Positioning methods, devices, core network elements, and storage media based on low-Earth orbit satellites.

Abstract

This application provides a positioning method, apparatus, core network element, and storage medium based on low-Earth orbit (LEO) satellites, relating to the field of satellite technology. The method includes: receiving a first service interruption time for positioning services provided by a LEO satellite to a preset cell; controlling a terminal device within the preset cell and the LEO satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, and acquiring the transmission and reception time information of the multiple sets of positioning measurement signals; and determining the location information of the terminal device based on the transmission and reception time information of the multiple sets of positioning measurement signals. This application can achieve accurate positioning of terminal devices by LEO satellites based on cell service interruption time and multiple round-trip time (MRT) technology.

Description

Technical Field

[0001] This invention relates to the field of satellite technology, and more specifically, to a positioning method, device, core network element, and storage medium based on low-Earth orbit satellites. Background Technology

[0002] With the continuous development of 5G technology, Round-Trip Time (RTT) positioning technology has become a widely used positioning method.

[0003] Non-terrestrial network (NTN) technology is a technology developed by 3GPP in Release 17 that allows terminal equipment to communicate directly with satellites based on New Radio technology. It can use low-Earth orbit satellite technology to locate ground terminals. However, due to the high speed of low-Earth orbit satellites, multiple positioning measurements may not be possible, resulting in poor positioning accuracy. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by providing a positioning method, device, core network element, and storage medium based on low-Earth orbit (LEO) satellites, so as to achieve accurate positioning of terminal devices by LEO satellites based on cell downtime and multiple round-trip time (MRT) technology.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a positioning method based on low-Earth orbit satellites, applied to a location management function (LMF) network element, the method comprising:

[0007] The first service interruption time for receiving positioning services from low-orbit satellites for a preset cell;

[0008] Based on the first service interruption time, control the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals, and obtain the transmission and reception time information of the multiple sets of positioning measurement signals;

[0009] The location information of the terminal device is determined based on the transmission and reception time information of the multiple sets of positioning measurement signals.

[0010] Optionally, the step of controlling the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, and obtaining the transmission and reception time information of the multiple sets of positioning measurement signals, includes:

[0011] Based on the first service interruption time, multiple positioning requests are sent to the terminal device to enable the transmission of the multiple sets of positioning measurement signals between the terminal device and the low-orbit satellite.

[0012] The system receives multiple positioning responses from the terminal device and the low-orbit satellite, each positioning response including the transmission and reception time information of a set of positioning measurement signals transmitted by the terminal device and the low-orbit satellite.

[0013] Optionally, the step of controlling the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, and obtaining the transmission and reception time information of the multiple sets of positioning measurement signals, includes:

[0014] Send a positioning request to the terminal device to enable the transmission of a set of positioning measurement signals between the terminal device and the low-Earth orbit satellite;

[0015] Based on the first service interruption time and the transmission and reception time information of the set of positioning measurement signals, determine whether the first service interruption time is sufficient for the terminal device and the low-orbit satellite to transmit the next set of positioning measurement signals;

[0016] If it is determined that the first service interruption time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, a positioning request is sent to the terminal device again until the transmission of the multiple sets of positioning measurement signals is completed.

[0017] Optionally, the method further includes:

[0018] If it is determined that the first service interruption time is not sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, wait for the first service interruption time to expire;

[0019] After the first service interruption period expires, a second service interruption period is initiated to receive the positioning service of the low-orbit satellite for the preset cell.

[0020] During the second service interruption period, a location request is sent to the terminal device again.

[0021] Optionally, determining the location information of the terminal device based on the transmission and reception time information of the multiple sets of positioning measurement signals includes:

[0022] Based on the transmission and reception time information of the multiple sets of positioning measurement signals, calculate multiple graphic regions centered on the low-orbit satellite;

[0023] The location information of the terminal device is determined based on the intersection of the multiple graphic regions.

[0024] Optionally, before controlling the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, the method further includes:

[0025] Signal configuration information for sending the positioning measurement signals to the terminal device and the low-orbit satellite, respectively.

[0026] Optionally, before sending a location request to the terminal device again during the second service interruption period, the method further includes:

[0027] Signal configuration information for retransmitting the positioning measurement signal to the terminal device and the low-orbit satellite.

[0028] Secondly, embodiments of this application also provide a positioning device based on low-Earth orbit satellites, applied to a location management function (LMF) network element, the device comprising:

[0029] The service time acquisition module is used to receive the first service stop time of the positioning service of the low-orbit satellite for the preset cell;

[0030] The transmit / receive time acquisition module is used to control the terminal equipment in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service stop time, and to acquire the transmit / receive time information of the multiple sets of positioning measurement signals;

[0031] The location information determination module is used to determine the location information of the terminal device based on the transmission and reception time information of the multiple sets of positioning measurement signals.

[0032] Optionally, the transceiver time acquisition module is specifically used to send multiple positioning requests to the terminal device according to the first service stop time, so that the terminal device and the low-orbit satellite can transmit the multiple sets of positioning measurement signals; and to receive multiple positioning responses returned by the terminal device and the low-orbit satellite, each positioning response including the transceiver time information of the transmission of a set of positioning measurement signals between the terminal device and the low-orbit satellite.

[0033] Optionally, the transceiver time acquisition module is specifically used to send a positioning request to the terminal device to enable the transmission of a set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; based on the first service stop time and the transceiver time information of the set of positioning measurement signals, determine whether the first service stop time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; if it is determined that the first service stop time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-Earth orbit satellite, send a positioning request to the terminal device again, until the transmission of the multiple sets of positioning measurement signals is completed.

[0034] Optionally, the transmit / receive time acquisition module is further configured to, if it is determined that the first service stop time does not meet the requirement for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, wait for the first service stop time to expire; after the first service stop time expires, receive the second service stop time of the positioning service of the low-orbit satellite for the preset cell; and during the second service stop time, send a positioning request to the terminal device again.

[0035] Optionally, the location information determination module is specifically used to calculate multiple graphic regions centered on the low-orbit satellite based on the transmission and reception time information of the multiple sets of positioning measurement signals; and to determine the location information of the terminal device based on the intersection of the multiple graphic regions.

[0036] Optionally, before the transmit / receive time acquisition module, the device further includes:

[0037] The signal configuration module is used to send signal configuration information of the positioning measurement signal to the terminal device and the low-orbit satellite, respectively.

[0038] Optionally, before sending a positioning request to the terminal device again during the second service interruption period, the signal configuration module is further configured to resend the signal configuration information of the positioning measurement signal to the terminal device and the low-orbit satellite.

[0039] Thirdly, embodiments of this application also provide a core network element, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the core network element is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the positioning method based on low-Earth orbit satellites as described in any of the first aspects.

[0040] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the low-Earth orbit satellite-based positioning method as described in any of the first aspects.

[0041] The beneficial effects of this application are:

[0042] The positioning method, apparatus, core network element, and storage medium based on low-Earth orbit (LEO) satellites provided in this application control the transmission of multiple sets of positioning measurement signals between terminal devices within the preset cell and the LEO satellites, based on the first service interruption time of the LEO satellites providing positioning services to the preset cell. The location information of the terminal devices is determined based on the transmission and reception time information of the multiple sets of positioning measurement signals. By utilizing the service interruption time of the LEO satellites to the preset cell and the transmission and reception time information of the positioning measurement signals, multiple positioning measurements of the terminal devices by the LEO satellites are achieved. Therefore, positioning of the terminal devices based on the transmission and reception time information of the multiple sets of positioning measurement signals can improve the accuracy of terminal device positioning. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating the low-Earth orbit satellite-based positioning method provided in this application embodiment. Figure 1 ;

[0045] Figure 2 A flowchart illustrating the low-Earth orbit satellite-based positioning method provided in this application embodiment. Figure 2 ;

[0046] Figure 3 This application provides an example of an interaction diagram illustrating the positioning of a terminal device using a low-Earth orbit satellite. Figure 1 ;

[0047] Figure 4 A flowchart illustrating the low-Earth orbit satellite-based positioning method provided in this application embodiment. Figure 3 ;

[0048] Figure 5 A flowchart illustrating the low-Earth orbit satellite-based positioning method provided in this application embodiment. Figure 4 ;

[0049] Figure 6 This application provides an example of an interaction diagram illustrating the positioning of a terminal device using a low-Earth orbit satellite. Figure 2 ;

[0050] Figure 7 A flowchart illustrating the low-Earth orbit satellite-based positioning method provided in this application embodiment. Figure 5 ;

[0051] Figure 8 This is a schematic diagram illustrating the positioning of a terminal device according to an embodiment of this application;

[0052] Figure 9 A schematic diagram of the structure of a low-Earth orbit satellite-based positioning device provided in an embodiment of this application;

[0053] Figure 10 A schematic diagram of the core network elements provided in the embodiments of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0055] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0056] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention 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 embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Additionally, 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.

[0057] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0058] The following describes the specific implementation of the low-Earth orbit satellite-based positioning method applied to the Location Management Function (LMF) network element, with reference to the embodiments.

[0059] Please refer to Figure 1 The following is a flowchart illustrating the positioning method based on low-Earth orbit satellites provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method may include:

[0060] S101: The first service interruption time for receiving positioning services from low-orbit satellites for a preset cell.

[0061] In this embodiment, the low-orbit satellite is a satellite that operates in an orbit at a preset altitude. The area formed on the ground by the signal coverage of the low-orbit satellite is called a cell. The low-orbit satellite can transmit signals with terminal devices within the cell. Based on the duration of signal coverage of the preset cell by the low-orbit satellite, the first service stop time for the low-orbit satellite to provide positioning services for the preset cell can be determined.

[0062] The duration of signal coverage can be a fixed duration pre-configured for low-Earth orbit satellites, or a variable duration configured in real time for low-Earth orbit satellites.

[0063] In some embodiments, when a low-orbit satellite is positioned above a preset cell to provide positioning services for terminal devices in the preset cell, it will report the first service stop time to the LMF network element in the 5G core network corresponding to the preset cell.

[0064] If the preset cell includes multiple 5G core networks, the first service stop time is reported to the LMF network elements in the multiple 5G core networks respectively.

[0065] S102: Based on the first service interruption time, control the terminal equipment and low-orbit satellites in the preset cell to transmit multiple sets of positioning measurement signals, and obtain the transmission and reception time information of multiple sets of positioning measurement signals.

[0066] In this embodiment, during the first service interruption period, the LMF network element controls the terminal equipment and low-Earth orbit satellite within the preset cell to transmit multiple sets of positioning measurement signals. The transmission of each set of positioning measurement signals includes: the low-Earth orbit satellite sending a downlink positioning measurement signal to the terminal equipment, and the terminal equipment sending an uplink positioning measurement signal to the low-Earth orbit satellite after receiving the downlink positioning measurement signal. The transmission and reception time information of each set of positioning measurement signals includes: the transmission time t0 of the downlink positioning measurement signal sent by the low-Earth orbit satellite, the reception time t1 of the downlink positioning measurement signal received by the terminal equipment, the transmission time t2 of the uplink positioning measurement signal sent by the terminal equipment, and the reception time t3 of the uplink positioning measurement signal received by the low-Earth orbit satellite.

[0067] In some embodiments, the LMF network element receiving and transmitting time information can be: the LMF network element receiving the transmission signal time t0 and the reception signal time t3 sent by the low-orbit satellite, and receiving the reception signal time t1 and the transmission signal time t2 sent by the terminal device.

[0068] In other embodiments, the LMF network element can receive and transmit time information as follows: the low-orbit satellite sends the transmission time t0 and the reception time t3 to the terminal device, and the LMF network element uniformly receives the transmission time t0, reception time t1, transmission time t2 and reception time t3 sent by the terminal device.

[0069] S103: Determine the location information of the terminal device based on the transmission and reception time information of multiple sets of positioning measurement signals.

[0070] In this embodiment, the RTT value is calculated based on the transmission and reception time information of multiple sets of positioning measurement signals, namely, the transmission time t0, the reception time t1, the transmission time t2, and the reception time t3. The location information of the terminal device is determined based on the multiple RTT values.

[0071] In some embodiments, the formula for calculating the RTT value can be expressed as: RTT=(t3-t2)-(t1-t0).

[0072] In one possible implementation, please refer to Figure 2 The following is a flowchart illustrating the positioning method based on low-Earth orbit satellites provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the process of S102, which controls the terminal equipment and low-orbit satellites in the preset cell to transmit multiple sets of positioning measurement signals according to the first service interruption time, and obtains the transmission and reception time information of the multiple sets of positioning measurement signals, may include:

[0073] S201: Based on the first service interruption time, send multiple positioning requests to the terminal device to enable the transmission of multiple sets of positioning measurement signals between the terminal device and the low-orbit satellite.

[0074] S202: Receive multiple positioning responses returned by the terminal equipment and low-Earth orbit satellites. Each positioning response includes the transmission and reception time information of a set of positioning measurement signals transmitted between the terminal equipment and the low-Earth orbit satellites.

[0075] In this embodiment, the LMF network element sends a positioning request to the terminal device to request the terminal device to perform multiple RTT measurements. In this case, when the terminal device receives the downlink positioning measurement signal sent by the low-Earth orbit satellite, it detects the downlink positioning measurement signal. When it determines that the downlink positioning measurement signal is of the type of pre-configured positioning signal, it records the time of receiving the downlink positioning measurement signal and sends the uplink positioning measurement signal corresponding to the downlink positioning measurement signal to the low-Earth orbit satellite. When the low-Earth orbit satellite detects the uplink positioning measurement signal and determines that the uplink positioning measurement signal is of the type of pre-configured positioning signal, it records the time of receiving the uplink positioning measurement signal.

[0076] After completing the transmission of downlink and uplink positioning measurement signals, the terminal device and the low-Earth orbit satellite send positioning responses corresponding to the positioning requests to the LMF network element. The positioning responses carry the transmission and reception time information corresponding to the transmission of each set of positioning measurement signals, so that the LMF network element can determine the location information of the terminal device based on the transmission and reception time information of multiple sets of positioning measurement signals.

[0077] In one possible implementation, before S102 controls the terminal equipment and low-orbit satellites within the preset cell to transmit multiple sets of positioning measurement signals according to the first service interruption time, the method may further include:

[0078] Signal configuration information for sending positioning and measurement signals to terminal devices and low-Earth orbit satellites, respectively.

[0079] In this embodiment, in order to enable the transmission of positioning measurement signals between the low-Earth orbit satellite and the terminal device, it is necessary to ensure that the low-Earth orbit satellite and the terminal device can recognize the positioning measurement signals sent by each other. Therefore, before transmitting the positioning measurement signals, signal configuration information for the positioning measurement signals is sent to the terminal device and the low-Earth orbit satellite respectively.

[0080] The low-Earth orbit (LEO) satellite-based positioning method provided in the above embodiments controls the terminal device within the preset cell and the LEO satellite to transmit multiple sets of positioning measurement signals based on the first service interruption time of the LEO satellite providing positioning services to the preset cell. The location information of the terminal device is determined based on the transmission and reception time information of the multiple sets of positioning measurement signals. By utilizing the LEO satellite's service interruption time for the preset cell and the transmission and reception time information of the positioning measurement signals, multiple positioning measurements of the terminal device by the LEO satellite are achieved. Therefore, positioning the terminal device based on the transmission and reception time information of the multiple sets of positioning measurement signals can improve the accuracy of terminal device positioning.

[0081] In one possible implementation, please refer to Figure 3 This is an interactive illustration of low-orbit satellite positioning of terminal equipment provided in an embodiment of this application. Figure 1 ,like Figure 3As shown, the positioning process may include:

[0082] In Phase 0, LMF network elements and LEO satellites can use the NRPPa DL PRS Configuration Information Exchange to obtain or send to LEO satellites DL PRS configuration information required for positioning methods (e.g., multi-RTT positioning). This information includes parameters for DL ​​PRS transmission, such as PRS frequency, bandwidth, timing, decoding, silence, and frequency hopping. PRS configuration information can also be sent to the UE as auxiliary data (in Phase 7). PRS configuration information can be used by: the UE to assist in DL PRS measurements in Phase 9a; and by the LMF network element to request UL SRS configuration information from LEO satellites used by the UE in Phase 2.

[0083] In Phase 1, LMF network elements can use the LPP Capability Transfer procedure to request the UE's positioning capabilities.

[0084] In phase 2, the LMF network element sends an NRPPa POSITIONING INFORMATION REQUEST message to the low-Earth orbit satellite to request the UE's UL information.

[0085] In Phase 3, the low-Earth orbit satellites determine the UL SRS resources available for use, and in Phase 3a, the UE is configured with the UL-SRS resource set.

[0086] In phase 4, the low-Earth orbit satellite provides UL SRS configuration information to the LMF network element in the NRPPa POSITIONING INFORMATIONRESPONSE message.

[0087] In phase 5a, in the case of semi-persistent or aperiodic SRS, the LMF network element sends an NRPPa POSITIONING ACTIVATION REQUEST to the LEO satellite, requesting UE SRS activation. The NRPPa POSITIONING ACTIVATION REQUEST message may include the time T for measuring the UE's position, and thus include the UE's need to transmit UL SRS so that the UL measurement at phase 9b can occur at or near time T. In phase 5b, the LEO satellite activates UE SRS transmission at or near time T. The UE will wait until or near time T before initiating UL SRS transmission. In phase 5c, the LEO satellite sends an NRPPa POSITIONING ACTIVATION RESPONSE message to the LMF network element, indicating UE SRS activation.

[0088] In Phase 6, the LMF element requests UL measurements of the UE's UL SRS transmissions from a selected LEO satellite by sending an NRPPa Measurement Request message to the LEO satellite. Each message may include an indication of the physical measurement time T' to perform the UL measurement. Time T' ultimately defines the time when the UE's location is valid / acquired. Time T' may specify, for example, the NR or LTE system frame number (SFN) and / or subframe slot number. Time T' may have a one-to-one (1:1) relationship with T (e.g., a 1:1 relationship with the UTC time requested in Phase A). For example, T' may be equal to T or may be slightly different (e.g., 1-100 milliseconds (ms) different). This difference may be necessary if it is not possible to schedule the UE's UL SRS transmissions or the LEO satellite's DL PRS transmissions precisely at time T. The message includes all the information required for the gNB / TRP 110 to perform the UL measurement.

[0089] In phase 7, the LMF network element sends an LPP Provide Assistance Data message to the UE. This message includes any auxiliary data required by the UE to perform necessary DL PRS measurements (e.g., PRS configuration information sent or received by the LMF network element in phase 0).

[0090] In phase 8, the LMF network element sends an LPP Request Location Information message to the UE to request DL measurements (e.g., UE Rx-Tx) to support multiple RTTs. The Request Location Information message includes an indication of time T' as in phase 6 (e.g., where T' = T or T' is slightly different from T). The Request Location Information message may further indicate the type of positioning method to be used, such as UE-assisted multiple RTTs.

[0091] In phase 9a, at or near the scheduled positioning time T, the UE performs position measurements, such as DL-PRS Measurements from all LEO satellites provided in the auxiliary data of phase 7. The UE performs the measurements such that the measurements / positions are valid at time T' (e.g., corresponding to the physical time base of T).

[0092] In phase 9b, at or near time T, the low-Earth orbit (LEO) satellite measurements configured in phase 6 are transmitted from the UE via UL SRS (UL SRS Measurements). The UE and / or the LEO satellite thus acquire multiple measurements in phases 9a and 9b within time periods that may include the scheduled positioning time T. For example, the measurements may occur within time periods of less than 1 second, less than 100 ms, less than 10 ms, or less than 1 ms.

[0093] In phase 10, the UE reports the measurements performed in phase 9a to the LMF network element in an LPP Provide Location Information message, which may identify the measurement time T”. The location report in phase 10 includes the measurement / location estimate and may optionally include the time T” (e.g., where T” is as close as possible to the requested time T’; ideally, T” = T’). Then the positioning time error = (T” - T’). The UE can provide an indication of its velocity and / or the distance moved between time T’ and time T” or allow the LMF network element to determine the UE’s velocity or distance moved by measurements (e.g., sensor measurements).

[0094] In phase 11, the low-Earth orbit satellite reports the UE SRS measurement value to the LMF network element in the NRPPa Measurement Response message. This message can also identify the time T”' when the measurement was obtained.

[0095] In phase 12, the LMF network element sends an NRPPa POSITIONING DEACTIVATION message to the low-Earth orbit satellite.

[0096] Subsequently, the LMF determines the RTT from the UE and the Rx-Tx time difference measurements of the low-Earth orbit satellites, which provide the corresponding UNB measurements from phases 10 and 11, and calculates the UE's position.

[0097] Among them, stages 0 to 7 are the configuration of positioning measurement signals for the terminal equipment and low-Earth orbit satellites before the transmission of positioning measurement signals between the control terminal equipment and the low-Earth orbit satellites.

[0098] In one possible implementation, please refer to Figure 4 The following is a flowchart illustrating the positioning method based on low-Earth orbit satellites provided in this application embodiment. Figure 3 ,like Figure 4 As shown, the process of S102, which controls the terminal equipment and low-orbit satellites in the preset cell to transmit multiple sets of positioning measurement signals according to the first service interruption time, and obtains the transmission and reception time information of the multiple sets of positioning measurement signals, may include:

[0099] S301: Send a positioning request to the terminal device to enable the transmission of a set of positioning measurement signals between the terminal device and the low-Earth orbit satellite.

[0100] S302: Based on the first service stop time and the transmission and reception time information of a set of positioning measurement signals, determine whether the first service stop time is sufficient for the terminal device and the low-orbit satellite to transmit the next set of positioning measurement signals.

[0101] S303: If it is determined that the first service interruption time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, a positioning request is sent to the terminal device again until the transmission of multiple sets of positioning measurement signals is completed.

[0102] In this embodiment, the LMF network element sends a positioning request to the terminal device. After the low-Earth orbit satellite reaches the location of the measuring terminal device at time T, it sends a downlink positioning measurement signal to the terminal device and records the transmission time t0 of the downlink positioning measurement signal. The terminal device detects the downlink positioning measurement signal based on the positioning request. When it determines that the downlink positioning measurement signal is a pre-configured signal, it records the reception time t1 of the downlink positioning measurement signal. Then, the terminal device sends an uplink positioning measurement signal to the low-Earth orbit satellite based on the downlink positioning measurement signal and records the transmission time t2 of the uplink positioning measurement signal. The low-Earth orbit satellite detects the uplink positioning measurement signal. When it determines that the uplink positioning measurement signal is a pre-configured signal, it records the reception time t3 of the uplink positioning measurement signal. The low-Earth orbit satellite reports the transmission time t0 and the reception time t3 to the LMF network element. The terminal device reports the reception time t1 and the transmission time t2 to the LMF network element. The LMF network element calculates the RTT value based on a set of transmission time t0, reception time t1, transmission time t2, and reception time t3.

[0103] Then, the LMF network element calculates the remaining service duration based on the first service stop time and the current time. It then determines whether the remaining service duration is sufficient for the terminal device and the low-Earth orbit satellite to transmit the next set of positioning measurement signals based on the remaining service duration and the RTT value. Specifically, if the remaining service duration is greater than or equal to the RTT value, it is determined that the remaining service duration is sufficient for the terminal device and the low-Earth orbit satellite to transmit the next set of positioning measurement signals; if the remaining service duration is less than the RTT value, it is determined that the remaining service duration is insufficient for the terminal device and the low-Earth orbit satellite to transmit the next set of positioning measurement signals.

[0104] If the remaining service time is sufficient for the terminal device and the low-Earth orbit satellite to transmit the next set of positioning measurement signals, then the next positioning request will be sent to the terminal device.

[0105] Because the position of low-Earth orbit satellites is constantly moving, the time for each positioning signal transmission is different. After each set of positioning measurement signals between the terminal device and the low-Earth orbit satellite is completed, an RTT value must be calculated based on the corresponding transmit / receive time information, and it must be determined whether the remaining service time is sufficient for the terminal device and the low-Earth orbit satellite to transmit the next set of positioning measurement signals, until the preset number of positioning measurement signal transmissions are completed and the preset number of transmit / receive time information is obtained.

[0106] In one possible implementation, please refer to Figure 5 The following is a flowchart illustrating the positioning method based on low-Earth orbit satellites provided in this application embodiment. Figure 4 ,like Figure 5 As shown, the method may further include:

[0107] S401: If it is determined that the first service stoppage time is not sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, wait for the first service stoppage time to expire.

[0108] S402: After the first service interruption period expires, receive the second service interruption period for positioning services of low-orbit satellites for the preset cell.

[0109] S403: During the second service interruption period, send a location request to the terminal device again.

[0110] In this embodiment, if the remaining service time is insufficient for the terminal device and the low-Earth orbit satellite to transmit the next set of positioning measurement signals, the LMF network element needs to wait and indicate that the first service stop time has expired. Afterwards, when the low-Earth orbit satellite receives the second service stop time, it will send the second service stop time to the LMF network element. When the second service stop time begins, the LMF network element will send a positioning request to the terminal device again until the preset number of positioning measurement signals are transmitted and the preset number of transmit and receive time information is obtained.

[0111] In one possible implementation, before sending the location request to the terminal device again during the second service interruption period described in S403 above, the method may further include:

[0112] Signal configuration information for retransmitting positioning and measurement signals to terminal devices and low-Earth orbit satellites.

[0113] In this embodiment, since the LMF network element is unable to control the terminal device and the low-Earth orbit satellite to complete multiple transmissions of positioning measurement signals during the first service interruption period, the configuration information for the positioning measurement signals expires. Therefore, after receiving the second service interruption period, it is necessary to resend the signal configuration information for the positioning measurement signals to the terminal device and the low-Earth orbit satellite before a positioning request can be sent to the terminal device.

[0114] For example, please refer to Figure 6 This is an interactive illustration of low-orbit satellite positioning of terminal equipment provided in an embodiment of this application. Figure 2 ,like Figure 6 As shown, the positioning process may include:

[0115] In phase 1, the low-orbit satellite sends the first service stop time t1 to the base station gNB corresponding to the cell.

[0116] In phase 2, the base station gNB reports the first service stop time t1 to the LMF network element.

[0117] In phase 3, the terminal equipment transmits positioning measurement signals to the low-Earth orbit satellite.

[0118] In phase 4, it is calculated whether there is sufficient time before the first service stop time t1 expires to transmit the next positioning measurement signal.

[0119] In phase 5, if there is sufficient time to transmit the next positioning measurement signal, a positioning request is sent to the terminal device again.

[0120] In phase 6, if there is insufficient time to transmit the next positioning measurement signal, the system waits for the first service stop time t1 to expire.

[0121] In phase 7, the low-orbit satellite sends the second service stop time t2 to the base station gNB corresponding to the cell.

[0122] In phase 8, the base station gNB reports the second service stop time t2 to the LMF network element.

[0123] In phase 9, a location request is sent to the terminal device.

[0124] The positioning method based on low-Earth orbit (LEO) satellites provided in the above embodiments determines whether the next positioning measurement signal transmission can proceed based on the LEO satellite's service interruption time for a preset cell and the transmission and reception time information of the positioning measurement signal. If it can, the next positioning measurement signal transmission is performed; if not, the transmission is performed again after receiving a new service interruption time, thus ensuring the continuity of LMF network element positioning of terminal devices and the positioning success rate.

[0125] In one possible implementation, please refer to Figure 7 The following is a flowchart illustrating the positioning method based on low-Earth orbit satellites provided in this application embodiment. Figure 5 ,like Figure 7 As shown, the process of determining the location information of the terminal device based on the transmission and reception time information of multiple sets of positioning measurement signals in S103 may include:

[0126] S501: Based on the transmission and reception time information of multiple sets of positioning measurement signals, calculate multiple graphic regions centered on the low-Earth orbit satellite.

[0127] S502: Determine the location information of the terminal device based on the intersection of multiple graphic regions.

[0128] In this embodiment, the RTT value is calculated based on the transmission and reception time information of multiple sets of positioning measurement signals, namely, the transmission time t0, the reception time t1, the transmission time t2, and the reception time t3. For an example, please refer to [reference needed]. Figure 8 This is a schematic diagram illustrating the positioning of a terminal device according to an embodiment of this application, as shown below. Figure 8As shown, based on the RTT value, multiple circular regions are determined with the low-orbit satellite as the center and c*RTT as the radius (c is the speed of light). The location information of the terminal device is determined based on the intersection of the multiple circular regions.

[0129] The positioning method based on low-Earth orbit satellites provided in the above embodiments combines a multi-RTT positioning method to transmit multiple sets of positioning measurement signals between the terminal device and the low-Earth orbit satellites. Based on the transmission and reception time information of the multiple sets of positioning measurement signals, the intersection of multiple graphic regions centered on the low-Earth orbit satellites is determined as the location information of the terminal device, thereby achieving high-precision positioning of the terminal device using low-Earth orbit satellites.

[0130] Based on the above method embodiments, this application also provides a positioning device based on low-Earth orbit satellites, applied to the location management function (LMF) network element. Please refer to... Figure 9 The image shown is a schematic diagram of the structure of a low-Earth orbit satellite-based positioning device provided in an embodiment of this application. Figure 9 As shown, the device may include:

[0131] The service time acquisition module 101 is used to receive the first service stop time of the positioning service of the low-orbit satellite for the preset cell;

[0132] The transmit / receive time acquisition module 102 is used to control the terminal equipment and low-orbit satellite in the preset cell to transmit multiple sets of positioning measurement signals according to the first service stop time, and to acquire the transmit / receive time information of multiple sets of positioning measurement signals.

[0133] The location information determination module 103 is used to determine the location information of the terminal device based on the transmission and reception time information of multiple sets of positioning measurement signals.

[0134] Optionally, the transceiver time acquisition module 102 is specifically used to send multiple positioning requests to the terminal device according to the first service stop time, so that multiple sets of positioning measurement signals are transmitted between the terminal device and the low-orbit satellite; and to receive multiple positioning responses returned by the terminal device and the low-orbit satellite, each positioning response including the transceiver time information of the transmission of a set of positioning measurement signals between the terminal device and the low-orbit satellite.

[0135] Optionally, the transceiver time acquisition module 102 is specifically used to send a positioning request to the terminal device to enable the transmission of a set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; based on the first service stop time and the transceiver time information of a set of positioning measurement signals, it determines whether the first service stop time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; if it is determined that the first service stop time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-Earth orbit satellite, it sends a positioning request to the terminal device again, until the transmission of multiple sets of positioning measurement signals is completed.

[0136] Optionally, the transmit / receive time acquisition module 102 is further configured to, if it is determined that the first service stop time is not sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, wait for the first service stop time to expire; after the first service stop time expires, receive the second service stop time of the positioning service of the low-orbit satellite for the preset cell; and during the second service stop time, send a positioning request to the terminal device again.

[0137] Optionally, the location information determination module 103 is specifically used to calculate multiple graphic regions centered on low-orbit satellites based on the transmission and reception time information of multiple sets of positioning measurement signals; and to determine the location information of the terminal device based on the intersection of the multiple graphic regions.

[0138] Optionally, before the transmit / receive time acquisition module 102, the device further includes:

[0139] The signal configuration module is used to send signal configuration information for positioning and measurement signals to the terminal equipment and low-Earth orbit satellites, respectively.

[0140] Optionally, before sending a positioning request to the terminal device again during the second service interruption period, the signal configuration module is also used to resend the signal configuration information of the positioning measurement signal to the terminal device and the low-orbit satellite.

[0141] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0142] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0143] Please refer to Figure 10 This is a schematic diagram of the core network elements provided in the embodiments of this application, such as... Figure 10As shown, the core network element 200 includes a processor 201, a storage medium 202, and a bus. The storage medium 202 stores program instructions executable by the processor 201. When the core network element 200 is running, the processor 201 communicates with the storage medium 202 via the bus, and the processor 201 executes the program instructions to perform the above-described method embodiment. The specific implementation and technical effects are similar and will not be described in detail here.

[0144] Optionally, the present invention also provides a computer-readable storage medium storing a computer program, which is executed by a processor to perform the above-described method embodiments.

[0145] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0146] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0147] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0148] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0149] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A positioning method based on low-Earth orbit satellites, characterized in that, The method, applied to LMF (Location Management Function) network elements, includes: The first service interruption time for receiving positioning services from low-orbit satellites for a preset cell; Based on the first service interruption time, control the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals, and obtain the transmission and reception time information of the multiple sets of positioning measurement signals; The location information of the terminal device is determined based on the transmission and reception time information of the multiple sets of positioning measurement signals; The step of controlling the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, and obtaining the transmission and reception time information of the multiple sets of positioning measurement signals, includes: Send a positioning request to the terminal device to enable the transmission of a set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; Based on the first service interruption time and the transmission and reception time information of the set of positioning measurement signals, determine whether the first service interruption time is sufficient for the terminal device and the low-orbit satellite to transmit the next set of positioning measurement signals; If it is determined that the first service interruption time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, a positioning request is sent to the terminal device again until the transmission of the multiple sets of positioning measurement signals is completed; The method further includes: If it is determined that the first service interruption time is not sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, wait for the first service interruption time to expire; After the first service interruption period expires, a second service interruption period is initiated to receive the positioning service of the low-orbit satellite for the preset cell. During the second service interruption period, a location request is sent to the terminal device again.

2. The method as described in claim 1, characterized in that, The step of controlling the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, and obtaining the transmission and reception time information of the multiple sets of positioning measurement signals, includes: Based on the first service interruption time, multiple positioning requests are sent to the terminal device to enable the transmission of the multiple sets of positioning measurement signals between the terminal device and the low-orbit satellite. The system receives multiple positioning responses from the terminal device and the low-orbit satellite, each positioning response including the transmission and reception time information of a set of positioning measurement signals transmitted by the terminal device and the low-orbit satellite.

3. The method as described in claim 1, characterized in that, Determining the location information of the terminal device based on the transmission and reception time information of the multiple sets of positioning measurement signals includes: Based on the transmission and reception time information of the multiple sets of positioning measurement signals, calculate multiple graphic regions centered on the low-orbit satellite; The location information of the terminal device is determined based on the intersection of the multiple graphic regions.

4. The method as described in claim 1, characterized in that, Before controlling the terminal devices in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service interruption time, the method further includes: Signal configuration information for sending the positioning measurement signals to the terminal device and the low-orbit satellite, respectively.

5. The method as described in claim 1, characterized in that, Before sending a location request to the terminal device again during the second service interruption period, the method further includes: Signal configuration information for retransmitting the positioning measurement signal to the terminal device and the low-orbit satellite.

6. A positioning device based on low-Earth orbit satellites, characterized in that, The device, applied to LMF (Location Management Function) network elements, includes: The service time acquisition module is used to receive the first service stop time of the positioning service of the low-orbit satellite for the preset cell; The transmit / receive time acquisition module is used to control the terminal equipment in the preset cell and the low-orbit satellite to transmit multiple sets of positioning measurement signals according to the first service stop time, and to acquire the transmit / receive time information of the multiple sets of positioning measurement signals; The location information determination module is used to determine the location information of the terminal device based on the transmission and reception time information of the multiple sets of positioning measurement signals; The transceiver time acquisition module is specifically used to send a positioning request to the terminal device to enable the transmission of a set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; based on the first service stop time and the transceiver time information of the set of positioning measurement signals, it determines whether the first service stop time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-Earth orbit satellite; if it is determined that the first service stop time is sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-Earth orbit satellite, a positioning request is sent to the terminal device again, until the transmission of the multiple sets of positioning measurement signals is completed; The transmit / receive time acquisition module is further configured to, if it is determined that the first service stop time is not sufficient for the transmission of the next set of positioning measurement signals between the terminal device and the low-orbit satellite, wait for the first service stop time to expire; after the first service stop time expires, receive the second service stop time of the positioning service of the low-orbit satellite for the preset cell; and during the second service stop time, send a positioning request to the terminal device again.

7. A core network element, characterized in that, include: The system includes a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the core network element is running, the processor communicates with the storage medium via the bus. The processor executes the program instructions to perform the steps of the positioning method based on low-Earth orbit satellites as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, performs the steps of the low-Earth orbit satellite-based positioning method as described in any one of claims 1 to 5.

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