Positioning method, terminal, network side equipment and storage medium

Abstract

The invention discloses a positioning method, a terminal, network side equipment and a storage medium, and the positioning method of one embodiment comprises the steps: obtaining side link resource configuration information, the side link resource configuration information being used for determining a sending mode of side link measurement information; side link measurement information is obtained, the side link measurement information is used for representing the relative position relation between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the sight distance range; and sending the side link measurement information to the network side equipment, so that the network side equipment forwards the side link measurement information to a positioning server for positioning the target terminal, thereby determining the position of the target terminal. According to the positioning method provided by the invention, the auxiliary terminal and the side link measurement information are introduced to perform terminal positioning on the target terminal in the non-line-of-sight area, so that the positioning precision of the target terminal in a non-line-of-sight scene can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to but are not limited to the field of communications, and in particular, to a positioning method, a terminal, a network-side device, and a storage medium. Background Art

[0002] High-precision positioning is a key technology for NR (New Radio) vertical industry applications. It is often used in scenarios such as smart manufacturing, industrial parks, warehousing and logistics. Its main applications include personnel positioning (such as user safety assistance, electronic fences, real-time distribution of personnel, trajectory tracking, visitor location tracking, etc.), asset tracking (such as material inventory, equipment tracking, generation resource scheduling, etc.). Common positioning technologies include UTDOA (Uplink Time Difference of Arrival), RTT (Round Trip Time), AOA (Angle of Arrival) and fusion positioning. The base station obtains the coordinates of the terminal by measuring the distance and angle of the terminal. Generally, in the LOS (Line of Sight) scenario, the measured distance and angle are relatively accurate, and the positioning accuracy is high.

[0003] In related technologies, due to the complex and changeable scenarios of wireless network coverage, the technology based on SRS (Sounding Reference Signal, Channel Sounding Reference Signal) signal measurement and calculation of terminal location information is greatly affected by the environment. Generally, the positioning accuracy is high in LOS scenarios, and the TA (Timing Advance, Maximum Time Advance) and angle measured in NLOS (Non Line of Sight, Non Line of Sight) scenarios have large errors, resulting in low terminal location accuracy. The accuracy requirements of the NR vertical industry are greatly limited in sub-meter or even centimeter-level application scenarios. Therefore, how to improve the positioning accuracy of the target terminal in the NLOS scenario has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a positioning method, a terminal, a network-side device, and a storage medium, which can improve the positioning accuracy of a target terminal in a non-line-of-sight scenario.

[0005] In a first aspect, an embodiment of the present application provides a positioning method, including:

[0006] In case it is determined that the target terminal is in a non-line-of-sight area, side link resource configuration information is sent to the target terminal and at least one auxiliary terminal in the line-of-sight area, wherein the target terminal and the auxiliary terminal are within the line-of-sight range of each other; side link measurement information sent by the target terminal and / or the auxiliary terminal is obtained, the sending method of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal; and the side link measurement information is sent to a positioning server, so that the positioning server determines the position of the target terminal according to the side link measurement information and the position information of the auxiliary terminal.

[0007] In a second aspect, an embodiment of the present application provides a positioning method, including:

[0008] Obtain side link resource configuration information, where the side link resource configuration information is used to determine a method for sending side link measurement information; obtain the side link measurement information, where the side link measurement information is used to characterize a relative position relationship between a target terminal and an auxiliary terminal, where the target terminal and the auxiliary terminal are within a line of sight; send the side link measurement information to a network side device, so that the network side device forwards the side link measurement information to a positioning server for target terminal positioning.

[0009] In a third aspect, an embodiment of the present application provides a network side device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the positioning method described in the first aspect above when executing the computer program.

[0010] In a fourth aspect, an embodiment of the present application provides a terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the positioning method as described in the first aspect above when executing the computer program.

[0011] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer-executable program, and the computer-executable program is used to enable a computer to execute the positioning method described in the first aspect above, or the positioning method described in the second aspect.

[0012] The embodiments of the present application provide a positioning method, a terminal, a network-side device, and a storage medium. The positioning method of one of the embodiments can be applied to a network-side device, and the positioning method includes: when it is determined that the target terminal is in a non-line-of-sight area, sending side link resource configuration information to the target terminal and at least one auxiliary terminal in the line-of-sight area, wherein the target terminal and the auxiliary terminal are within the line-of-sight range between each other; obtaining side link measurement information sent by the target terminal and / or the auxiliary terminal, the sending method of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal; sending the side link measurement information to a positioning server, so that the positioning server determines the position of the target terminal according to the side link measurement information and the position information of the auxiliary terminal. That is to say, when the target terminal is in a non-line-of-sight area, the network side device configures side link resources for the target terminal and at least one auxiliary terminal in the line-of-sight area, and the target terminal and the auxiliary terminal are within the line-of-sight range between each other. The network side device obtains the side link measurement information sent by the target terminal and / or the auxiliary terminal to characterize the relative position relationship between the target terminal and the auxiliary terminal, and sends the side link measurement information to the positioning server. The positioning server performs a solution based on the side link measurement information and the position information of the auxiliary terminal to determine the position of the target terminal. A positioning method of another embodiment can be applied to a terminal, and the positioning method includes: obtaining side link resource configuration information, the side link resource configuration information is used to determine the sending method of the side link measurement information; obtaining side link measurement information, the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the line-of-sight range; sending the side link measurement information to the network side device, so that the network side device forwards the side link measurement information to the positioning server to locate the target terminal. That is to say, when the target terminal is within the coverage of the network side device and there is an obstruction between the target terminal and the network side device, the network side device can configure the side link resources for the target terminal and the auxiliary terminal, and the target terminal or the auxiliary terminal sends the side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for positioning the target terminal, thereby determining the position of the target terminal; or, when the target terminal is outside the coverage of the network side device, the auxiliary terminal can configure the side link resources for the target terminal, and the auxiliary terminal sends the side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for positioning the target terminal, thereby determining the position of the target terminal. Based on this, compared with the prior art, the positioning method of the present application performs terminal positioning on the target terminal in the non-line-of-sight area by introducing the auxiliary terminal and the side link measurement information, thereby improving the positioning accuracy of the target terminal in the non-line-of-sight scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1A is a schematic diagram of an implementation environment for executing a positioning method provided by an embodiment of the present application;

[0014] Figure 1B This is a main flow chart of a positioning method applicable to a network-side device provided by an embodiment of the present application;

[0015] Figure 2 This is a sub-flow chart of a positioning method applicable to a network-side device provided by an embodiment of the present application;

[0016] Figure 3 This is a main flow chart of a positioning method applicable to a terminal provided by an embodiment of the present application;

[0017] Figure 4 This is a schematic diagram of information interaction between a base station, a target terminal and N auxiliary terminals provided by an embodiment of the present application;

[0018] Figure 5 is a schematic diagram of an implementation environment for executing a positioning method in a situation where there are three auxiliary terminals provided by an embodiment of the present application;

[0019] Figure 6 This is a schematic diagram of a network side device structure provided by an embodiment of the present application;

[0020] Figure 7 This is a schematic diagram of a terminal structure provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0022] It should be understood that in the description of the embodiments of the present application, the meaning of multiple (or multiple) is more than two, greater than, less than, and exceeding are understood to exclude the number itself, and above, below, and within are understood to include the number itself. If there is a description of "first", "second", etc., it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0023] In related technologies, due to the complex and changeable scenarios of wireless network coverage, the technology based on SRS signal measurement and calculation of terminal location information is greatly affected by the environment. Generally, the positioning accuracy is high in LOS scenarios, and the TA and angle measured in NLOS scenarios have large errors, resulting in low terminal location accuracy. In the NR vertical industry, the accuracy requirements are greatly limited in sub-meter or even centimeter-level application scenarios. Therefore, how to improve the positioning accuracy of the target terminal in the NLOS scenario has become a technical problem that needs to be solved urgently.

[0024] Based on this, an embodiment of the present application provides a positioning method, a network side device and a computer-readable storage medium. The positioning method of one embodiment can be applied to a network side device, and the positioning method includes: when it is determined that the target terminal is in a non-line-of-sight area, sending side link resource configuration information to the target terminal and at least one auxiliary terminal in the line-of-sight area, wherein the target terminal and the auxiliary terminal are within the line-of-sight range between each other; obtaining side link measurement information sent by the target terminal and / or the auxiliary terminal, the sending method of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal; sending the side link measurement information to a positioning server, so that the positioning server determines the position of the target terminal according to the side link measurement information and the position information of the auxiliary terminal. That is to say, when the target terminal is in a non-line-of-sight area, the network side device configures side link resources for the target terminal and at least one auxiliary terminal in the line-of-sight area, and the target terminal and the auxiliary terminal are within the line-of-sight range between each other. The network side device obtains the side link measurement information sent by the target terminal and / or the auxiliary terminal to characterize the relative position relationship between the target terminal and the auxiliary terminal, and sends the side link measurement information to the positioning server. The positioning server performs a solution based on the side link measurement information and the position information of the auxiliary terminal to determine the position of the target terminal. A positioning method of another embodiment can be applied to a terminal, and the positioning method includes: obtaining side link resource configuration information, the side link resource configuration information is used to determine the sending method of the side link measurement information; obtaining side link measurement information, the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the line-of-sight range; sending the side link measurement information to the network side device, so that the network side device forwards the side link measurement information to the positioning server to locate the target terminal. That is to say, when the target terminal is within the coverage of the network side device and there is an obstruction between the target terminal and the network side device, the network side device can configure the side link resources for the target terminal and the auxiliary terminal, and the target terminal or the auxiliary terminal sends the side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for positioning the target terminal, thereby determining the position of the target terminal; or, when the target terminal is outside the coverage of the network side device, the auxiliary terminal can configure the side link resources for the target terminal, and the auxiliary terminal sends the side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for positioning the target terminal, thereby determining the position of the target terminal. Based on this, compared with the prior art, the positioning method of the present application performs terminal positioning on the target terminal in the non-line-of-sight area by introducing the auxiliary terminal and the side link measurement information, thereby improving the positioning accuracy of the target terminal in the non-line-of-sight scenario.

[0025] The embodiments of the present application are further described below in conjunction with the accompanying drawings.

[0026] like Figure 1A As shown, Figure 1A It is a schematic diagram of an implementation environment for executing a positioning method provided by an embodiment of the present application.

[0027] exist Figure 1A In the example, the implementation environment includes network-side equipment, a target terminal and an auxiliary terminal, wherein the network-side equipment includes but is not limited to a base station. Taking the base station as an example, when the target terminal is within the coverage of the base station, there is an obstruction between the base station and the target terminal, and the target terminal is in a non-line-of-sight area relative to the base station. However, there is no obstruction between the base station and the auxiliary terminal, and the auxiliary terminal is in a line-of-sight area relative to the base station. There is also no obstruction between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the line-of-sight range between each other. When it is determined that the target terminal is in a non-line-of-sight area, the base station will send Sidelink resource configuration information to the target terminal and the auxiliary terminal. It should be pointed out that the non-line-of-sight scenario of the embodiment of the present application not only includes the situation where there is an obstruction between the above-mentioned base station and the target terminal, but also includes the beyond-line-of-sight situation where the target terminal is outside the coverage of the base station, that is, beyond-line-of-sight is a special scenario of non-line-of-sight. When the target terminal is outside the coverage of the base station, even if there is no obstruction between the base station and the target terminal, the target terminal will be regarded as being in the non-line-of-sight area relative to the base station. When the target terminal is within the coverage of the base station and there is an obstruction between the target terminal and the base station, the side link resource configuration information is sent by the base station; when the target terminal is outside the coverage of the base station, the side link resource configuration information is obtained by confirming that the target terminal and the auxiliary terminal have established a link. It should be noted that the target terminal and the auxiliary terminal are not limited to mobile phone terminals, but can also be cars, relay equipment or other terminals that support the Sidelink protocol.

[0028] Those skilled in the art will appreciate that the implementation environment can be applied to 5G, 6G communication network systems and subsequently evolved mobile communication network systems, and this embodiment does not specifically limit this.

[0029] It can be understood by those skilled in the art that Figure 1A The implementation environment shown in the figure does not constitute a limitation on the embodiments of the present application, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0030] Based on the above implementation environment, various embodiments of the positioning method of the present application are proposed below.

[0031] like Figure 1BAs shown, a flowchart of a positioning method provided by an embodiment of the present application. The positioning method can be applied to a network side device, the network side device includes but is not limited to a base station, and the positioning method includes but is not limited to the following steps:

[0032] Step S101: When it is determined that a target terminal is in a non-line-of-sight area, side link resource configuration information is sent to the target terminal and at least one auxiliary terminal in a line-of-sight area, wherein the target terminal and the auxiliary terminal are within a line-of-sight range between each other;

[0033] Step S102: acquiring side link measurement information sent by the target terminal and / or the auxiliary terminal, where the sending mode of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal;

[0034] Step S103: Send the side link measurement information to the positioning server, so that the positioning server determines the location of the target terminal according to the side link measurement information and the location information of the auxiliary terminal.

[0035] In a feasible implementation manner, taking the network side device as a base station as an example, Figure 1A As shown, the target terminal is within the coverage of the base station, there is an obstruction between the base station and the target terminal, and relative to the base station, the target terminal is in a non-line-of-sight area, while there is no obstruction between the base station and the auxiliary terminal, and relative to the base station, the auxiliary terminal is in a line-of-sight area, and there is no obstruction between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the line-of-sight range between each other, that is, the target terminal and the auxiliary terminal can send and receive wireless signals without obstruction. It should be pointed out that in the above positioning method, when the base station is able to send side link resource configuration information to the target terminal and at least one auxiliary terminal in the line-of-sight area, it means that the target terminal and the auxiliary terminal are both within the coverage of the base station.

[0036] In a feasible implementation, taking the network side device as a base station as an example, when it is determined that the target terminal is in a non-line-of-sight area, the base station sends Sidelink resource configuration information to the target terminal and the auxiliary terminal to implement sidelink resource configuration for the target terminal and the auxiliary terminal. After the sidelink resources are configured for the target terminal and the auxiliary terminal, the target terminal and / or the auxiliary terminal send sidelink measurement information to the base station, and the sending method of the sidelink measurement information is determined according to the sidelink resource configuration information. In other words, the base station can only obtain the sidelink measurement information sent by the target terminal, or only obtain the sidelink measurement information sent by the auxiliary terminal, or obtain the sidelink measurement information sent by both the target terminal and the auxiliary terminal, wherein the sidelink measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the sidelink measurement information includes but is not limited to the maximum timing advance (TimingAdvance, TA) value between the target terminal and the auxiliary terminal, and the angle information between the target terminal and the auxiliary terminal, wherein the angle information includes but is not limited to azimuth information and vertical angle information.

[0037] In a feasible implementation manner, the side link measurement information may be sent by the target terminal and / or the auxiliary terminal through a target time slot, and the target time slot may be a certain n symbols of the U time slot, or a certain n symbols of the S time slot, which is not limited in the embodiment of the present application, wherein n is greater than or equal to 1. Taking the S time slot as an example, a certain n symbols of the S time slot may be a GAP symbol of the S time slot, that is, the target terminal and / or the auxiliary terminal may send the side link measurement information to the base station through the GAP symbol of the S time slot.

[0038] In a feasible implementation, taking the network side device as a base station as an example, relative to the base station, if there are multiple auxiliary terminals in the line-of-sight area, and the multiple auxiliary terminals are all within the line-of-sight range with the target terminal, the base station can also send side link resource configuration information to the multiple auxiliary terminals to realize side link resource configuration for the target terminal and the multiple auxiliary terminals.

[0039] In a feasible implementation, taking the network side device as a base station as an example, after obtaining the side link measurement information, the base station sends the side link measurement information to the positioning server, and the positioning server determines the location of the target terminal based on the side link measurement information and the location information of the auxiliary terminal. The positioning server receives the side link measurement information reported by the base station. Since the side link measurement information contains information about the relative position relationship between the target terminal and the auxiliary terminal, for example, the TA value and angle information between the target terminal and the auxiliary terminal, and the location information of the auxiliary terminal has been uploaded to the positioning server by the base station in advance, the positioning server can solve the location of the target terminal based on the side link measurement information and the location information of the auxiliary terminal.

[0040] Based on this, compared with the prior art, the positioning method of the present application introduces auxiliary terminal and side link measurement information to perform terminal positioning on the target terminal in the non-line-of-sight area, and the target terminal positioning scene in the NLOS area can be converted into a LOS scene, thereby improving the positioning accuracy of the target terminal in the non-line-of-sight scene.

[0041] like Figure 2 As shown, before step S101, the following sub-steps may be included but not limited to:

[0042] Step S201: receiving positioning measurement information sent by a target terminal;

[0043] Step S202: Send the positioning measurement information to the positioning server, so that the positioning server determines whether the target terminal is in the non-line-of-sight area according to the positioning measurement information and a preset positioning fingerprint library, and determines at least one auxiliary terminal in the line-of-sight area.

[0044] In a feasible implementation, taking the network side device as a base station as an example, before the base station sends side link resource configuration information to the target terminal and at least one auxiliary terminal, the base station needs to first determine that the target terminal is in a non-line-of-sight area, and select a suitable auxiliary terminal in the line-of-sight area to determine that the selected auxiliary terminal and the target terminal are within the line-of-sight range between each other, that is, wireless signals can be sent and received between the target terminal and the auxiliary terminal without obstruction.

[0045] In a feasible implementation, after the target terminal accesses the base station, the base station can receive the positioning measurement information sent by the target terminal according to the existing positioning methods, including but not limited to UTDOA, AOA, etc., and initially locate the approximate position of the target terminal through the positioning measurement information, and then send the positioning measurement information to the positioning server, and the positioning server determines whether the coordinate position of the target terminal is in the NLOS area or in the LOS area according to the positioning measurement information and the preset positioning fingerprint library. If it is determined that the target terminal is in the NLOS area, the Sidelink auxiliary positioning is started, and the base station selects the auxiliary terminal in the LOS area, and configures the Sidelink resources for the target terminal and the auxiliary terminal.

[0046] In a feasible implementation, the positioning fingerprint library establishes information on the geographical location grid areas of the line-of-sight area and the non-line-of-sight area and information on the LOS association relationship between each grid area. Specifically, by identifying the NLOS and LOS areas of the NR area, by demarcating the grid area covered by the NR, marking the center point coordinates of the grid area with NLOS or LOS marks, and establishing a positioning fingerprint library of the LOS association relationship between the center point coordinates. The positioning server determines whether the target terminal is in the non-line-of-sight area based on the positioning measurement information and the preset positioning fingerprint library, and determines at least one auxiliary terminal in the line-of-sight area. For example, the approximate coordinate position of the target terminal can be initially located according to the positioning measurement information sent by the target terminal, and combined with the preset positioning fingerprint library, it can be known whether the grid area where the approximate coordinate position of the target terminal is located is the NLOS area. If it is determined that the target terminal is in the NLOS area, according to the LOS association relationship between the center point coordinates established in the positioning fingerprint library, that is, according to the LOS association relationship between each grid area, other specific grid areas that meet the LOS association relationship with the grid area where the target terminal is located can be obtained, and the auxiliary terminals in these specific grid areas are the auxiliary terminals selected and determined by the base station. It should be noted that the auxiliary terminal selected and determined by the base station may be one or more.

[0047] like Figure 3 As shown, a flowchart of a positioning method provided by an embodiment of the present application. The positioning method can be applied to a target terminal or an auxiliary terminal, and the positioning method includes but is not limited to the following steps:

[0048] Step S301: Acquire side link resource configuration information, where the side link resource configuration information is used to determine a sending method of side link measurement information;

[0049] Step S302: Acquire side link measurement information, where the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within a line of sight range;

[0050] Step S303: sending the side link measurement information to the network side device, so that the network side device forwards the side link measurement information to the positioning server to locate the target terminal.

[0051] In a feasible implementation, the side link resource configuration information can be obtained from the network side device, or it can be obtained by confirming after the target terminal and the auxiliary terminal establish a link. For example, when the target terminal is within the coverage of the network side device, the side link resource configuration information is sent by the network side device; for another example, when the target terminal is outside the coverage of the network side device, the side link resource configuration information is obtained by confirming after the target terminal and the auxiliary terminal establish a link. The network side device includes but is not limited to a base station.

[0052] In a feasible implementation, side link resource configuration information is obtained, and the side link resource configuration information is used to determine the sending method of the side link measurement information. After the side link resources are configured for the target terminal and the auxiliary terminal, a link can be established between the target terminal and the auxiliary terminal. When the target terminal is within the coverage of the network side device, the target terminal can perform side link measurement on the auxiliary terminal to obtain side link measurement information, and then the target terminal sends the obtained side link measurement information to the base station. When the target terminal is within the coverage of the network side device, the auxiliary terminal can also perform side link measurement on the target terminal to obtain side link measurement information, and then the auxiliary terminal sends the obtained side link measurement information to the base station. When the target terminal is out of the coverage of the network side device, the auxiliary terminal can perform side link measurement on the target terminal to obtain side link measurement information, and then the auxiliary terminal sends the obtained side link measurement information to the base station. The side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the side link measurement information includes but is not limited to the maximum time advance value between the target terminal and the auxiliary terminal, and the angle information between the target terminal and the auxiliary terminal, wherein the angle information includes but is not limited to the azimuth angle information and the vertical angle information. It should be noted that the target terminal and the auxiliary terminal are within the line of sight of each other, that is, the target terminal and the auxiliary terminal can send and receive wireless signals without obstruction.

[0053] In a feasible implementation, the side link measurement information is sent to the network side device, and the network side device forwards the side link measurement information to the positioning server to locate the target terminal. Taking the network side device as a base station as an example, when the target terminal is within the coverage of the network side device, the target terminal can perform side link measurement on the auxiliary terminal to obtain the side link measurement information, and then the target terminal sends the obtained side link measurement information to the base station. When the target terminal is within the coverage of the network side device, the auxiliary terminal can also perform side link measurement on the target terminal to obtain the side link measurement information, and then the auxiliary terminal sends the obtained side link measurement information to the base station. When the target terminal is out of the coverage of the network side device, the auxiliary terminal can perform side link measurement on the target terminal to obtain the side link measurement information, and then the auxiliary terminal sends the obtained side link measurement information to the base station. The base station forwards the side link measurement information to the positioning server. The positioning server receives the side link measurement information reported by the base station. Since the side link measurement information contains information about the relative position relationship between the target terminal and the auxiliary terminal, for example, the TA value and angle information between the target terminal and the auxiliary terminal, and the position information of the auxiliary terminal has been uploaded to the positioning server by the base station in advance, the positioning server can calculate the position of the target terminal based on the side link measurement information and the position information of the auxiliary terminal.

[0054] In a feasible implementation manner, the side link measurement information may be sent by the target terminal and / or the auxiliary terminal through a target time slot, and the target time slot may be a certain n symbols of the U time slot, or a certain n symbols of the S time slot, which is not limited in the embodiment of the present application, wherein n is greater than or equal to 1. Taking the S time slot as an example, a certain n symbols of the S time slot may be a GAP symbol of the S time slot, that is, the target terminal and / or the auxiliary terminal may send the side link measurement information to the base station through the GAP symbol of the S time slot.

[0055] In a feasible implementation manner, the selection of the auxiliary terminal can also be performed according to the rule that the distance between the target terminal and the auxiliary terminal is less than a preset threshold value, so as to select an auxiliary terminal that is relatively close to the target terminal. It should be noted that the threshold value can be configured according to actual conditions, and the embodiment of the present application does not limit the specific value of the threshold value.

[0056] In a feasible implementation manner, the target terminal and the auxiliary terminal are not limited to mobile phone terminals, but may also be automobiles, relay equipment or other terminals supporting the Sidelink protocol.

[0057] Based on this, compared with the prior art, the positioning method of the present application introduces auxiliary terminal and side link measurement information to perform terminal positioning on the target terminal in the non-line-of-sight area, and the target terminal positioning scene in the NLOS area can be converted into a LOS scene, thereby improving the positioning accuracy of the target terminal in the non-line-of-sight scene.

[0058] The positioning method provided by the present application is further described below in conjunction with specific drawings and embodiments.

[0059] Identify the NLOS and LOS areas of the NR area, delineate the grid area covered by NR, mark the coordinates of the center points of the grid area with NLOS or LOS signs, and establish a positioning fingerprint library of the LOS association relationship between the coordinates of each center point. The positioning fingerprint library is stored in the positioning server.

[0060] After the target terminal accesses the base station, the base station reports the positioning measurement information to the positioning server. The positioning server solves the coordinates based on the positioning measurement information and the positioning fingerprint library and determines whether the target terminal belongs to the NLOS area. If the target terminal belongs to the NLOS area, the base station is notified to start the side link resource allocation to assist positioning. It should be noted that the positioning measurement information can be obtained based on existing positioning technologies such as UTDOA and AOA.

[0061] like Figure 4 and Figure 5As shown, N auxiliary terminals are selected (N is greater than or equal to 1), and the selection rule is that the auxiliary terminal position is in the LOS area covered by NR, and the auxiliary terminal and the target terminal are in a LOS relationship, that is, the target terminal and the auxiliary terminal are within the line of sight between each other. The base station allocates side link resources to the auxiliary terminal and the target terminal, and at the same time, the target terminal measures the side link measurement information of the auxiliary terminal, and reports the side link measurement information to the base station through a certain n symbols of the U or S time slot. It should be noted that the side link measurement information between the auxiliary terminal and the target terminal can also be measured by the auxiliary terminal, and the side link measurement information includes at least one of the TA value and the angle information. After being measured by multiple auxiliary terminals, they are reported to the base station for aggregation and then uploaded to the positioning server. If the target terminal is outside the coverage range of the base station cell, the side link measurement information of the target terminal can also be measured by the auxiliary terminal, and the auxiliary terminal then sends the side link measurement information to the base station, which is reported to the positioning server by the base station for solution, and the coordinate position of the target terminal is obtained by solution, and the goal of expanding the positioning range of the base station is achieved.

[0062] The base station reports the side link measurement information sent by the target terminal to the positioning server, and the positioning server performs coordinate calculation.

[0063] like Figure 5 As shown, the coordinates of the three auxiliary terminals and the target terminal are as follows:

[0064] Auxiliary terminal 1 coordinates (x1, y1, z1)

[0065] Auxiliary terminal 2 coordinates (x2, y2, z2)

[0066] Auxiliary terminal 3 coordinates (x3, y3, z3)

[0067] The coordinates of the target terminal are (x, y, z), and the side link TA information measured with the three auxiliary terminals are TA1, TA2, and TA3 respectively.

[0068] On the solution side, the target terminal coordinates (x, y, z) can be obtained according to the following Euclidean distance formula, where C is the speed of light:

[0069]

[0070]

[0071]

[0072] It should be noted that the above embodiment is not the only solution method, and the angle and TA can also be transmitted to the positioning server for solution to obtain the coordinate position of the target terminal.

[0073] like Figure 6 As shown, an embodiment of the present application also provides a network side device.

[0074] Specifically, the network side device includes: one or more processors 610 and a memory 620, Figure 6 A processor 610 and a memory 620 are taken as an example. The processor 610 and the memory 620 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0075] The memory 620 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs, such as the positioning method in the above-mentioned embodiment of the present application. The processor 610 implements the positioning method in the above-mentioned embodiment of the present application by running the non-transitory software programs and programs stored in the memory 620.

[0076] The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data required to execute the positioning method in the above-mentioned embodiment of the present application, etc. In addition, the memory 620 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 620 may optionally include a memory remotely arranged relative to the processor 610, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0077] The non-transient software program and program required to implement the positioning method in the above embodiment of the present application are stored in the memory 620. When executed by one or more processors 610, the positioning method in the above embodiment of the present application is executed, for example, the above description is executed. Figure 1B Steps S101 to S103 of the method, Figure 2In the method steps S201 to S202, when it is determined that the target terminal is in a non-line-of-sight area, the side link resource configuration information is sent to the target terminal and at least one auxiliary terminal in the line-of-sight area, wherein the target terminal and the auxiliary terminal are within the line-of-sight range between each other; the side link measurement information sent by the target terminal and / or the auxiliary terminal is obtained, the sending mode of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal; the side link measurement information is sent to the positioning server, so that the positioning server determines the position of the target terminal according to the side link measurement information and the position information of the auxiliary terminal. That is, when the target terminal is in a non-line-of-sight area, the network side device performs side link resource configuration on the target terminal and at least one auxiliary terminal in the line-of-sight area, and the target terminal and the auxiliary terminal are within the line-of-sight range between each other, the network side device obtains the side link measurement information sent by the target terminal and / or the auxiliary terminal for characterizing the relative position relationship between the target terminal and the auxiliary terminal, and sends the side link measurement information to the positioning server, and the positioning server performs a solution according to the side link measurement information and the position information of the auxiliary terminal, thereby determining the position of the target terminal. Based on this, compared with the prior art, the positioning method of the present application performs terminal positioning on the target terminal in the non-line-of-sight area by introducing auxiliary terminal and side link measurement information, thereby improving the positioning accuracy of the target terminal in the non-line-of-sight scenario.

[0078] like Figure 7 As shown, the embodiment of the present application also provides a terminal.

[0079] Specifically, the terminal includes: one or more processors 710 and a memory 720, Figure 7 A processor 710 and a memory 720 are taken as an example. The processor 710 and the memory 720 may be connected via a bus or other means. Figure 7 The example of connecting through bus is taken in the following.

[0080] The memory 720 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs and non-transitory computer executable programs, such as the positioning method in the above-mentioned embodiment of the present application. The processor 710 implements the positioning method in the above-mentioned embodiment of the present application by running the non-transitory software programs and programs stored in the memory 720.

[0081] The memory 720 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data required to execute the positioning method in the above-mentioned embodiment of the present application, etc. In addition, the memory 720 may include a high-speed random access memory 720, and may also include a non-transitory memory 720, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 720 may optionally include a memory remotely arranged relative to the processor 710, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0082] The non-transient software program and program required to implement the positioning method in the above embodiment of the present application are stored in the memory 720. When executed by one or more processors 710, the positioning method in the above embodiment of the present application is executed, for example, the above described positioning method is executed. Figure 3 In the method steps S301 to S303, side link resource configuration information is obtained, and the side link resource configuration information is used to determine the sending mode of the side link measurement information; side link measurement information is obtained, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the line of sight; the side link measurement information is sent to the network side device, so that the network side device forwards the side link measurement information to the positioning server for positioning the target terminal. That is to say, when the target terminal is within the coverage of the network side device and there is an obstruction between the target terminal and the network side device, the network side device can configure the side link resources for the target terminal and the auxiliary terminal, and the target terminal or the auxiliary terminal sends the side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for positioning the target terminal, thereby determining the position of the target terminal; or, when the target terminal is outside the coverage of the network side device, the auxiliary terminal can configure the side link resources for the target terminal, and the auxiliary terminal sends the side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for positioning the target terminal, thereby determining the position of the target terminal. Based on this, compared with the prior art, the positioning method of the present application performs terminal positioning on the target terminal in the non-line-of-sight area by introducing auxiliary terminal and side link measurement information, thereby improving the positioning accuracy of the target terminal in the non-line-of-sight scenario.

[0083] In addition, the embodiment of the present application further provides a computer-readable storage medium, which stores a computer-executable program. The computer-executable program is executed by one or more control processors, which can enable the one or more processors to execute the positioning method in the embodiment of the present application, for example, to execute the above description. Figure 1B Steps S101 to S103 of the method, Figure 2 Steps S201 to S202 of the method, Figure 3In the method steps S301 to S303, the positioning method of one embodiment includes: when it is determined that the target terminal is in a non-line-of-sight area, sending side link resource configuration information to the target terminal and at least one auxiliary terminal in the line-of-sight area, wherein the target terminal and the auxiliary terminal are within the line-of-sight range between each other; obtaining side link measurement information sent by the target terminal and / or the auxiliary terminal, the sending mode of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal; sending the side link measurement information to the positioning server, so that the positioning server determines the position of the target terminal according to the side link measurement information and the position information of the auxiliary terminal. That is, when the target terminal is in a non-line-of-sight area, the network side device configures the side link resources for the target terminal and at least one auxiliary terminal in the line-of-sight area, and the target terminal and the auxiliary terminal are within the line-of-sight range between each other, the network side device obtains the side link measurement information sent by the target terminal and / or the auxiliary terminal for characterizing the relative position relationship between the target terminal and the auxiliary terminal, and sends the side link measurement information to the positioning server, and the positioning server performs a solution according to the side link measurement information and the position information of the auxiliary terminal, thereby determining the position of the target terminal. The positioning method of another embodiment includes: obtaining side link resource configuration information, the side link resource configuration information is used to determine the sending method of side link measurement information; obtaining side link measurement information, the side link measurement information is used to characterize the relative position relationship between the target terminal and the auxiliary terminal, and the target terminal and the auxiliary terminal are within the line of sight; sending the side link measurement information to the network side device, so that the network side device forwards the side link measurement information to the positioning server to locate the target terminal. That is to say, when the target terminal is within the coverage of the network side device and there is an obstruction between the target terminal and the network side device, the network side device can configure side link resources for the target terminal and the auxiliary terminal, and the target terminal or the auxiliary terminal sends side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for target terminal positioning, thereby determining the position of the target terminal; alternatively, when the target terminal is outside the coverage of the network side device, the auxiliary terminal can configure side link resources for the target terminal, and the auxiliary terminal sends side link measurement information to the network side device, and the network side device forwards the side link measurement information to the positioning server for target terminal positioning, thereby determining the position of the target terminal. Based on this, compared with the prior art, the positioning method of the present application introduces auxiliary terminals and side link measurement information to perform terminal positioning on target terminals in non-line-of-sight areas, thereby improving the positioning accuracy of the target terminal in non-line-of-sight scenarios.

[0084] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as a computer-readable program, a data structure, a program module or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media generally contain computer-readable programs, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A positioning method, the method comprising: In the case of determining that the target terminal is in a non-line-of-sight area, sending side link resource configuration information to the target terminal and at least one auxiliary terminal in a line-of-sight area, wherein the target terminal and the auxiliary terminal are in a line-of-sight range between each other; acquiring side link measurement information sent by the target terminal and / or the auxiliary terminal, where a sending mode of the side link measurement information is determined according to the side link resource configuration information, and the side link measurement information is used to characterize a relative position relationship between the target terminal and the auxiliary terminal; The side link measurement information is sent to a positioning server, so that the positioning server determines the location of the target terminal according to the side link measurement information and the location information of the auxiliary terminal.

2. The method according to claim 1, characterized in that Before sending the side link resource configuration information to the target terminal and at least one auxiliary terminal in the line of sight area, the method further includes: Receiving positioning measurement information sent by the target terminal; The positioning measurement information is sent to the positioning server, so that the positioning server determines whether the target terminal is in the non-line-of-sight area according to the positioning measurement information and a preset positioning fingerprint library, and determines at least one auxiliary terminal in the line-of-sight area.

3. The method according to any one of claims 1 to 2, characterized in that: The side link measurement information includes at least one of the following: A maximum timing advance value between the target terminal and the auxiliary terminal; Angle information between the target terminal and the auxiliary terminal.

4. A positioning method, the method comprising: Acquire side link resource configuration information, where the side link resource configuration information is used to determine a sending method of the side link measurement information; Acquire the side link measurement information, where the side link measurement information is used to characterize a relative position relationship between a target terminal and an auxiliary terminal, where the target terminal and the auxiliary terminal are within a line of sight; The side link measurement information is sent to a network side device, so that the network side device forwards the side link measurement information to a positioning server for target terminal positioning.

5. The method according to claim 4, characterized in that The side link measurement information includes at least one of the following: A maximum timing advance value between the target terminal and the auxiliary terminal; Angle information between the target terminal and the auxiliary terminal.

6. The method according to claim 4, characterized in that The distance between the target terminal and the auxiliary terminal is less than a preset threshold.

7. The method according to any one of claims 4 to 6, characterized in that: When the target terminal is within the coverage of the network side device, the side link resource configuration information is sent by the network side device; Alternatively, when the target terminal is out of the coverage of the network side device, the side link resource configuration information is obtained by confirming that the target terminal has established a link with the auxiliary terminal.

8. A network side device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the positioning method according to any one of claims 1 to 3 when executing the computer program.

9. A terminal, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the positioning method as described in any one of claims 4 to 7 when executing the computer program.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the positioning method according to any one of claims 1 to 3, or the positioning method according to any one of claims 4 to 7.

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