image acquisition device, enabling a visual display of the target terminal's location information.

[0021] This application provides a positioning method, including:

[0022] Receive measurement station information sent by the positioning platform for positioning the target terminal, and determine the target measurement station based on the measurement station information;

[0023] A positioning measurement signal is sent to the target measurement station, which performs positioning measurement on the positioning measurement signal and reports the obtained positioning measurement data to the positioning platform. The positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station.

[0024] Using this method, target measurement stations are selected, and positioning information is exchanged with the target measurement stations.

[0025] This application provides a positioning method, including:

[0026] Receive positioning measurement signals sent by the target terminal;

[0027] The positioning measurement signal is used to perform positioning measurement, and the obtained positioning measurement data is reported to the positioning platform. The positioning measurement data includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrives at the local target measurement station.

[0028] This method enables the target measurement station and the target terminal to exchange positioning information and report the obtained positioning measurement data to the positioning platform.

[0029] In some embodiments, when the local target measurement station is an image acquisition device, the positioning measurement data further includes image data.

[0030] Another embodiment of this application provides a positioning device and a user equipment, which includes a memory and a processor, wherein the memory is used to store program instructions, and the processor is used to call the program instructions stored in the memory and execute any of the methods described above according to the obtained program.

[0031] Another embodiment of this application provides a positioning system, including the positioning device and / or user equipment described above.

[0032] Furthermore, according to embodiments, for example, a computer program product for a computer is provided, which includes software code portions that, when the product is run on the computer, perform the steps of the methods defined above. The computer program product may include a computer-readable medium on which the software code portions are stored. Furthermore, the computer program product may be directly loaded into the computer's internal memory and / or sent via a network through at least one of an upload process, a download process, and a push process.

[0033] Another embodiment of this application provides a computer-readable storage medium storing computer-executable instructions for causing the computer to perform any of the methods described above. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram illustrating the determination of a target terminal location using TDOA positioning technology, provided as an embodiment of this application;

[0036] Figure 2 A schematic diagram illustrating how to determine the location of a target terminal using geometric relationships, as provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the structure of a 5G positioning device provided in an embodiment of this application;

[0038] Figure 4 This application provides a schematic diagram of the structure of a D2D communication network according to an embodiment of the present application.

[0039] Figure 5 This is a schematic diagram of the structure of a positioning system provided in an embodiment of this application;

[0040] Figure 6 This is a schematic flowchart illustrating a positioning method provided in an embodiment of this application.

[0041] Figure 7 A schematic diagram of the overall process of a positioning method (positioning platform side) provided in an embodiment of this application;

[0042] Figure 8 A schematic diagram of the overall process of a positioning method (terminal side) provided in an embodiment of this application;

[0043] Figure 9 A schematic diagram of the overall process of a positioning method (target measurement station side) provided in an embodiment of this application;

[0044] Figure 10 A schematic diagram of the structure of a positioning device (network side) provided in an embodiment of this application;

[0045] Figure 11 This is a schematic diagram of the structure of a user equipment (terminal side) provided in an embodiment of this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0047] This application provides a positioning method, apparatus, and user equipment to achieve positioning of a target terminal through a target measurement station, thereby reducing positioning costs while ensuring high-precision positioning.

[0048] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0049] The terms "first," "second," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] The following examples and embodiments are to be understood as illustrative only. While this specification may refer to "a," "an," or "some" examples or embodiments in several places, this does not mean that every such reference relates to the same example or embodiment, nor does it mean that the feature applies only to a single example or embodiment. Individual features of different embodiments may also be combined to provide other embodiments. Furthermore, terms such as "comprising" and "including" should be understood not to limit the described embodiments to consisting only of those features mentioned; such examples and embodiments may also include features, structures, units, modules, etc., not specifically mentioned.

[0051] The various embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be noted that the order in which the embodiments are presented in this application represents only a chronological order and does not represent the superiority or inferiority of the technical solutions provided by the embodiments.

[0052] It should be noted that the technical solution provided in this application embodiment involves the target terminal sending a positioning measurement signal to a 5G camera and a 5G communication base station installed at a fixed location. The 5G camera and the 5G communication base station will perform positioning measurement on the received positioning measurement signal and report the positioning measurement data to the service platform. The service platform uses the positioning measurement data to calculate the location information of the target terminal. This is an example for illustration, but it is not limited to this.

[0053] I. TDOA (Time Difference of Arrival) Positioning Technology

[0054] TDOA positioning is a method of positioning that uses time difference to compensate for the errors that may be caused by the absolute time asynchrony of TOA (Time of Arrival) positioning. It calculates the difference in distance from the target terminal to the two communication base stations by measuring the time difference between the positioning measurement signal sent by the target terminal (e.g., mobile phone) and the arrival of the signal at two nearby communication base stations.

[0055] By measuring the time it takes for the positioning signal to reach each measuring station (e.g., a communication base station), the distance from the signal source to each measuring station can be determined. Using the distances from the signal source to each measuring station (drawing circles with the measuring stations as centers and the distances as radii), the location of the signal source (i.e., the target terminal) can be determined (for example, the intersection of the three circles indicates the location of the signal source). Figure 1As shown. However, absolute time is generally difficult to measure. Therefore, by comparing the absolute time differences of the same positioning measurement signal arriving at various measurement stations, a hyperbola can be drawn with the measurement station as the focus and the distance difference as the major axis. The intersection of the hyperbola is the location of the signal source (mathematical principle: a hyperbola is the locus of points whose absolute difference in distance to two fixed points on a plane is constant; the two fixed points are the foci of the hyperbola, and the distance difference is the major axis of the hyperbola). For example, for communication base stations R1 and R2, the time for the same positioning measurement signal to arrive at communication base stations R1 and R2 is t1 and t2 (assuming t1>t2). The distance between the two communication base stations is (t1-t2)c, where c is the transmission speed of the positioning measurement signal. Since t1>t2, the signal source is on the curve with communication base station R2 as the focus. When multiple communication base stations perform simultaneous measurements, the signal source is located on multiple curves, and these multiple curves must intersect. The intersection of these multiple curves is the location of the signal source (the location of the signal source can be determined by three curves). For example... Figure 2 As shown. Once the location information of each communication base station and the arrival time of the positioning measurement signals sent by the target terminal at each communication base station at the same time are known, the location information of the target terminal can be solved using the equation.

[0056] Given that the coordinates of three measuring stations R1, R2, and R3 are (x1, y1), (x2, y2), and (x3, y3) respectively, a target terminal sends a positioning measurement signal to these three measuring stations at the same time t0. The three measuring stations receive the positioning measurement signal at times t1, t2, and t3 respectively (assuming t1 > t2 > t3). The transmission speed of the positioning measurement signal is c (speed of light). Assuming the coordinates of the target terminal are (x, y), what is the distance from the target terminal to measuring station R1? Similarly, the distance from the target terminal to the measuring station R2 Distance from target terminal to measurement station R3 The distance difference between the target terminal and measuring stations R1 and R2 is c(t1-t0)-c(t2-t0)=c(t1-t2), that is...

[0057]

[0058] Similarly, we can conclude that:

[0059]

[0060]

[0061] By solving the above three equations, the x and y values ​​can be obtained, thus revealing the location information of the signal source, i.e., the target terminal.

[0062] In the 5GPP R16 standard, for example Figure 3As shown, the SRS (Channel Sound Reference Signal) has been enhanced to allow each communication base station to measure the uplink relative time of arrival (UL-RTOA) and report the measurement results to the location server. It is expected to achieve horizontal positioning accuracy better than 3 meters (indoors) and 10 meters (outdoors), and vertical positioning accuracy better than 3 meters (indoors and outdoors).

[0063] DL-TDOA: 5G Release 16 introduces a new reference signal—PRS (Positioning Reference Signal), which is used by the UE to perform downlink reference signal time difference (DL RSTD) measurements on the PRS of each communication base station. These measurement results will be reported to the location server.

[0064] UL-TDOA: The 5G R16 version enhances the SRS (Channel Sound Reference Signal) to allow each communication base station to measure the uplink relative time of arrival (UL-RTOA) and report the measurement results to the location server.

[0065] DL-AoD (Downlink Departure Angle): The UE measures the downlink reference signal received power (DLRSRP) for each beam / gNB, and then sends the measurement report to the location server. The location server determines the AoD based on the DL RSRP of each beam, and then estimates the UE's location based on the AoD.

[0066] UL-AOA (Angle of Arrival): The gNB measures the angle of arrival based on the beam in which the UE is located and sends the measurement report to the location server.

[0067] Multi-cell RTT: The gNB and UE perform Rx-Tx time difference measurements on the signal of each cell. Measurement reports from the UE and gNB are reported to the location server to determine the round-trip time of each cell and to obtain the UE's location.

[0068] E-CID: The UE performs RRM measurements (e.g., DL RSRP) for each gNB, and the measurement report is sent to the location server.

[0069] All location-related measurement reports must be submitted to the location server. These measurement reports include:

[0070] The positioning measurement report reported by the UE, DL RSRP for each beam / gNB, downlink reference signal time difference (DL RSTD), UE RX-TX time difference, positioning measurement report reported by the gNB, uplink angle of arrival (UL-AoA), UL-RSRP, UL-RTOA (UL relative time of arrival), and gNB RX-TX time difference;

[0071] Based on existing cellular network positioning technology, 5G R16 introduces a new Positioning Reference Signal (PRS) and uses multiple positioning technologies such as DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, and E-CID to work together to improve positioning accuracy.

[0072] II. D2D (Device-to-Device, also known as terminal pass-through) communication technology

[0073] D2D communication technology refers to a communication method in which two peer user nodes communicate directly. For example... Figure 4 As shown, in a distributed network composed of D2D communication users, each user node can send and receive signals and has automatic routing (message forwarding) capabilities. Network participants share a portion of their hardware resources, including information processing, storage, and network connectivity. These shared resources provide services and resources to the network and can be directly accessed by other users without intermediaries. In a D2D communication network, user nodes simultaneously act as servers and clients; users are aware of each other's existence and self-organize into a virtual or real group.

[0074] Currently, locating a target terminal generally requires at least three 5G communication base stations for positioning and measurement, resulting in high construction and operation costs. When the deployment density of 5G communication base stations is insufficient, it is impossible to achieve high-precision positioning of the target terminal. This application introduces a 5G camera to perform joint positioning of the target terminal with the 5G communication base station, which can significantly reduce the deployment density of the 5G communication base station and reduce construction costs. At the same time, since 5G cameras are generally installed at fixed locations and can reuse already deployed 5G cameras, the deployment and maintenance costs are much lower than those of 5G communication base stations, thereby reducing positioning costs while ensuring positioning accuracy.

[0075] See Figure 5 This application provides a positioning system including a target terminal, two 5G cameras (supporting D2D communication and exchanging positioning information with the target terminal through D2D communication technology), a 5G communication base station, and a service platform; the two 5G cameras are installed at fixed locations, the latitude, longitude, altitude, and other location information of the locations of the two 5G cameras are measured in advance, and the location information of the two 5G cameras and the communication base station is recorded into the service platform.

[0076] The target terminal integrates a 5G module, enabling it to interact with 5G communication base stations and 5G cameras for location information exchange. Specifically, the target terminal sends location measurement signals to the 5G camera and the 5G communication base station. The 5G camera then transmits the obtained location measurement data—including the arrival time of the location measurement signal, the signal identifier (ensuring that all 5G communication base stations and 5G cameras receive the same location measurement signal sent from the target terminal at the same time), the target terminal's unique identification parameters (such as the target terminal identifier, SIM card number, etc.), and current video image information (including the time identifier, i.e., image data collected when the location measurement signal arrived at the 5G camera)—to the service platform via the 5G communication base station connected to the 5G camera. Simultaneously, the 5G communication base station also uploads its obtained location measurement data to the service platform.

[0077] The business platform determines that the positioning measurement signals received by the 5G cameras and 5G communication base stations were sent from the same target terminal at the same time point, based on the identifier of the positioning measurement signal and the unique identifier of the target terminal. As long as the total number of 5G cameras and 5G communication base stations within the positioning system is no less than three, the target terminal can be located using TDOA (Time Difference of Arrival). The distance difference between the target terminal and the 5G cameras and 5G communication base stations can be calculated, and the target terminal's location information can be determined using the distance difference and the location information of the 5G cameras and 5G communication base stations. Simultaneously, image data collected by the 5G cameras when the positioning measurement signal arrives can be associated with this location information to mark the target terminal's location information on a real-world map, or to associate it with real-time video in a 3D imaging interface.

[0078] In some embodiments, the 5G camera accesses and uploads positioning measurement data to the 5G communication base station of the service platform. The 5G communication base station that performs positioning measurement on the target terminal in the positioning system can be the same communication base station or different communication base stations. No restrictions are imposed in this application.

[0079] See Figure 6 The positioning method provided in this application includes the following steps:

[0080] Install and deploy 5G cameras at fixed locations, register each 5G camera on the business platform, and enter the positioning parameters such as latitude, longitude, and altitude of each 5G camera into the business platform; complete the 5G network access for each 5G camera to support D2D communication within the positioning system; at the same time, pre-enter the positioning parameters of the 5G communication base station on the business platform to synchronize the time of all devices within the positioning system.

[0081] Step S1: The target terminal initiates a location service request to the service platform. The service platform receives the location request from the target terminal and sends information on 5G cameras and 5G communication base stations that can be used for location services in the vicinity of the target terminal to the target terminal.

[0082] In this step, the business platform may also issue a command to the target terminal, requesting the target terminal to report its location information and sending the 5G cameras and 5G communication base stations near the target terminal that can be used to locate the target terminal to the target terminal.

[0083] The service platform obtains a list of 5G communication base stations by accessing the core network connected to the target terminal and nearby base stations (based on the communication base station connected to the target terminal, the signal coverage area of ​​the communication base station is obtained, which is roughly the area where the target terminal is located, and the signal coverage area and the communication base stations adjacent to the area) and further obtains a list of 5G cameras by accessing the communication base station and nearby base stations through the core network. The platform then sends the 5G communication base station list and the 5G camera list (i.e., measurement station) information to the target terminal.

[0084] Step S2: The target terminal finds the target 5G communication base station and target 5G camera (i.e., the target measurement station) that can be used for positioning measurement based on the 5G communication base station list and 5G camera list information; sends positioning measurement signals to the target 5G communication base station and target 5G camera; the target 5G communication base station and target 5G camera perform positioning measurement on the received positioning measurement signals and report the obtained positioning measurement data to the service platform.

[0085] In this step, the target terminal searches for the signal strength of 5G communication base stations and 5G cameras based on the list of 5G communication base stations and the list of 5G cameras, and selects 5G communication base stations and 5G cameras with signal strength greater than the preset value as target 5G communication base stations and target 5G cameras.

[0086] The target 5G camera transmits the obtained positioning and measurement data to the business platform through its connected 5G communication equipment;

[0087] Step S3: Based on the received positioning measurement data, the business platform filters out the positioning measurement data reported by the target 5G cameras and target 5G communication base stations that are used to locate the same target terminal, through the identifier of the target terminal and the identifier of the positioning measurement signal sent by the target terminal, and uses the positioning measurement data to calculate the location information of the target terminal.

[0088] The positioning measurement data reported by the target 5G camera includes: the unique identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, video images, and the time when the positioning measurement signal sent by the target terminal arrives at the target 5G camera; the positioning measurement data reported by the target 5G communication base station includes: the unique identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrives at the target 5G camera.

[0089] In this step, after the service platform receives the positioning measurement data reported by the target 5G camera and the target 5G communication base station, it first filters out the positioning measurement data received for the same target terminal based on the identifier of the target terminal. Then, based on the identifier of the positioning measurement signal sent by the target terminal, it filters out the positioning measurement data received for the same positioning measurement signal sent for the same target terminal. Next, for the positioning measurement data reported for the same positioning measurement signal, based on the principle of minimizing the time it takes for the positioning measurement signal to reach the target 5G camera and the target 5G communication base station, it filters out the positioning measurement data reported by at least three target 5G cameras and target 5G communication base stations for the same positioning measurement signal of the same target terminal. Using this positioning measurement data and the corresponding location information of the target 5G camera and target 5G communication base station, the location information of the target terminal is calculated using the TDOA positioning method described above. The filtering order of the positioning measurement data is not limited in this embodiment, as long as it can filter out the positioning measurement data used to locate the same target terminal.

[0090] Step S4: Establish the correlation between the image data collected by the target 5G camera and the location information of the target terminal to obtain the visualized location information of the target terminal;

[0091] This step can be omitted when the location information used to calculate the target terminal does not include the positioning measurement data reported by the 5G camera; when the location information used to calculate the target terminal includes the positioning measurement data reported by at least two 5G cameras, the video image collected by the 5G camera with the shortest time to reach the 5G camera can be selected, or the video image containing the target terminal and with the clearest image can be selected by video algorithm. The specific video image selection method is not limited in any way in this application embodiment.

[0092] It should be noted that this step uses time stamps to select video images from the video images reported by the 5G camera whose acquisition time matches the time when the positioning measurement signal arrives at the 5G camera, and associates them with the location information of the target terminal.

[0093] In summary, see Figure 7On the positioning platform side, such as the aforementioned business platform, an embodiment of this application provides a positioning method including:

[0094] Step S101: Send the measurement station information used to perform positioning measurement on the target terminal to the target terminal, so that the target terminal can determine the target measurement station based on the measurement station information;

[0095] The target measurement station, such as the aforementioned 5G camera or 5G communication base station, can be entirely composed of 5G cameras or a combination of 5G cameras and 5G communication base stations.

[0096] Step S102: Receive the positioning measurement data reported by the target measurement station, wherein the positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station;

[0097] The target terminal identifier refers to the unique identifier of the target terminal, such as the SIM card number or target terminal identifier mentioned above.

[0098] Step S103: Based on the positioning measurement data reported by the target measurement station, select the positioning measurement data reported by at least three target measurement stations for positioning the same target terminal, and determine the location information of the target terminal based on the positioning measurement data reported by the selected at least three target measurement stations.

[0099] The location information mentioned above includes, for example, latitude, longitude, altitude, and other location information.

[0100] Step S103 enables the determination of the target terminal's location information based on positioning measurement data reported by at least three target measurement stations, thereby reducing positioning costs while ensuring high-precision positioning.

[0101] In some embodiments, selecting positioning measurement data reported by at least three target measurement stations for locating the same target terminal based on the positioning measurement data reported by the target measurement station includes:

[0102] For the same positioning measurement signal from the same target terminal, select at least three target measurement stations with the shortest arrival time of the positioning measurement signal to the target measurement station (based on the identifier of the target terminal and the identifier of the positioning measurement signal, filter the positioning measurement data reported by the target measurement stations for the same received positioning measurement signal, and then, based on the principle of the shortest arrival time of the positioning measurement signal to the target measurement station, filter the positioning measurement data of at least three target measurement stations for the same received positioning measurement signal from the same target terminal; the shorter the arrival time of the positioning measurement signal to the target measurement station, the closer the target terminal is to the target measurement station, the better the signal, and the higher the measurement accuracy; the number of target measurement stations selected is determined according to the measurement accuracy requirements and the amount of computation).

[0103] In some embodiments, determining the location information of the target terminal based on positioning measurement data reported by at least three selected target measurement stations includes:

[0104] From the positioning measurement data reported by the at least three target measurement stations, select the first arrival time reported by the first target measurement station (e.g., t1 as mentioned above), the second arrival time reported by the second target measurement station (e.g., t2 as mentioned above), and the third arrival time reported by the third target measurement station (e.g., t3 as mentioned above).

[0105] The first arrival time, the second arrival time, and the third arrival time are subtracted from each other in pairs. The three time differences (e.g., (t1-t2), (t1-t3), (t2-t3)) are multiplied by the transmission speed of the positioning measurement signal (e.g., c) to obtain three distance differences (e.g., c(t1-t2), c(t1-t3), c(t2-t3)).

[0106] Based on the three distance differences, and the location information of the first target measuring station (e.g., (x1, y1) mentioned above), the second target measuring station (e.g., (x2, y2) mentioned above), and the third target measuring station (e.g., (x3, y3) mentioned above), the location information of the target terminal (e.g., (x, y) mentioned above) is determined.

[0107] In some embodiments, when the target measurement station is an image acquisition device (such as the 5G camera mentioned above), the positioning measurement data reported by the target measurement station further includes: image data;

[0108] When the selected at least three target measurement stations include image acquisition devices, after determining the location information of the target terminal corresponding to the measurement signal, the method includes:

[0109] Establish the association between the image data reported by the selected image acquisition device and the location information of the target terminal to obtain the visual location information of the target terminal.

[0110] Accordingly, see Figure 8 On the terminal side, an embodiment of this application provides a positioning method, including:

[0111] Step S201: Receive measurement station information sent by the positioning platform for positioning the target terminal, and determine the target measurement station based on the measurement station information;

[0112] The positioning platform, for example, is the aforementioned business platform; the measurement station information, for example, is the aforementioned list of 5G cameras and list of 5G communication base stations.

[0113] Step S202: Send a positioning measurement signal to the target measurement station, so that the target measurement station can perform positioning measurement on the positioning measurement signal and report the obtained positioning measurement data to the positioning platform. The positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station.

[0114] Step S202 enables the target terminal to exchange positioning information with the target measurement station.

[0115] Accordingly, see Figure 9 On the target measurement station side, such as a camera and / or a communication base station, an embodiment of this application provides a positioning method including:

[0116] Step S301: Receive the positioning measurement signal sent by the target terminal;

[0117] Step S302: Perform positioning measurement on the positioning measurement signal and report the obtained positioning measurement data to the positioning platform. The positioning measurement data includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrives at the local target measurement station.

[0118] It should be noted that when the target measurement station is, for example, the 5G camera mentioned above, the communication base station connected to the 5G camera transmits the positioning measurement data to the positioning platform. The positioning measurement data also includes image data.

[0119] Step S302 enables the target terminal to be located using the target measurement station, thereby reducing positioning costs.

[0120] In some embodiments, when the local target measurement station is an image acquisition device (such as the 5G camera mentioned above), the positioning measurement data further includes: image data.

[0121] The following describes the device or apparatus provided in the embodiments of this application, and the explanations or examples of the same or corresponding technical features as those described in the above methods will not be repeated hereafter.

[0122] See Figure 10 On the network side, an embodiment of this application provides a positioning device, comprising:

[0123] Processor 600 is used to read the program from memory 620 and execute the following procedures:

[0124] The measurement station information used to perform positioning measurements on the target terminal is sent to the target terminal, so that the target terminal can determine the target measurement station based on the measurement station information;

[0125] The system receives positioning measurement data reported by the target measurement station, wherein the positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station.

[0126] Based on the positioning measurement data reported by the target measurement station, the positioning measurement data reported by at least three target measurement stations for locating the same target terminal are selected, and the location information of the target terminal is determined based on the positioning measurement data reported by the selected at least three target measurement stations.

[0127] In some embodiments, selecting positioning measurement data reported by at least three target measurement stations for locating the same target terminal based on the positioning measurement data reported by the target measurement station includes:

[0128] For the same positioning measurement signal from the same target terminal, select at least three target measurement stations with the shortest arrival time of the positioning measurement signal at the target measurement station.

[0129] In some embodiments, determining the location information of the target terminal based on positioning measurement data reported by at least three selected target measurement stations includes:

[0130] From the positioning measurement data reported by the at least three target measurement stations, select the first arrival time reported by the first target measurement station, the second arrival time reported by the second target measurement station, and the third arrival time reported by the third target measurement station;

[0131] The first arrival time, the second arrival time, and the third arrival time are subtracted from each other in pairs. The three time differences are then multiplied by the transmission speed of the positioning measurement signal to obtain three distance differences.

[0132] Based on the three distance differences and the location information of the first target measuring station, the second target measuring station, and the third target measuring station, the location information of the target terminal is determined.

[0133] In some embodiments, when the target measurement station is an image acquisition device, the positioning measurement data reported by the target measurement station further includes: image data;

[0134] When the selected at least three target measurement stations include image acquisition devices, after determining the location information of the target terminal corresponding to the measurement signal, the method includes:

[0135] Establish the association between the image data reported by the selected image acquisition device and the location information of the target terminal to obtain the visual location information of the target terminal.

[0136] The processor 600 is also used to read the program in the memory 620 and execute the following processes:

[0137] Receive positioning measurement signals sent by the target terminal;

[0138] The positioning measurement signal is used to perform positioning measurement, and the obtained positioning measurement data is reported to the positioning platform. The positioning measurement data includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrives at the local target measurement station.

[0139] In some embodiments, when the local target measurement station is an image acquisition device, the positioning measurement data further includes image data.

[0140] Transceiver 610 is used to receive and send data under the control of processor 600.

[0141] Among them, Figure 10 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 600) and memory (memory 620). The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 610 can be multiple elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium.

[0142] In some embodiments, the positioning device provided in this application further includes a user interface 630. The user interface 630 may be an interface that can connect to external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0143] The processor 600 is responsible for managing the bus architecture and general processing, while the memory 620 can store the data used by the processor 600 when performing operations.

[0144] In some embodiments, the processor 600 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device).

[0145] Accordingly, see Figure 11 On the terminal device side, an embodiment of this application provides a user equipment, including:

[0146] Processor 700 is used to read the program from memory 720 and execute the following procedures:

[0147] Receive measurement station information sent by the positioning platform for positioning the target terminal, and determine the target measurement station based on the measurement station information;

[0148] A positioning measurement signal is sent to the target measurement station, which performs positioning measurement on the positioning measurement signal and reports the obtained positioning measurement data to the positioning platform. The positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, and the time when the positioning measurement signal sent by the target terminal arrived at the target measurement station.

[0149] Transceiver 710 is used to receive and send data under the control of processor 700.

[0150] Among them, Figure 11 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 700 and memory represented by memory 720 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 710 can be multiple elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium.

[0151] In some embodiments, the user equipment provided in this application further includes a user interface 730. The user interface 730 may be an interface that can connect to external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0152] The processor 700 is responsible for managing the bus architecture and general processing, while the memory 720 can store the data used by the processor 700 during operation.

[0153] In some embodiments, the processor 700 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device).

[0154] This application provides a positioning system, which includes, for example, the service platform, target terminal, 5G camera, and 5G communication base station provided in the above-described embodiments.

[0155] This application provides a computing device, which may specifically be a desktop computer, portable computer, smartphone, tablet computer, personal digital assistant (PDA), etc. The computing device may include a central processing unit (CPU), memory, input / output devices, etc. Input devices may include a keyboard, mouse, touchscreen, etc., and output devices may include display devices, such as a liquid crystal display (LCD) or a cathode ray tube (CRT).

[0156] The memory may include read-only memory (ROM) and random access memory (RAM), and provides the processor with program instructions and data stored in the memory. In the embodiments of this application, the memory may be used to store the program of any of the methods provided in the embodiments of this application.

[0157] The processor executes any of the methods described in the embodiments of this application according to the program instructions stored in the memory.

[0158] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the methods described in the above embodiments. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0159] This application provides a computer-readable storage medium for storing computer program instructions used in the apparatus provided in the above-described embodiments, including a program for performing any of the methods provided in the above-described embodiments. The computer-readable storage medium may be a non-transitory computer-readable medium.

[0160] The computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0161] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0162] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0163] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0164] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0165] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A positioning method, characterized in that, The method includes: The measurement station information used for positioning the target terminal is sent to the target terminal, so that the target terminal can determine the target measurement station based on the measurement station information; the target measurement station includes an image acquisition device; the measurement station information includes the communication base station information connected to the target terminal, the image acquisition device information connected to the communication base station, the information of nearby base stations near the communication base station, and the image acquisition device information connected to the nearby base station; The system receives positioning measurement data reported by the target measurement station, wherein the positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, the time when the positioning measurement signal sent by the target terminal arrives at the target measurement station, and the image data collected by the target measurement station when the positioning measurement signal sent by the target terminal arrives at the target measurement station. Based on the positioning measurement data reported by the target measurement station, select the positioning measurement data reported by at least three target measurement stations for positioning the same target terminal, and determine the location information of the target terminal based on the positioning measurement data reported by the selected at least three target measurement stations. Wherein, when the selected at least three target measurement stations include image acquisition devices, after determining the location information of the target terminal corresponding to the measurement signal, the method includes: Establish the association between the image data reported by the selected image acquisition device and the location information of the target terminal to obtain the visual location information of the target terminal.

2. The method according to claim 1, characterized in that, The positioning measurement data, based on the positioning measurement data reported by the target measurement station, is selected from the positioning measurement data reported by at least three target measurement stations used for locating the same target terminal, including: For the same positioning measurement signal from the same target terminal, select at least three target measurement stations with the shortest arrival time of the positioning measurement signal at the target measurement station.

3. The method according to claim 1, characterized in that, The determination of the location information of the target terminal based on positioning measurement data reported by at least three selected target measurement stations includes: From the positioning measurement data reported by the at least three target measurement stations, select the first arrival time reported by the first target measurement station, the second arrival time reported by the second target measurement station, and the third arrival time reported by the third target measurement station; The first arrival time, the second arrival time, and the third arrival time are subtracted from each other in pairs. The three time differences are then multiplied by the transmission speed of the positioning measurement signal to obtain three distance differences. Based on the three distance differences and the location information of the first target measuring station, the second target measuring station, and the third target measuring station, the location information of the target terminal is determined.

4. A positioning method, characterized in that, The method includes: The system receives measurement station information sent by a positioning platform for positioning a target terminal, and determines the target measurement station based on the measurement station information. The target measurement station includes an image acquisition device. The measurement station information includes communication base station information connected to the target terminal, image acquisition device information connected to the communication base station, nearby base station information near the communication base station, and image acquisition device information connected to the nearby base station. A positioning measurement signal is sent to the target measurement station, which performs positioning measurement on the positioning measurement signal and reports the obtained positioning measurement data to the positioning platform. The positioning measurement data reported by the target measurement station includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, the time when the positioning measurement signal sent by the target terminal arrives at the target measurement station, and the image data collected by the target measurement station when the positioning measurement signal sent by the target terminal arrives at the target measurement station.

5. A positioning method, characterized in that, The method includes: The system receives a positioning measurement signal sent by the target terminal after determining the target measurement station based on the measurement station information; the target measurement station includes an image acquisition device; the measurement station information includes the communication base station information connected to the target terminal, the image acquisition device information connected to the communication base station, the information of nearby base stations near the communication base station, and the image acquisition device information connected to the nearby base stations; The positioning measurement signal is used to perform positioning measurement, and the obtained positioning measurement data is reported to the positioning platform. The positioning measurement data includes the following information: the identifier of the target terminal, the identifier of the positioning measurement signal sent by the target terminal, the time when the positioning measurement signal sent by the target terminal arrives at the local target measurement station, and the image data collected by the local target measurement station when the positioning measurement signal sent by the target terminal arrives at the local target measurement station.

6. A positioning device, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the method according to any one of claims 1 to 3 and 5.

7. A user equipment, characterized in that, include: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the method of claim 4 according to the obtained program.

8. A positioning system, characterized in that, Includes the apparatus of claim 6 and / or the device of claim 7.

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