A positioning method and apparatus

Abstract

This invention discloses a positioning method and apparatus. The method includes: a network terminal receiving and responding to a positioning request from a positioning platform for a terminal device; determining a first angle of the terminal device according to a preset angle positioning method; and determining a second angle of the terminal device according to a first position of the terminal device. The first position is determined by the positioning platform based on the historical second position of the terminal device corresponding to historical positioning requests and the movement trajectory of the terminal device. A positioning range is determined based on the first and second angles. The positioning range represents the range of signals used when determining the second position of the terminal device according to the preset angle positioning method, and then the preset angle positioning method is invoked based on the positioning range to determine the second position of the terminal device. This reduces the use of signals with large deviations from the actual direction of the terminal device in positioning calculations, reduces positioning deviation, and improves the positioning accuracy of the terminal device.

Description

Technical Field

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

[0002] With the gradual maturation of communication technology, base stations or terminal devices, while operators are providing network coverage, have the ability to locate terminal devices based on the angle of the communication signals between the base station and the terminal device. For example, angle-based positioning methods include UL-AoA (Uplink Angles of Arrival) positioning method and DL-AoD (Downlink Angle of Departure) positioning method.

[0003] In practical applications, the signals used for communication between base stations and terminal devices include LoS (line of sight) signals and NLoS (not line of sight) signals. LoS signals represent unobstructed, straight-line propagation between the base station and terminal device, while NLoS signals represent propagation through reflection, refraction, or other means when obstructed. In other words, the angle of the NLoS signal generally deviates from the orientation of the terminal device. Therefore, when using angle-based positioning methods based on LoS and NLoS signals to determine the location of the terminal device, inaccuracies arise, resulting in lower positioning accuracy. Summary of the Invention

[0004] This invention provides a positioning method and apparatus for reducing the positional deviation of positioning terminal devices and improving the positioning accuracy of terminal devices.

[0005] In a first aspect, embodiments of the present invention provide a positioning method, including:

[0006] The network end receives location requests from the terminal devices sent by the location platform;

[0007] In response to the positioning request, the network terminal calls a preset angle positioning method to locate the terminal device and determine the first angle of the terminal device;

[0008] The network terminal, based on the first location of the terminal device reported by the positioning platform, invokes the preset angle positioning method to determine the second angle of the terminal device; the first location of the terminal device is determined by the positioning platform based on the historical second location of the terminal device corresponding to historical positioning requests and the movement trajectory of the terminal device;

[0009] The network terminal determines the positioning range based on the first angle and the second angle; the positioning range represents the range of signals used when determining the second position of the terminal device according to the preset angle positioning method;

[0010] The network terminal determines the second position of the terminal device by calling the preset angle positioning method according to the positioning range.

[0011] In the above technical solution, the positioning range is determined based on a first angle and a second angle. The first angle represents the direction of the terminal device determined by a preset angle positioning method, and the second angle represents the direction of the terminal device determined based on its first position. The first position of the terminal device is determined based on its real-time movement trajectory, which includes the direction and distance of movement. This trajectory is determined based on the terminal device's historical second position. Therefore, the positioning range can represent the current location of the terminal device. In other words, the deviation between the direction of the signal within the positioning range and the actual direction of the terminal device is small, meaning there are fewer NLoS signals within the positioning range. Therefore, positioning the terminal device based on signals within the positioning range can reduce the participation of NLoS signals in positioning calculations, thereby reducing positioning deviation and improving positioning accuracy.

[0012] Optionally, the network terminal determines the positioning range based on the first angle and the second angle, including:

[0013] The network terminal determines the average value of the first angle based on the historical first angle and the first angle of the terminal device corresponding to the historical positioning requests within a preset time window.

[0014] The network terminal determines the average value of the second angle based on the historical second angle and the second angle of the terminal device corresponding to the historical positioning requests within a preset time window.

[0015] The network terminal calculates the average of the first angle and the average of the second angle to obtain the angle difference;

[0016] The network terminal determines the positioning range based on the angle difference and the second angle.

[0017] In the above technical solution, the angle difference is determined based on the first angle and second angle corresponding to the current positioning request, and the historical first angle and historical second angle corresponding to the historical positioning request, so as to ensure the accuracy of the angle difference and thus improve the accuracy of the positioning range.

[0018] Optionally, the network terminal determines the positioning range based on the angle difference and the second angle, including:

[0019] The network terminal uses the signal path corresponding to the second angle as the center line and determines the positioning range based on the angle difference.

[0020] Optionally, the network terminal determines the second location of the terminal device by invoking the preset angle positioning method based on the positioning range, including:

[0021] The network terminal sends the positioning range to the terminal device or base station, receives information based on signals within the positioning range sent by the terminal device or base station, and determines the second position of the terminal device according to the preset angle positioning method.

[0022] In the above technical solution, the terminal device is located based on the information of the signal within the positioning range, reducing the number of signals with large deviations from the actual direction of the terminal device involved in the positioning calculation, thereby reducing the positioning deviation of the terminal device and improving the positioning accuracy of the terminal device.

[0023] Optionally, after the network terminal determines the second location of the terminal device by calling the preset angle positioning method based on the positioning range, it further includes:

[0024] The network terminal sends the second location of the terminal device to the positioning platform, so that the positioning platform can periodically report the first location of the terminal device based on the second location of the terminal device.

[0025] In the above technical solution, after determining the second location of the terminal device corresponding to the current location request, the second location is sent to the positioning platform so that the positioning platform can determine the first location of the terminal device corresponding to the next location request, thereby ensuring the positioning accuracy and positioning continuity of the next location request.

[0026] Secondly, embodiments of the present invention provide a positioning method, including:

[0027] The positioning platform receives the second location of the terminal device corresponding to the i-th positioning request determined by the network.

[0028] The positioning platform sends the second location of the terminal device corresponding to the i-th positioning request to the terminal device, and receives the movement trajectory calculated based on the second location of the terminal device corresponding to the i-th positioning request, which is periodically reported by the terminal device; the movement trajectory includes the movement direction and movement distance of the terminal device.

[0029] The positioning platform determines the first location of the terminal device corresponding to the (i+1)th positioning request based on the movement trajectory and the second location of the terminal device corresponding to the i-th positioning request.

[0030] The positioning platform sends the first location of the terminal device corresponding to the (i+1)th positioning request to the network terminal, so that when the network terminal receives the (i+1)th positioning request, it can determine the second angle of the terminal device corresponding to the (i+1)th positioning request based on the first location of the terminal device corresponding to the (i+1)th positioning request; the second angle of the terminal device corresponding to the (i+1)th positioning request is used by the network terminal to determine the positioning range corresponding to the (i+1)th positioning request.

[0031] Thirdly, embodiments of the present invention provide a positioning method, including:

[0032] The terminal device receives the second location of the terminal device corresponding to the i-th location request sent by the positioning platform;

[0033] The terminal device periodically calculates a movement trajectory based on the second location of the terminal device corresponding to the i-th positioning request, including the movement direction and movement distance of the terminal device;

[0034] The terminal device reports the movement trajectory to the positioning platform, whereby the positioning platform determines the first position of the terminal device corresponding to the (i+1)th positioning request based on the movement trajectory and the second position of the terminal device corresponding to the i-th positioning request. The first position of the terminal device corresponding to the (i+1)th positioning request is used by the network terminal to determine the second angle of the terminal device corresponding to the (i+1)th positioning request based on the first position of the terminal device corresponding to the (i+1)th positioning request when receiving the (i+1)th positioning request. The second angle of the terminal device corresponding to the (i+1)th positioning request is used by the network terminal to determine the positioning range corresponding to the (i+1)th positioning request.

[0035] The method further includes: the terminal device receiving the location range corresponding to the (i+1)th location request sent by the network terminal, and sending the signal information within the location range corresponding to the (i+1)th location request to the network terminal.

[0036] Fourthly, embodiments of the present invention provide a positioning method, comprising:

[0037] The base station receives the positioning range corresponding to the (i+1)th positioning request sent by the network terminal, and determines the second position of the terminal device corresponding to the (i+1)th positioning request based on the uplink angle positioning method and the signal within the positioning range corresponding to the (i+1)th positioning request.

[0038] Fifthly, embodiments of the present invention provide a positioning device, comprising:

[0039] The interaction module is used to receive location requests from terminal devices sent by the positioning platform.

[0040] The processing module, in response to the positioning request, calls a preset angle positioning method to locate the terminal device and determines the first angle of the terminal device;

[0041] Based on the first location of the terminal device reported by the positioning platform, the preset angle positioning method is invoked to determine the second angle of the terminal device; the first location of the terminal device is determined by the positioning platform based on the historical second location of the terminal device corresponding to historical positioning requests and the movement trajectory of the terminal device;

[0042] The positioning range is determined based on the first angle and the second angle; the positioning range represents the range of signals used when determining the second position of the terminal device according to the preset angle positioning method;

[0043] The second position of the terminal device is determined by calling the preset angle positioning method based on the positioning range.

[0044] Optionally, the processing module is specifically used for:

[0045] The average value of the first angle is determined based on the historical first angle of the terminal device corresponding to the historical positioning request within the preset time window and the first angle.

[0046] The average value of the second angle is determined based on the historical second angle and the second angle of the terminal device corresponding to the historical positioning request within the preset time window.

[0047] Calculate the mean of the first angle and the mean of the second angle to obtain the angle difference;

[0048] The positioning range is determined based on the angle difference and the second angle.

[0049] Optionally, the processing module is specifically used for:

[0050] Using the signal path corresponding to the second angle as the center line, the positioning range is determined based on the angle difference.

[0051] Optionally, the processing module is specifically used for:

[0052] The positioning range is sent to the terminal device or base station, and the information of the signal within the positioning range sent by the terminal device or the base station is received. The second position of the terminal device is determined according to the preset angle positioning method.

[0053] Optionally, the processing module is further configured to:

[0054] After determining the second position of the terminal device by calling the preset angle positioning method according to the positioning range, the second position of the terminal device is sent to the positioning platform, so that the positioning platform can periodically report the first position of the terminal device according to the second position of the terminal device.

[0055] Sixthly, embodiments of the present invention also provide a computer device, comprising:

[0056] Memory, used to store program instructions;

[0057] The processor is configured to invoke program instructions stored in the memory and execute the positioning method described in the first aspect according to the obtained program.

[0058] In a seventh aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the positioning method described in the first aspect. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A schematic diagram of a system architecture provided for an embodiment of the present invention;

[0061] Figure 2 A flowchart illustrating a positioning method provided in an embodiment of the present invention;

[0062] Figure 3 A flowchart illustrating a positioning method provided in an embodiment of the present invention;

[0063] Figure 4 A schematic diagram of a positioning range provided for an embodiment of the present invention;

[0064] Figure 5 This is a schematic diagram of a positioning device provided in an embodiment of the present invention. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0066] In recent years, the rapid development of the internet has accelerated the development of mobile positioning to some extent, enabling mobile positioning technology to better serve people's lives. Mobile positioning refers to the technology or service of obtaining the location information of terminal devices (such as latitude and longitude coordinates) through specific positioning technologies, and then marking the location of the terminal devices on electronic maps.

[0067] With the gradual maturation of communication technology, base stations or terminal devices, while operators are providing network coverage, have the ability to locate terminal devices based on the angle of the communication signals between the base station and the terminal device. For example, angle-based positioning methods include UL-AoA positioning method and DL-AoD positioning method.

[0068] The UL-AoA positioning method refers to the network end determining the direction of the uplink reference signal to the base station based on the measurement of multiple base stations. Each direction can be understood as a straight line from the terminal device to the base station. Multiple straight lines can be obtained by measuring multiple base stations, and the location of the terminal device is determined by calculating the intersection of these straight lines.

[0069] The DL-AoD positioning method refers to the network receiving the received power of the downlink reference signal (DL-AoD) reported by the terminal device, and determining the terminal device's location based on the transmission beam direction of the DL-AoD. For example, the terminal device measures the DL-AoD signal of each TRP (Transmission and Receiving Point) based on the configuration information provided by the LMF (Location Management Function) on the network, which shows the DL-AoD signals transmitted by the surrounding TRPs. The terminal device then reports the measured values ​​of the DL-AoD to the LMF. The LMF uses the measured values ​​of the DL-AoD reported by the terminal device, along with other known information (such as the transmission beam direction of each TRP), to determine the angle of the terminal device relative to each TRP. Finally, it uses the obtained DL-AoD and the geographical coordinates of each TRP to calculate the terminal device's location.

[0070] In practical applications, the communication signals between base stations and terminal devices include Loss of Speed ​​(LoS) signals and Non-LoS (NLoS) signals. A LoS signal represents a signal that propagates in a straight line between the base station and the terminal device without obstruction, while an NLoS signal represents a signal that propagates between the base station and the terminal device through reflection, refraction, etc., when obstructed. In other words, the angle of the NLoS signal generally deviates from the orientation of the terminal device; that is, the direction of the NLoS signal cannot represent the orientation of the terminal device. Therefore, when using angle-based positioning methods based on LoS and NLoS signals to locate the terminal device, the positioning accuracy is low due to inaccuracies.

[0071] Therefore, the present invention provides a positioning method that uses the movement trajectory of a terminal device as an aid, estimates the position of the terminal device by analyzing the movement trajectory, determines the positioning range representing the current location of the terminal device based on the estimated position of the terminal device, and then positions the terminal device based on the signals within the positioning range, thereby reducing the participation of NLoS signals in positioning calculation, reducing the positioning deviation of the terminal device, and improving the positioning accuracy of the terminal device.

[0072] Figure 1 An exemplary system architecture applicable to an embodiment of the present invention is shown, which includes a terminal device 110, a positioning platform 120, a network terminal 130, and a base station 140.

[0073] The terminal device 110 is equipped with a client application for triggering location requests, such as a shopping app or a map application. Users can trigger location requests via touch or voice commands on the client. After triggering a location request based on user interaction, the terminal device 110 sends the request to the location platform 120. The terminal device 110 also receives a second location from the location platform 120, periodically calculates the direction and distance of movement of the terminal device based on this second location, and feeds these parameters back to the location platform 120. Furthermore, after receiving the location range, the terminal device 110 sends signal information within the location range to the network terminal 130. It can be understood that the terminal device 110 assists the network terminal 130 in locating the terminal device 110 using the DL-AoD positioning method.

[0074] The positioning platform 120 is used to forward the positioning request to the network terminal 130 after receiving the positioning request. The positioning platform 120 is also used to receive the second location of the terminal device sent by the network terminal 130, and send the second location to the terminal device 110, receive the movement direction and movement distance fed back by the terminal device 110, and then calculate the first location based on the movement direction, movement distance and the second location, and then feed the first location back to the network terminal 130.

[0075] Network terminal 130 is used to receive and respond to positioning requests sent by positioning platform 120, then call a preset angle positioning method to locate the terminal device, determine the first angle of the terminal device, and, based on the first position of the terminal device reported by the positioning platform, call the preset angle positioning method to determine the second angle of the terminal device. Then, based on the first and second angles, the positioning range is determined, and the positioning range is sent to terminal device 110 or base station 140. Network terminal 130 is also used to, based on signal information within the positioning range fed back by terminal device 110 or base station 140, call the preset angle positioning method to determine the second position of terminal device 110.

[0076] Base station 140 is used to send information about signals within the positioning range to network terminal 130 after receiving the positioning range information from network terminal 130. It can be understood that base station 140 assists network terminal 130 in locating terminal device 110 based on the UL-AoA positioning method.

[0077] It should be noted that the above Figure 1 The structure shown is merely an example, and the embodiments of the present invention are not limited thereto.

[0078] Based on the above description Figure 2 An exemplary flowchart of a positioning method provided by an embodiment of the present invention is shown, such as... Figure 2 As shown, the process includes:

[0079] Step 210: The network terminal receives the location request from the positioning platform for the terminal device.

[0080] In this embodiment of the invention, the location request is triggered based on the user's operation on the client of the terminal device. For example, the user triggers the operation of locating the current location on a map application. The user's operation can be clicking the terminal device's display screen, voice command, etc., and is not limited here. The client can be an App application on the terminal device, and the terminal device is the user's device, hereinafter referred to as UE (User Equipment). It can be understood that the location of the terminal device can also be called the location of the user corresponding to the terminal device, that is, the user's location. The terminal device is a human-computer interaction device with communication functions with base stations and core networks. For example, the terminal device can be a mobile phone, tablet computer, laptop computer, netbook, in-vehicle device, as well as business intelligent terminals (including: video phones, conference desktop intelligent terminals, etc.), personal digital assistants (PDAs), augmented reality (AR) / virtual reality (VR) devices, etc. The specific form of the terminal device is not limited in this application embodiment.

[0081] Step 220: In response to the positioning request, the network terminal calls a preset angle positioning method to locate the terminal device and determine the first angle of the terminal device.

[0082] In this embodiment of the invention, the preset angle positioning method includes a positioning method used by the UE (such as the DL-AoD positioning method) and a positioning method used by the base station (such as the UL-AoA positioning method). The first angle represents the orientation of the terminal device determined based on the DL-AoD positioning method or the UL-AoA positioning method.

[0083] Step 230: The network terminal, based on the first position of the terminal device reported by the positioning platform, calls the preset angle positioning method to determine the second angle of the terminal device.

[0084] In this embodiment of the invention, the first position of the terminal device is determined by the positioning platform based on the historical second position of the terminal device corresponding to the historical positioning request and the movement trajectory of the terminal device. For example, the historical positioning request is the previous positioning request before the current positioning request. For instance, if the current positioning request is the i-th positioning request, then the first position of the UE corresponding to the i-th positioning request is determined by the positioning platform based on the second position of the UE corresponding to the (i-1)-th positioning request and the movement trajectory of the UE. The first and second positions contain two-dimensional coordinates, i.e., coordinates along the x-axis and y-axis. For example, the second position of the UE corresponding to the (i-1)-th positioning request can be represented as (x... i-1 y i-1 The first position of the UE corresponding to the i-th location request can be represented as (x` i y` i The movement trajectory is determined by the UE based on its historical second position, including the UE's movement direction and movement distance. The movement direction represents the coordinate direction, which will be illustrated with a specific example below.

[0085] The UE receives the second location (x) of the UE corresponding to the (i-1)th location request sent by the positioning platform. i-1 y i-1 After that, the UE is calculated based on (x) at a preset period T. i-1 y i-1 The movement trajectory (△x, △y) of the UE is calculated. For example, if the movement trajectory in period T1 is (2, 3), it means that the UE has moved 2 units along the positive x-axis and 3 units along the positive y-axis, and so on. The movement trajectory in period T2 is (△x2, △y2), the movement trajectory in period T3 is (△x3, △y3), and so on. The UE feeds back its movement trajectory to the positioning platform every preset period, so that the positioning platform can determine the first position of the UE corresponding to the i-th positioning request based on the second position of the UE corresponding to the (i-1)-th positioning request and the movement trajectory. For example, in period T1, the positioning platform determines the first position of the UE corresponding to the i-th positioning request as (x, △y).i-1 +2, y i-1 +3), and so on, during period T2, the positioning platform determines the first position of the UE corresponding to the i-th positioning request as (x i-1 +△x2,y i-1 +△y2)……。 In other words, during the period from the (i-1)th location request to the ith location request, the positioning platform will periodically report the first location of the UE corresponding to the ith location request to the network. When the network receives the ith request, it will use the latest received location as the first location of the UE corresponding to the ith location request.

[0086] After determining the first position of the UE corresponding to the i-th positioning request, the network calls a preset angle positioning method to deduce the second angle corresponding to the first position. For example, if the preset angle positioning method is the UL-AoA positioning method, the UL-AoA positioning method is called to deduce the angle of arrival AoA based on the base station's antenna information and the first position; if the preset angle positioning method is the DL-AoD positioning method, the DL-AoD positioning method is called to deduce the angle of departure AoD based on the UE's TRP information and the first position, and then the angle of arrival AoA or the angle of departure AoD is used as the second angle.

[0087] Step 240: The network terminal determines the positioning range based on the first angle and the second angle.

[0088] In this embodiment of the invention, the difference between the first angle and the second angle is used as the angle difference, and then the positioning range is determined based on the angle difference and the second angle.

[0089] To ensure the accuracy of the angle difference, in one feasible approach, the average of the differences between the first and second angles corresponding to a preset number of positioning requests is calculated as the angle difference. For example, if the preset number is 3, the difference P between the first and second angles of the i-th positioning request is calculated. i The difference P between the first angle and the second angle of the (i-1)th positioning request i-1 The difference P between the first angle and the second angle of the (i-2)th positioning request i-2 The average value is used to obtain the angle difference.

[0090] In another feasible approach, a preset time window is set, and the average of the differences between the first and second angles of multiple location requests within the preset time window corresponding to the current location request is used as the angle difference. For example, if the preset time window is 10 minutes, and the current location request is the i-th location request, and the previous 10 minutes of the i-th location request only include the (i-1)-th location request, then the average of the differences between the first and second angles corresponding to the i-th and (i-1)-th location requests is calculated as the angle difference. This method can be understood as follows: The average first angle is determined based on the historical first angle of the terminal device corresponding to historical location requests within the preset time window and the first angle of the current location request; the average second angle is determined based on the historical second angle of the terminal device corresponding to historical location requests within the preset time window and the second angle of previous location requests; then the average of the first and second angles is calculated to obtain the angle difference. This method determines the angle difference based on the data of the current location request and the data of historical location requests, increasing the reliability and accuracy of the angle difference.

[0091] After determining the angle difference, the network determines the positioning range using the signal path corresponding to the second angle as the centerline and the angle difference as the angle. For example, using the angle of arrival (AoA) as the second angle, see [link to example]. Figure 3 , Figure 3 This is a schematic diagram of a positioning range provided as an example of an embodiment of the present invention. The dashed line in the diagram represents the positioning range with the path of the uplink reference signal of the base station as the center line, and the elliptical range represents the range of the signal used when locating the second position of the terminal device according to the UL-AoA positioning method.

[0092] Step 250: The network terminal calls the preset angle positioning method to determine the second position of the terminal device according to the positioning range.

[0093] In this embodiment of the invention, after determining the positioning range, the network terminal sends the positioning range to the terminal device or base station, receives signal information within the positioning range sent by the terminal device or the base station, and determines the second position of the terminal device according to a preset angle positioning method. The signal information includes signal type, direction, and the geographical location of the signal receiving point.

[0094] For example, if the preset angle positioning method is UL-AoA positioning, the positioning range is sent to the base station, which performs UL-AoA positioning based on the signals within the positioning range, obtains the relevant parameters for positioning calculation, and sends these parameters to the network. If the preset angle positioning method is DL-AoD positioning, the positioning range is sent to the UE, which performs DL-AoD positioning based on the signals within the positioning range, obtains the relevant parameters for positioning calculation, and sends these parameters to the network. It can be understood that the relevant parameters include information such as the direction of the signal and the geographical location of the signal receiving point, enabling the network to calculate the UE's second location.

[0095] Based on the above technical solution, the terminal device is located according to the information of the signal within the positioning range, reducing the number of signals with large deviations from the actual direction of the terminal device involved in the positioning calculation, thereby reducing the positioning deviation of the terminal device and improving the positioning accuracy of the terminal device.

[0096] To ensure the continuity of the above technical solution, after the network side determines the second position of the terminal device by calling the preset angle positioning method according to the positioning range, it sends the second position of the terminal device to the positioning platform. The positioning platform then periodically reports the first position of the terminal device corresponding to the next positioning request of the current positioning request based on the second position of the terminal device.

[0097] To better explain the above technical solution, Figure 4 An exemplary flowchart of a positioning method provided by an embodiment of the present invention is shown, such as... Figure 4 As shown, this process, taking the UL-AoA positioning method as the preset angle positioning method as an example, is jointly implemented by the UE, base station, network terminal, and positioning platform. The network terminal includes LMF and GMLC (Gateway Mobile Location Centre). The process includes:

[0098] Step 401: The positioning platform requests the movement trajectory corresponding to the i-th positioning request from the UE.

[0099] Before requesting the movement trajectory corresponding to the i-th positioning request from the UE, the positioning platform sends the second location (x) corresponding to the (i-1)-th positioning request to the UE. i-1 y i-1 ).

[0100] Step 402: The UE reports the movement trajectory corresponding to the i-th positioning request to the positioning platform.

[0101] The UE determines the second location (x) corresponding to the (i-1)th location request. i-1 y i-1 ), calculate UE based on (x) with a preset period T. i-1 yi-1 The system records the movement trajectory (△x, △y) of a target and reports the movement trajectory (△x, △y) to the positioning platform.

[0102] Step 403: The positioning platform reports the first location corresponding to the i-th positioning request to the LMF.

[0103] After receiving the movement trajectory (△x, △y), the positioning platform calculates the first position (x) corresponding to the i-th positioning request. i-1 +△x, y i-1 +△y), and (x) i-1 +△x, y i-1 +△y) is reported to LMF.

[0104] Step 404: The UE sends the i-th positioning request to the positioning platform.

[0105] Step 405: The positioning platform forwards the i-th positioning request to the GMLC.

[0106] Step 406: GMLC forwards the i-th location request to LMF.

[0107] Step 407: The LMF determines the positioning range based on the first location corresponding to the i-th positioning request.

[0108] After receiving the i-th location request, LMF executes the following two processes simultaneously.

[0109] The first process is as follows: The UE is located by calling the UL-AoA positioning method through the base station to obtain the first angle corresponding to the i-th positioning request.

[0110] The second process is as follows: The most recently received first position is taken as the first position corresponding to the i-th location request. For example, the first position corresponding to the i-th location request is (x...) corresponding to period T3. i-1 +△x3,y i-1 +△y3). The UL-AoA positioning method is invoked, based on the base station's antenna information and coordinates (x...). i-1 +△x3,y i-1 +△y3) deduces the arrival angle AoA, and obtains the second angle corresponding to the i-th positioning request.

[0111] After determining the first and second angles corresponding to the i-th positioning request, LMF calculates the average value of the difference between the first and second angles of the i-th positioning request and the differences between the first and second angles of multiple historical positioning requests within the previous 10 minutes, thus obtaining the angle difference. Then, using the signal path of the second angle corresponding to the i-th positioning request as the center line, the positioning range is determined using the angle difference as the angle.

[0112] Step 408: The LMF sends the location range to the base station.

[0113] Step 409: The base station sends information about signals within the positioning range to the LMF.

[0114] Step 410: The LMF determines the second location corresponding to the i-th positioning request based on the information of the signals within the positioning range.

[0115] LMF uses signals within the positioning range to call the UL-AoA positioning method through the base station to locate the UE, obtaining the second location (x) of the UE corresponding to the i-th positioning request. i y i ).

[0116] Step 411: The LMF sends the second location corresponding to the i-th location request to the positioning platform via the GMLC.

[0117] Step 412: The positioning platform sends the second location corresponding to the i-th positioning request to the UE, and requests the first location corresponding to the (i+1)-th positioning request.

[0118] The UE receives the second location (x) corresponding to the i-th location request. i y i After that, place the second position (x) i y i The UE's real-time location is used as the reference, and then the UE's location is calculated based on (x) at a preset period T. i y i The movement trajectory of (x) and (x) i y i The movement trajectory of the UE is reported to the positioning platform to achieve continuity of the above scheme. For example, when i=1, that is, at the first positioning request, the movement trajectory of the first positioning request is determined by the UE based on the pre-positioned location. For example, the position of the pre-positioned location is the UE coordinates (x0, y0) pre-parsed by the LMF based on the UL-AoA positioning method or the DL-AoD positioning method.

[0119] It is understandable that the method of locating the UE based on the positioning range using the DL-AoD positioning method is similar to the method of locating the UE based on the positioning range using the UL-AoA positioning method, and will not be elaborated here. Based on the above scheme, it is known that the positioning range is determined according to the UE's movement trajectory, and can characterize the current location of the UE to a certain extent. That is to say, the deviation between the direction of the signal within the positioning range and the actual direction of the terminal device is small. Therefore, locating the terminal device based on the signal within the positioning range can reduce the participation of signals with large deviations from the actual direction of the terminal device in the positioning calculation, thereby reducing the positioning error of the terminal device and improving the positioning accuracy.

[0120] Based on the same technological concept Figure 5 An exemplary schematic diagram of a positioning device provided in an embodiment of the present invention is shown, which can execute the above-described positioning method.

[0121] like Figure 5 As shown, the device specifically includes:

[0122] The interaction module 510 is used to receive the positioning request from the terminal device sent by the positioning platform;

[0123] Processing module 520, in response to the positioning request, calls a preset angle positioning method to locate the terminal device and determines the first angle of the terminal device;

[0124] Based on the first location of the terminal device reported by the positioning platform, the preset angle positioning method is invoked to determine the second angle of the terminal device; the first location of the terminal device is determined by the positioning platform based on the historical second location of the terminal device corresponding to historical positioning requests and the movement trajectory of the terminal device;

[0125] The positioning range is determined based on the first angle and the second angle; the positioning range represents the range of signals used when determining the second position of the terminal device according to the preset angle positioning method;

[0126] The second position of the terminal device is determined by calling the preset angle positioning method based on the positioning range.

[0127] Optionally, the processing module 520 is specifically used for:

[0128] The average value of the first angle is determined based on the historical first angle of the terminal device corresponding to the historical positioning request within the preset time window and the first angle.

[0129] The average value of the second angle is determined based on the historical second angle and the second angle of the terminal device corresponding to the historical positioning request within the preset time window.

[0130] Calculate the mean of the first angle and the mean of the second angle to obtain the angle difference;

[0131] The positioning range is determined based on the angle difference and the second angle.

[0132] Optionally, the processing module 520 is specifically used for:

[0133] Using the signal path corresponding to the second angle as the center line, the positioning range is determined based on the angle difference.

[0134] Optionally, the processing module 520 is specifically used for:

[0135] The positioning range is sent to the terminal device or base station, and the information of the signal within the positioning range sent by the terminal device or the base station is received. The second position of the terminal device is determined according to the preset angle positioning method.

[0136] Optionally, the processing module 520 is further configured to:

[0137] After determining the second position of the terminal device by calling the preset angle positioning method according to the positioning range, the second position of the terminal device is sent to the positioning platform, so that the positioning platform can periodically report the first position of the terminal device according to the second position of the terminal device.

[0138] Based on the same technical concept, embodiments of the present invention also provide a computer device, including:

[0139] Memory, used to store program instructions;

[0140] The processor is used to call the program instructions stored in the memory and execute the above positioning method according to the obtained program.

[0141] Based on the same technical concept, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the above-described positioning method.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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 by, include: The network end receives location requests from the terminal devices sent by the location platform; In response to the positioning request, the network terminal calls a preset angle positioning method to locate the terminal device and determine the first angle of the terminal device; The network terminal, based on the first location of the terminal device reported by the positioning platform, invokes the preset angle positioning method to determine the second angle of the terminal device; the first location of the terminal device is determined by the positioning platform based on the historical second location of the terminal device corresponding to historical positioning requests and the movement trajectory of the terminal device; The network terminal determines the positioning range based on the first angle and the second angle; the positioning range represents the range of signals used when determining the second position of the terminal device according to the preset angle positioning method; The network terminal sends the positioning range to the terminal device or base station, receives information about the signals within the positioning range sent by the terminal device or the base station, and determines the second position of the terminal device according to the preset angle positioning method.

2. The method of claim 1, wherein, The network terminal determines the positioning range based on the first angle and the second angle, including: The network terminal determines the average value of the first angle based on the historical first angle and the first angle of the terminal device corresponding to the historical positioning requests within a preset time window. The network terminal determines the average value of the second angle based on the historical second angle and the second angle of the terminal device corresponding to the historical positioning requests within a preset time window. The network terminal calculates the average of the first angle and the average of the second angle to obtain the angle difference; The network terminal determines the positioning range based on the angle difference and the second angle.

3. The method of claim 2, wherein, The network terminal determines the positioning range based on the angle difference and the second angle, including: The network terminal uses the signal path corresponding to the second angle as the center line and determines the positioning range based on the angle difference.

4. The method according to any one of claims 1-3, characterized in that, After the network terminal determines the second position of the terminal device by calling the preset angle positioning method according to the positioning range, it also includes: The network terminal sends the second location of the terminal device to the positioning platform, so that the positioning platform can periodically report the first location of the terminal device based on the second location of the terminal device.

5. A positioning device, characterized in that include: The interaction module is used to receive location requests from terminal devices sent by the positioning platform. The processing module, in response to the positioning request, calls a preset angle positioning method to locate the terminal device and determines the first angle of the terminal device; Based on the first location of the terminal device reported by the positioning platform, the preset angle positioning method is invoked to determine the second angle of the terminal device; the first location of the terminal device is determined by the positioning platform based on the historical second location of the terminal device corresponding to historical positioning requests and the movement trajectory of the terminal device; The positioning range is determined based on the first angle and the second angle; the positioning range represents the range of signals used when determining the second position of the terminal device according to the preset angle positioning method; The positioning range is sent to the terminal device or base station, and the information of the signal within the positioning range sent by the terminal device or the base station is received. The second position of the terminal device is determined according to the preset angle positioning method.

6. The apparatus of claim 5, wherein, The processing module is specifically used for: The average value of the first angle is determined based on the historical first angle of the terminal device corresponding to the historical positioning request within the preset time window and the first angle. The average value of the second angle is determined based on the historical second angle and the second angle of the terminal device corresponding to the historical positioning request within the preset time window. Calculate the mean of the first angle and the mean of the second angle to obtain the angle difference; The positioning range is determined based on the angle difference and the second angle.

7. The apparatus of claim 6, wherein, The processing module is specifically used for: Using the signal path corresponding to the second angle as the center line, the positioning range is determined based on the angle difference.

8. The device of any one of claims 5-7, wherein, The processing module is also used for: After determining the second position of the terminal device by calling the preset angle positioning method according to the positioning range, the second position of the terminal device is sent to the positioning platform, so that the positioning platform can periodically report the first position of the terminal device according to the second position of the terminal device.

9. A computer device, comprising: 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 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the method according to any one of claims 1 to 4.

Images