Positioning method, system and device, computer equipment and readable storage medium

Abstract

The invention relates to a positioning method, system and device, computer equipment and a computer readable storage medium. The method comprises the following steps: in response to a positioning request for a target terminal, acquiring uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal in a control plane positioning mode, and acquiring terminal measurement data of the target terminal from an SLP; generating a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; and carrying out matching processing on the fused fingerprint features and a pre-constructed fused fingerprint database, and obtaining a positioning result of the target terminal according to a matching result. By adopting the method, fusion of a control plane-based positioning technology and a user plane-based positioning technology can be realized, so that the positioning precision can be improved even in an area with relatively low base station density.

Description

Technical Field

[0001] The present application relates to the field of communication positioning technology, and in particular to a positioning method, system, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of communication positioning technology, a positioning technology based on the control plane of the mobile communication network has emerged. This technology can transmit positioning information through signaling, so it can support UTDOA, which is a positioning technology that uses the time difference of arrival of uplink signals, and AOA, which is a positioning technology that uses the direction of incoming waves.

[0003] In traditional technologies, positioning technology based on the control plane usually needs to rely on base stations to be implemented. However, due to the insufficient number of base stations, positioning technology based on the control plane will lead to reduced positioning accuracy in areas with low base station density. Therefore, in existing positioning technology based on the control plane, the positioning accuracy is low in areas with low base station density. Summary of the invention

[0004] Based on this, it is necessary to provide a positioning method, system, device, computer equipment, computer-readable storage medium and computer program product that can improve positioning accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a positioning method, comprising:

[0006] In response to a positioning request for a target terminal, obtaining uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal by means of control plane positioning, and obtaining terminal measurement data of the target terminal from an SLP by means of user plane positioning;

[0007] Generating a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data;

[0008] The fused fingerprint feature is matched with a pre-built fused fingerprint library, and the positioning result of the target terminal is obtained according to the matching result.

[0009] In one of the embodiments, the target terminal communicates with the target LMF through the AMF; the uplink signal measurement data of the target terminal is obtained from the target LMF corresponding to the target terminal by means of control plane positioning, and the terminal measurement data of the target terminal is obtained from the SLP by means of user plane positioning, including: sending PSL information carrying the terminal identifier of the target terminal to the AMF; the PSL information is used to instruct the AMF to determine the target LMF from multiple LMFs according to the terminal identifier, and set the target terminal to a linked state connected to the network; when the target terminal is in the linked state, the target LMF is used to obtain the uplink signal measurement data of the target terminal through the AMF and return it; when the target terminal is in the linked state, a terminal positioning request carrying the terminal identifier is sent to the SLP; the terminal positioning request is used to request the SLP to obtain the terminal measurement data of the target terminal according to the terminal identifier and return it.

[0010] In one embodiment, the uplink signal measurement data includes: uplink signal arrival time data sent by the target terminal measured by multiple target signal transceiver points, and the target signal transceiver points are set in a base station that interacts with the target terminal; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal; generating a fusion fingerprint feature of the target terminal based on the uplink signal measurement data and the terminal measurement data includes: obtaining the uplink signal arrival time feature of the target terminal corresponding to each target signal transceiver point based on the uplink signal arrival time data measured by each target signal transceiver point; obtaining the wireless communication signal strength feature of the target terminal corresponding to each wireless communication device based on each wireless communication signal strength data; and generating the fusion fingerprint feature using each uplink signal arrival time feature and each wireless communication signal strength feature.

[0011] In one of the embodiments, the uplink signal arrival time data measured at each of the target signal transceiver points is used to obtain the uplink signal arrival time characteristics of the target terminal corresponding to each of the target signal transceiver points, including: obtaining the feature weight corresponding to each of the uplink signal arrival time characteristics according to the data value of each of the uplink signal arrival time data; wherein the data value is negatively correlated with the size of the feature weight; using each of the feature weights, weighting the uplink signal arrival time characteristics contained in the fused fingerprint feature to obtain the weighted uplink signal arrival time characteristics; matching the weighted uplink signal arrival time characteristics and the wireless communication signal strength characteristics contained in the fused fingerprint feature with the fingerprint contained in the fused fingerprint library, and obtaining the positioning result of the target terminal according to the matching result.

[0012] In one of the embodiments, the fused fingerprint feature is matched with a pre-built fused fingerprint library, and the positioning result of the target terminal is obtained according to the matching result, including: obtaining the feature weight corresponding to each uplink signal arrival time feature according to the data value of each uplink signal arrival time data; wherein the data value is negatively correlated with the size of the feature weight; using each feature weight, weighting each uplink signal arrival time feature to obtain the weighted uplink signal arrival time feature; matching each weighted uplink signal arrival time feature and each wireless communication signal strength feature with the fingerprint contained in the fused fingerprint library, and obtaining the positioning result of the target terminal according to the matching result.

[0013] In one of the embodiments, matching the fused fingerprint feature with a pre-built fused fingerprint library and obtaining the positioning result of the target terminal according to the matching result includes: obtaining the magnetic field strength feature of the target terminal from the SLP, and obtaining the first positioning result of the target terminal according to the magnetic field strength feature; matching the fused fingerprint feature with a pre-built fused fingerprint library, and obtaining the second positioning result of the target terminal according to the matching result; obtaining the positioning result of the target terminal according to the first positioning result and the second positioning result.

[0014] In one of the embodiments, generating a fused fingerprint feature of the target terminal based on the uplink signal measurement data and the terminal measurement data includes: obtaining the magnetic field strength data of the target terminal from the SLP; generating a fused fingerprint feature of the target terminal based on the magnetic field strength data, the uplink signal measurement data and the terminal measurement data.

[0015] In a second aspect, the present application further provides a positioning system, including: a fusion positioning platform, and a target LMF and SLP corresponding to a target terminal that are communicatively connected to the fusion positioning platform; wherein:

[0016] The fusion positioning platform is used to respond to a positioning request for a target terminal, obtain uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal by means of control plane positioning, and obtain terminal measurement data of the target terminal from an SLP by means of user plane positioning;

[0017] The fusion positioning platform is also used to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; match the fusion fingerprint feature with a pre-built fusion fingerprint library, and obtain the positioning result of the target terminal according to the matching result.

[0018] In one of the embodiments, the system also includes: AMF, the fused positioning platform, and is further used to send PSL information carrying the terminal identifier of the target terminal to the AMF; the AMF is used to determine the target LMF from multiple LMFs based on the terminal identifier in the PSL information, and set the target terminal to a linked state connected to the network; the target LMF is further used to obtain and return the uplink signal measurement data of the target terminal through the AMF when the target terminal is in the linked state; the fused positioning platform is further used to send a terminal positioning request carrying the terminal identifier to the SLP when the target terminal is in the linked state; the SLP is used to obtain and return the terminal measurement data of the target terminal based on the terminal identifier.

[0019] In one of the embodiments, the AMF is also used to send an Nlmf location determination request to the target LMF; the target LMF is also used to obtain the uplink signal measurement data of the target terminal from the base station interacting with the target terminal through the AMF according to the Nlmf location determination request, and return the uplink signal measurement data to the fusion positioning platform.

[0020] In one of the embodiments, the SLP is further configured to send a SUPL INIT message to the target terminal according to the terminal identifier; the SUPL INIT message is used to initiate a positioning session request to the target terminal; the target terminal is configured to return a SUPL POS INIT message to the SLP to initiate a response to the positioning session request, and return a SUPL POS message carrying the terminal measurement data to the SLP.

[0021] In a third aspect, the present application further provides a positioning device, including:

[0022] a measurement data acquisition module, configured to, in response to a positioning request for a target terminal, acquire uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal by means of control plane positioning, and acquire terminal measurement data of the target terminal from an SLP by means of user plane positioning;

[0023] A fusion fingerprint acquisition module, used to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data;

[0024] The positioning result acquisition module is used to match the fused fingerprint feature with a pre-built fused fingerprint library, and obtain the positioning result of the target terminal according to the matching result.

[0025] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the embodiments of the first aspect when executing the computer program.

[0026] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in any one of the embodiments of the first aspect are implemented.

[0027] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in any one of the embodiments of the first aspect.

[0028] The above positioning method, system, device, computer equipment, computer-readable storage medium and computer program product, in response to a positioning request for a target terminal, obtains the uplink signal measurement data of the target terminal from the target LMF corresponding to the target terminal by means of control plane positioning, and obtains the terminal measurement data of the target terminal from the SLP by means of user plane positioning; generates a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; matches the fusion fingerprint feature with a pre-built fusion fingerprint library, and obtains the positioning result of the target terminal according to the matching result. The present application can obtain uplink signal measurement data from the target LMF by means of control plane positioning and terminal measurement data from the SLP by means of user plane positioning when positioning the target terminal, thereby generating a fusion fingerprint feature using the above measurement data and matching it through the fusion fingerprint library to achieve positioning. In this way, the fusion of control plane positioning technology and user plane positioning technology is achieved, so that even in areas with low base station density, the positioning accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0030] FIG1 is a diagram of an application environment of a positioning method according to an embodiment;

[0031] FIG2 is a schematic diagram of a flow chart of a positioning method in an embodiment;

[0032] FIG3 is a schematic diagram of a process of obtaining uplink signal measurement data and terminal measurement data in one embodiment;

[0033] FIG4 is a schematic diagram of a process for generating fused fingerprint features in one embodiment;

[0034] FIG5 is a schematic diagram of the structure of a positioning system in one embodiment;

[0035] FIG6 is a schematic diagram of the structure of a positioning system in another embodiment;

[0036] FIG7 is a schematic flow chart of a positioning method in another embodiment;

[0037] FIG8 is a structural block diagram of a positioning device in one embodiment;

[0038] FIG. 9 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0039] 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.

[0040] The positioning method provided in the embodiment of the present application can be applied in the application environment shown in FIG1. ​​The target terminal 101 to be positioned can communicate with the fusion positioning platform 105 through the base station 102 and the target LMF 103, and can also communicate with the fusion positioning platform 105 through the SLP 104. Specifically, after receiving the positioning request for the target terminal 101, the fusion positioning platform 105 can obtain the uplink signal measurement data of the target terminal from the target LMF 103 by means of control plane positioning, and obtain the terminal measurement data of the target terminal from the SLP 104 by means of user plane positioning, wherein the target LMF 103 can obtain the uplink signal measurement data through the base station 102 and return it to the fusion positioning platform 105. Afterwards, the fusion positioning platform 105 can generate the fusion fingerprint feature of the target terminal 101 according to the uplink signal measurement data and the terminal measurement data to obtain the positioning result of the target terminal 101. The target terminal 101 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The target LMF103, SLP104 and fusion positioning platform 105 can be independent physical servers, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0041] In one embodiment, as shown in FIG. 2 , a positioning method is provided, which is described by taking the method applied to the fusion positioning platform 105 in FIG. 1 as an example, and includes the following steps:

[0042] Step S201, in response to a positioning request for the target terminal 101, obtain the uplink signal measurement data of the target terminal from the target LMF103 corresponding to the target terminal 101 through control plane positioning, and obtain the terminal measurement data of the target terminal 101 from SLP104 through user plane positioning.

[0043] The positioning request refers to a request for positioning the target terminal 101, which may be triggered by the positioning application to the integrated positioning platform 105. The target terminal 101 refers to the terminal that needs to be positioned, and the target LMF 103 is an LMF among multiple LMFs for obtaining uplink signal measurement data of the target terminal 101. The uplink signal measurement data may be measurement data required for control plane positioning, such as UL-TDOA measurement result data, or AOA measurement result data, etc. The SLP 104 may be a positioning platform 104 based on SUPL, which may obtain measurement data required for user plane positioning, i.e., terminal measurement data of the target terminal 101.

[0044] Specifically, when a positioning request for the target terminal 101 is received, the uplink signal measurement data of the target terminal 101 can be obtained from the target LMF103 through control plane positioning, that is, through core network signaling information transmission, and the terminal measurement data of the target terminal 101 can be obtained from SLP104 through user plane positioning, that is, through user layer data transmission information.

[0045] Step S202, generating a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data;

[0046] Step S203, matching the fused fingerprint feature with the pre-built fused fingerprint library, and obtaining the positioning result of the target terminal according to the matching result.

[0047] The fused fingerprint feature is a fingerprint feature obtained based on the uplink signal measurement data and the terminal measurement data. For example, the uplink signal measurement data and the terminal measurement data can be converted into feature vectors and the feature vectors can be concatenated. The fused fingerprint library is a database for storing the correspondence between multiple fused fingerprint features and positioning information. In this embodiment, after the fused positioning platform 105 obtains the uplink signal measurement data and the terminal measurement data of the target terminal 101 respectively, it can obtain the fused fingerprint feature according to the above data, thereby matching the fused fingerprint feature with the pre-built fused fingerprint library to obtain the final positioning result of the target terminal 101. Since the fused fingerprint feature simultaneously includes the uplink signal measurement data required for control plane positioning and the terminal measurement data required for user plane positioning, this embodiment realizes the fusion of control plane positioning and user plane positioning, thereby improving the positioning accuracy.

[0048] In the above positioning method, the fusion positioning platform 105 responds to the positioning request for the target terminal 101, obtains the uplink signal measurement data of the target terminal from the target LMF 103 corresponding to the target terminal by means of control plane positioning, and obtains the terminal measurement data of the target terminal from the SLP 104 by means of user plane positioning; generates the fusion fingerprint feature of the target terminal 101 according to the uplink signal measurement data and the terminal measurement data; matches the fusion fingerprint feature with the pre-built fusion fingerprint library, and obtains the positioning result of the target terminal 101 according to the matching result. The present application can obtain the uplink signal measurement data from the target LMF 103 by means of control plane positioning and obtain the terminal measurement data from the SLP 104 by means of user plane positioning when positioning the target terminal 101, thereby generating the fusion fingerprint feature using the above measurement data and matching it through the fusion fingerprint library to achieve positioning, and in this way, the fusion of the control plane positioning technology and the user plane positioning technology is achieved, so that even in areas with low base station density, the positioning accuracy can be improved.

[0049] In one embodiment, the target terminal 101 communicates with the target LMF 103 via the AMF; as shown in FIG3 , step S201 may further include:

[0050] Step S301, sending PSL information carrying the terminal identifier of the target terminal 101 to the AMF; the PSL information is used to instruct the AMF to determine the target LMF 103 from multiple LMFs according to the terminal identifier, and set the target terminal 101 to a linked state connected to the network; when the target terminal 101 is in the linked state, the target LMF 103 is used to obtain the uplink signal measurement data of the target terminal 101 through the AMF and return it.

[0051] AMF, namely Access and Mobility Management Function, is a module mainly used to control terminal access to the network, authenticate terminal identity, and enable the terminal to maintain connection when moving around. In this embodiment, the target terminal 101 communicates with the target LMF 103 through AMF, and the selection of the target LMF 103 can also be performed by AMF.

[0052] Specifically, when the fusion positioning platform 105 receives a positioning request for the target terminal 101 from the positioning application, it can send PSL information carrying the terminal identifier of the target terminal 101 to the AMF. The terminal identifier is used to identify the target terminal 101 that needs to be located. The PSL information can be used to instruct the AMF to first determine the target LMF 103 from multiple LMFs based on the carried terminal identifier, and set the state of the target terminal 101 to a linked state connected to the network. For example, the AMF can initiate a Network Triggered Service request to the target terminal 101, requiring the target terminal 101 to connect to the network. When the target terminal 101 is in a linked state, the target LMF 103 can obtain the uplink signal measurement data of the target terminal 101 through the AMF and return it to the fusion positioning platform 105.

[0053] Step S302: When the target terminal 101 is in a linked state, a terminal positioning request carrying a terminal identifier is sent to the SLP 104; the terminal positioning request is used to request the SLP 104 to obtain the terminal measurement data of the target terminal 101 according to the terminal identifier and return it.

[0054] When the target terminal 101 is set to a linked state through AMF, the fusion positioning platform 105 can also send a terminal positioning request carrying a terminal identifier to SLP104, and then ask SLP104 to determine the target terminal 101 according to the terminal identifier, obtain the terminal measurement data of the target terminal 101 and return it.

[0055] The process of SLP104 acquiring the terminal measurement data may be that SLP104 initiates a positioning session using a SUPL INIT message, wherein the SUPL INIT message includes at least a session-id, a proxy and non-proxy mode indication, and a positioning method, and then the SET of the target terminal 101 sends a SUPL POS INIT message to start a positioning session with the SLP. The SUPL POS INIT message includes at least SET capabilities, and the SET capabilities include supported positioning methods. The SET may then send a SUPL POS message including terminal positioning measurement result data, including at least one type of data from Bluetooth or WiFi. Finally, the SLP returns Bluetooth / WiFi / geomagnetic and other measurement data to the fusion positioning platform, completing the return of the terminal measurement data.

[0056] In this embodiment, the fusion positioning platform 105 can set the target terminal 101 to a linked state connected to the network through AMF, and then the target LMF103 can obtain the uplink signal measurement data of the target terminal 101 through AMF, and SLP104 can obtain the terminal measurement data and return it. In this way, the target terminal 101 can enter the linked state through the control plane positioning signaling, thereby avoiding the problem that the target terminal 101 is offline and cannot perform user plane positioning, and further improving the stability of positioning.

[0057] In one embodiment, the uplink signal measurement data includes: uplink signal arrival time data sent by the target terminal 101 measured by multiple target signal transceiver points, and the target signal transceiver points are set in the base station 102 interacting with the target terminal 101; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal 101; as shown in FIG. 4, step S202 may further include:

[0058] Step S401, obtaining the uplink signal arrival time characteristics of the target terminal corresponding to each target signal transceiver point according to the uplink signal arrival time data measured at each target signal transceiver point.

[0059] The target signal transceiver point refers to a signal transceiver point set in the base station 102, for example, it can be a wireless measurement unit TRP set in the base station 102, and the uplink signal arrival time data can be UL-TDOA measurement result data, and the uplink signal arrival time feature refers to the feature representation of the uplink signal arrival time data. After obtaining the uplink signal arrival time data measured by each target signal transceiver point, the terminal can generate a corresponding uplink signal arrival time feature.

[0060] For example, the uplink signal arrival time characteristic can be expressed as TRP[i]={TrpId, RTOA}, i=0,1,2..N, where i represents the i-th uplink signal arrival time characteristic, TrpId represents the ID information of a target signal transceiver point of the measured uplink signal arrival time data, and RTOA represents the uplink signal arrival time.

[0061] Step S402: obtaining wireless communication signal strength characteristics of the target terminal 101 corresponding to each wireless communication device according to each wireless communication signal strength data.

[0062] The terminal measurement data may be the wireless communication signal strength data of each wireless communication device received by the target terminal 101, and the wireless communication signal strength feature may be the feature data corresponding to the wireless communication signal strength.

[0063] For example, the wireless communication device may be a Bluetooth device, and the wireless communication signal strength characteristics corresponding to the wireless communication signal strength data returned by it may be expressed as BT[i]={BtId,Rssi}, i=0,1,2..M, where i represents the wireless communication signal strength characteristics of the i-th Bluetooth device, BtId represents the id of the Bluetooth device, and Rssi represents the signal strength of the Bluetooth signal.

[0064] Step S403: Generate a fusion fingerprint feature by using the arrival time features of each uplink signal and the strength features of each wireless communication signal.

[0065] Finally, the arrival time features of each uplink signal and the strength features of each wireless communication signal can be used to generate a fused fingerprint feature, which can be obtained by splicing the arrival time features of each uplink signal with the strength features of each wireless communication signal to obtain a fused fingerprint feature.

[0066] For example, the fused fingerprint feature can be a fused wireless fingerprint composed of the acquired Bluetooth / WiFi signal and the time / strength signal TRP[i] measured by several mobile network antennas acquired through UTDOA positioning. The form can be as follows:

[0067] UTDOA{TRP[i]={TrpId, RTOA}, i=0,1,2..N} + BT[i]={BtId,Rssi}, i=0,1,2..M

[0068] Another extended UTDOA+Bluetooth / WiFi fusion fingerprint feature:

[0069] UTDOA{TRP[i]={TrpId, RTOA,RSCP}, i=0,1,2..N} + BT[i]={BtId,Rssi}, i=0,1,2..M

[0070] The above BT information can also be WiFi or BT+WiFi combined data.

[0071] In this embodiment, the uplink signal measurement data may be the uplink signal arrival time data measured at the target signal transceiver point, and the terminal measurement data may be the wireless communication signal strength data of each wireless communication device. By generating a fusion fingerprint through the above data, the accuracy of the fusion fingerprint feature can be improved.

[0072] Furthermore, step S401 may further include: obtaining the target uplink signal arrival time data with the smallest data value from each uplink signal arrival time data; obtaining the uplink signal arrival time characteristics of each target signal transceiver point based on the transceiver point identifier of each target signal transceiver point and the difference between the uplink signal arrival time data measured at each target signal transceiver point and the target uplink signal arrival time data.

[0073] The target uplink signal arrival time data refers to the uplink signal arrival time data with the smallest data value. In this embodiment, after obtaining the uplink signal arrival time data, the uplink signal arrival time data needs to be standardized and converted to obtain the uplink signal arrival time characteristics of each target signal transceiver point, wherein the standardized conversion process is to perform a difference processing on the uplink signal arrival time data measured at each target signal transceiver point and the target uplink signal arrival time data.

[0074] Specifically, after the fusion positioning platform 105 obtains the arrival time data of each uplink signal, it can filter out the target uplink signal arrival time data with the smallest data value, and perform difference processing on each uplink signal arrival time data and the target uplink signal arrival time data. After that, the transceiver point identifier of each target signal transceiver point and each difference can be used to form the uplink signal arrival time characteristics of each target signal transceiver point.

[0075] For example, the target uplink signal arrival time data with the smallest data value can be expressed as TRP[0].RTOA. After obtaining the arrival time data of each uplink signal, that is, TRP[i].RTOA, a difference processing can be performed, TRP'[i].RTOA= TRP[i].RTOA- TRP[0].RTOA, where TRP'[i].RTOA represents the uplink signal arrival time data after standardized conversion. After that, the transceiver point identifier of each target signal transceiver point and the uplink signal arrival time data after standardized conversion can be used to make the uplink signal arrival time characteristics of each target signal transceiver point, which can be expressed as TRP[i]={TrpId, TRP'[i].RTOA}.

[0076] In this embodiment, the uplink signal arrival time feature can be composed of the transceiver point identifier of the target signal transceiver point, and the uplink signal arrival time data after standardized conversion, wherein the uplink signal arrival time data after standardized conversion is the difference between the uplink signal arrival time data and the target uplink signal arrival time data. In this way, the uplink signal arrival time feature can be improved and the computational efficiency of feature matching can be improved.

[0077] Furthermore, step S203 may further include: obtaining a feature weight corresponding to each uplink signal arrival time feature according to a data value of each uplink signal arrival time data; wherein the data value is negatively correlated with the size of the feature weight; using each feature weight, weighting the uplink signal arrival time features contained in the fused fingerprint feature to obtain weighted uplink signal arrival time features; matching the weighted uplink signal arrival time features and each wireless communication signal strength feature contained in the fused fingerprint feature with the fingerprint contained in the fused fingerprint library, and obtaining a positioning result of the target terminal according to the matching result.

[0078] The feature weight refers to the weight value corresponding to each uplink signal arrival time feature. In this embodiment, the smaller the data value of the uplink signal arrival time data, the closer the target terminal 101 is to the target signal transceiver point. At this time, the larger the feature weight set can be, indicating that the feature is more important. Therefore, the data value is negatively correlated with the size of the feature weight.

[0079] Specifically, after obtaining the fused fingerprint feature, the fused positioning platform 105 can also weight the arrival time features of each uplink signal contained in the fused fingerprint feature, wherein the weight of each uplink signal arrival time feature can be determined according to the data value of the uplink signal arrival time data, and the smaller the data value, the greater the feature weight. After that, each feature weight can be used to perform weighted processing on each uplink signal arrival time feature to obtain the weighted uplink signal arrival time features; the weighted uplink signal arrival time features and each wireless communication signal strength feature contained in the fused fingerprint feature are matched with the fingerprint contained in the fused fingerprint library, and the positioning result of the target terminal 101 is obtained according to the matching result.

[0080] In this embodiment, the fused fingerprint feature can be composed of each uplink signal arrival time feature and each wireless communication signal strength feature, and when performing fingerprint matching, the uplink signal arrival time feature can be weighted and matched using the weighted uplink signal arrival time feature and each wireless communication signal strength feature to obtain the final positioning result, and the feature weight value is negatively correlated with the data value of the uplink signal arrival time data. In this way, the uplink signal arrival time feature with shorter uplink signal arrival time data can have a greater feature importance, thereby further improving the accuracy of the positioning result of the target terminal.

[0081] In one embodiment, step S203 may further include: obtaining the magnetic field strength characteristics of the target terminal 101 from SLP104, and obtaining a first positioning result of the target terminal 101 based on the magnetic field strength characteristics; matching the fused fingerprint characteristics with a pre-built fused fingerprint library, and obtaining a second positioning result of the target terminal based on the matching result; and obtaining the positioning result of the target terminal 101 based on the first positioning result and the second positioning result.

[0082] In this embodiment, in addition to obtaining terminal measurement data from the target terminal 101, SLP104 can also obtain magnetic field strength characteristics from the target terminal 101. The magnetic field strength characteristics can be the three-axis magnetic field strength [Mx, My, Mz] of the terminal location measured by the magnetometer of the target terminal 101, and the first positioning result refers to the positioning result obtained based on the magnetic field strength characteristics.

[0083] Specifically, when the target terminal 101 returns the terminal measurement data to SLP104, it can also return the magnetic field strength characteristics of the target terminal 101. Then, the fusion positioning platform 105 can obtain the above magnetic field strength characteristics from SLP104, thereby using the magnetic field strength characteristics to separately obtain the position distribution probability of the target terminal 101 as the first positioning result.

[0084] The second positioning result is the positioning result obtained by fusing the fingerprint feature. After obtaining the fused fingerprint feature, the fused positioning platform 105 can match the fused fingerprint feature with the fused fingerprint library to calculate the terminal position distribution probability as the second positioning result, thereby combining the first positioning result with the second positioning result to obtain the final positioning result of the final target terminal 101. For example, the terminal position can be obtained by combining the above two distributions and calculating the highest probability.

[0085] In this embodiment, the magnetic field strength characteristics of the target terminal 101 can also be combined to obtain the positioning result of the target terminal 101, wherein the combination method is to use the magnetic field strength characteristics and the fusion fingerprint characteristics to obtain two terminal position distributions, which are respectively used as the first positioning result and the second positioning result, and then the first positioning result and the second positioning result are used to obtain the final terminal position. In this way, the accuracy of terminal positioning can be further improved.

[0086] In one embodiment, step S202 may further include: acquiring magnetic field strength data of the target terminal 101 from SLP 104 ; and generating a fusion fingerprint feature of the target terminal 101 according to the magnetic field strength data, uplink signal measurement data, and terminal measurement data.

[0087] The magnetic field strength data is three-axis magnetic field strength data provided by the target terminal 101, that is, [Mx, My, Mz]. In this embodiment, the method of combining the magnetic field strength to locate the terminal is not to separately obtain two positioning results by combining the magnetic field strength feature corresponding to the magnetic field strength data with the fused fingerprint feature, but to integrate the magnetic field strength data into a part of the fused fingerprint feature to achieve the acquisition of the positioning result. Specifically, the fused fingerprint feature in this embodiment may include magnetic field strength data in addition to uplink signal measurement data and terminal measurement data, that is, the generated fused fingerprint feature is constructed based on the magnetic field strength data, uplink signal measurement data and terminal measurement data.

[0088] In this embodiment, the fused fingerprint feature is obtained based on the magnetic field strength data, uplink signal measurement data and terminal measurement data of the target terminal 101. Therefore, in addition to considering the uplink signal measurement data and the terminal measurement data, the obtained positioning result also incorporates the magnetic field strength data. This method can also improve the accuracy of terminal positioning.

[0089] In one embodiment, as shown in FIG. 5 , a positioning system is also provided, which may include a fusion positioning platform 501, and a target LMF 502 and an SLP 503 corresponding to a target terminal and connected to the fusion positioning platform 501 for communication; wherein,

[0090] The fusion positioning platform 501 is used to obtain the uplink signal measurement data of the target terminal from the target LMF 502 by means of control plane positioning in response to the positioning request for the target terminal, and to obtain the terminal measurement data of the target terminal from the SLP 503 by means of user plane positioning;

[0091] The fusion positioning platform 501 is also used to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; match the fusion fingerprint feature with a pre-built fusion fingerprint library, and obtain a positioning result of the target terminal according to the matching result.

[0092] In this embodiment, the positioning system may include a fused positioning platform 501, corresponding to a target LMF502 and SLP503 of a target terminal, wherein the target LMF502 is mainly used to obtain control plane positioning measurement information of the target terminal, that is, used to obtain uplink signal measurement data of the target terminal, and the SLP503 is mainly used to obtain user plane positioning measurement information of the target terminal, that is, used to obtain terminal measurement data of the target terminal.

[0093] Specifically, after the fusion positioning platform 501 receives the positioning request for the target terminal, it can obtain the uplink signal measurement data of the target terminal from the target LMF502 through control plane positioning, and obtain the terminal measurement data of the target terminal from SLP503 through user plane positioning. After that, the uplink signal measurement data and the terminal measurement data can be combined to obtain the fusion fingerprint feature of the target terminal, and then the fusion fingerprint feature is used to match the pre-built fusion fingerprint library to obtain the positioning result of the target terminal.

[0094] The above-mentioned positioning system may include a fused positioning platform 501, and a target LMF502 and SLP503 corresponding to the target terminal which are communicatively connected to the fused positioning platform, wherein the fused positioning platform 501 may, upon receiving a positioning request from the target terminal, obtain uplink signal measurement data of the target terminal from the target LMF502 by means of control plane positioning, and obtain terminal measurement data of the target terminal from SLP503 by means of user plane positioning, thereby generating fused fingerprint features using the above-mentioned measurement data and performing matching processing through a fused fingerprint library to achieve positioning, and in this way, the fusion of control plane positioning technology and user plane positioning technology is achieved, so that even in areas with low base station density, the positioning accuracy can be improved.

[0095] In one embodiment, the positioning system further includes: an AMF, where the AMF is used for the target terminal to communicate with the target LMF502;

[0096] The fusion positioning platform 501 is also used to send PSL information carrying the terminal identifier of the target terminal to the AMF;

[0097] AMF, used to determine the target LMF502 from multiple LMFs according to the terminal identifier in the PSL information, and set the target terminal to a link state connected to the network;

[0098] The target LMF502 is also used to obtain uplink signal measurement data of the target terminal through the AMF when the target terminal is in a linked state;

[0099] The fusion positioning platform 501 is also used to send a terminal positioning request carrying a terminal identifier to the SLP 503 when the target terminal is in a linked state;

[0100] SLP503 is used to obtain the terminal measurement data of the target terminal according to the terminal identifier and return it.

[0101] In this embodiment, the positioning system may further include an AMF, which may be used for the target terminal to communicate with the target LMF502.

[0102] Specifically, the fusion positioning platform 501 can obtain the uplink signal measurement data in the following manner, namely, first sending PSL information carrying the terminal identifier of the target terminal to the AMF, and then the AMF can determine the target LMF502 from multiple LMFs according to the terminal identifier in the PSL information, and set the target terminal to a linked state connected to the network, so that the target LMF502 can obtain the uplink signal measurement data of the target terminal through the AMF when the target terminal is in a linked state, and then return it to the fusion positioning platform 501.

[0103] The fusion positioning platform 501 can obtain the terminal measurement data in the following way. Since the fusion positioning platform 501 has set the target terminal to the linked state through AMF, the fusion positioning platform 501 can also send a terminal positioning request carrying the terminal identifier to SLP503, so that SLP503 can obtain the terminal measurement data of the target terminal according to the terminal identifier and return it to the fusion positioning platform 501.

[0104] In this embodiment, the positioning system may also include: AMF. The fusion positioning platform 501 can set the target terminal to a linked state connected to the network through AMF. Then the target LMF502 can obtain the uplink signal measurement data of the target terminal through AMF, and SLP503 can obtain the terminal measurement data and return it. In this way, the target terminal can be put into a linked state through the control plane positioning signaling, thereby avoiding the problem that the target terminal is offline and cannot perform user plane positioning, and further improving the stability of positioning.

[0105] Furthermore, AMF is also used to send an Nlmf location determination request to the target LMF502; the target LMF502 is also used to obtain the uplink signal measurement data of the target terminal from the base station interacting with the target terminal through AMF according to the Nlmf location determination request, and return the uplink signal measurement data to the fusion positioning platform 501.

[0106] In this embodiment, the target LMF502 can achieve the acquisition and return of uplink signal measurement data through the following process. Specifically, after determining the target LMF502, the AMF can also send an Nlmf location determination request to the target LMF502, that is, send an Nlmf Location DetermineLocation Request. After that, after receiving the request, the target LMF502 can obtain the uplink signal measurement data of the target terminal from the base station interacting with the target terminal through the AMF, and return the uplink signal measurement data to the fusion positioning platform 501. The return process can be that the target LMF502 returns the uplink signal measurement data to the AMF, and the AMF returns it to the fusion positioning platform 501.

[0107] In this embodiment, the process of the target LMF502 obtaining the uplink signal measurement data can be that the AMF sends an Nlmf location determination request to the target LMF502, and then the target LMF502 obtains the uplink signal measurement data from the base station interacting with the target terminal through the AMF and returns it. In this way, the target LMF502 realizes the acquisition and return of the uplink signal measurement data.

[0108] In addition, SLP503 is further used to send a SUPL INIT message to the target terminal according to the terminal identifier; the SUPL INIT message is used to initiate a positioning session request to the target terminal; the target terminal is used for SLP503 to return a SUPL POS INIT message to initiate a response to the positioning session request, and return a SUPL POS message carrying terminal measurement data to SLP503.

[0109] The process of SLP503 acquiring the terminal measurement data can be implemented through the following steps. Specifically, after receiving the terminal positioning request initiated by the fusion positioning platform 501, SLP503 can send a SUPL INIT message to the target terminal according to the terminal identifier to initiate a positioning session request to the target terminal. After receiving the request, the target terminal can return a SUPL POS INIT message to initiate a response to the positioning session request. After that, the target terminal can send a SUPL POS message and carry the terminal measurement data in the SUPL POS message to return the terminal measurement data to SLP503.

[0110] In this embodiment, the process of SLP503 acquiring the terminal measurement data may be that SLP503 sends a SUPL INIT message to the target terminal, and then the target terminal returns a SUPL POS message carrying the terminal measurement data. In this way, SLP503 acquires the terminal measurement data.

[0111] In one embodiment, a positioning system and method for integrating the control plane and user plane of a mobile communication network is also provided. When performing control plane positioning, the terminal is triggered to enter a linked state, and a user plane positioning process based on SUPL is initiated through SLP. Downlink measurement results such as Bluetooth / WiFi / geomagnetic measured by the terminal are obtained, and the uplink SRS signal measurement data based on UTDOA / AOA are combined and processed into a fused fingerprint, and the fused fingerprint is matched through a specific algorithm to obtain the positioning result. By utilizing this deregulation service, a higher positioning accuracy can be obtained even when 5G sites are sparse, and there is no need to install a client on the terminal to expand the scope of application. Through the method of the present invention, the implementation cost of 5G positioning deployment is effectively reduced, the positioning experience is improved, and it can be used in a wide area, suitable for positioning application scenarios such as real-time navigation and vehicle and personnel scheduling.

[0112] As shown in Figure 6, the system mainly includes:

[0113] 1. Positioning terminal: used to send SRS measurement signals, measure Bluetooth / WiFi and other beacon data, and send the measurement data to the fusion positioning platform through the user plane SUPL protocol;

[0114] 2. Base station (gNB): interacts with the terminal to perform uplink positioning measurements such as UTDOA and AOA;

[0115] 3. gNB, ng-eNB: base station, including the radio measurement unit TRP of the base station, measures the terminal SRS signal to obtain the arrival time RTOA or arrival angle AOA information;

[0116] 4. LMF: Perform control plane positioning interaction and report the measurement results to the fusion positioning platform;

[0117] 5. AMF: Select LMF when locating the control plane, and route and control the interaction between LMF and gNB;

[0118] 6. Fusion positioning platform, connects to AMF / LMF to obtain the uplink signal measurement results of UTDOA, and connects to SLP at the same time, connects to the terminal through the user plane SUPL protocol, obtains Bluetooth / WiF and other measurement results, and combines them into fusion fingerprints, performs fusion positioning calculations through specific algorithms, and sends the results to the positioning SDK;

[0119] 7. SLP: SUPL-based positioning platform.

[0120] Specifically, as shown in FIG7 , the positioning method can be implemented by the following steps:

[0121] 1. The fusion positioning platform receives the positioning request from the positioning application.

[0122] 2. The fusion positioning platform and AMF / LMF interact to complete the UTDOA / AOA positioning process based on the control plane, so that the terminal enters the link state:

[0123] 2.1. Send a PSL message to AMF, carrying the terminal identifier. If the UE is in the Idle state, the AMF needs to initiate a Network Triggered Service request to the UE, requiring the UE to connect to the network to obtain the UE's Cell information. If the UE is in the Linked state, the AMF needs to instruct the gNodeB to initiate the Location Reporting process.

[0124] 2.2. AMF selects the LMF that can provide services based on the request.

[0125] 2.3. AMF initiates a positioning request to LMF, Nlmf Location DetermineLocation Request.

[0126] 2.4. LMF interacts with gNB through the NRPPa protocol to obtain uplink positioning measurement results, including but not limited to UL-TDOA, UL-AOA, and RTT.

[0127] 2.5. The gNB returns the measurement results to the LMF.

[0128] 2.6. LMF returns the uplink measurement result data to AMF.

[0129] 2.7. AMF returns the uplink measurement result to SLP.

[0130] 3. After the fusion positioning platform activates the terminal to enter the linked state, it sends a positioning request to the SLP, including the target terminal identifier (user number or IMSI or IP).

[0131] 3.1.SLP initiates a positioning session using a SUPL INIT message. The SUPL INIT message includes at least a session-id, proxy and non-proxy mode indication, and a positioning method.

[0132] 3.2. SET sends a SUPL POS INIT message to start the positioning session with SLP. The SUPL POS INIT message contains at least SET capabilities, which include supported positioning methods.

[0133] 3.3. SET sends a SUPL POS message containing the terminal positioning measurement result data, including at least one of Bluetooth or WiFi data.

[0134] 3.4 SLP returns Bluetooth / WiFi / geomagnetic and other measurement data to the fusion positioning platform.

[0135] 4. The fusion positioning platform combines the terminal measurement data obtained through the SUPL protocol and the network measurement data obtained through gNB measurement into a fusion fingerprint feature.

[0136] 5. The fusion positioning platform uses the terminal measurement data and the gNB measurement data, and uses the multi-dimensional fingerprint feature matching algorithm to match the terminal coordinates in the combined fingerprint library. The fusion positioning platform returns a positioning response message to the LCS Client, including the terminal coordinates.

[0137] Each step includes the following details:

[0138] Step 3.4: The Bluetooth signal returned by the SUPL POS message includes:

[0139] BT[i]={BtId,Rssi}, i=0,1,2..M

[0140] WiFi signal data includes:

[0141] WiFi[i]={WiFiId,Rssi}, i=0,1,2..N

[0142] Step 2.4 may specifically include: LMF interacts with the service base station of the terminal according to the UTDOA positioning process, and obtains the measurement results of the measured arrival time RTOA and signal strength RSRP of the terminal uplink SRS signal of several signal transceiver points (1 to 10) TRP around the terminal.

[0143] The measurement result is the measurement of the uplink SRS signal, including but not limited to the measurement of UTDOA and AOA technology. The measurement result at least includes:

[0144] UL-TDOA measurement result data: TRP[i]={TrpId, RTOA, RSCP}, i=0,1,2

[0145] Optionally include AOA measurement result data: TRP[i]={TrpId,theta,I,Q}, i=0,1,2..N, where theta is the measured arrival angle, and I and Q are the phase information of the arriving signal.

[0146] In step 4, the Bluetooth / WiFi signal obtained by the SLP user plane and the time / strength signal TRP[i] measured by several mobile network antennas obtained through UTDOA positioning form a fused wireless fingerprint. Each combined fingerprint feature includes at least:

[0147] UTDOA{TRP[i]={TrpId, RTOA}, i=0,1,2..N} + BT[i]={BtId,Rssi}, i=0,1,2..M

[0148] Another extended UTDOA+Bluetooth / WiFi fusion fingerprint feature:

[0149] UTDOA{TRP[i]={TrpId, RTOA,RSCP}, i=0,1,2..N} + BT[i]={BtId,Rssi}, i=0,1,2..M

[0150] The above BT information can also be WiFi or BT+WiFi combined data.

[0151] In addition, step 4 also includes the conversion of UTDOA data, and the TRP[i] data is standardized and converted so as to be matched. The specific method is to take TRP0, the minimum RTOA value, as the center, and set TRP[i].RTOA= TRP[i].RTOA- TRP[0].RTOA;

[0152] In step 4, SLP uses the existing fingerprint positioning algorithm and first uses the offline collection solution of the existing fingerprint positioning calculation to generate a fused wireless fingerprint library of UTDOA+downlink measurement signals (Bluetooth / WiFi / 4G / 5G).

[0153] In step 5, the matching method is that the TRP[i] with the smallest RTOA has the largest weight, because the smaller the RTOA, the closer the terminal is to the TRP.

[0154] In step 5, the mobile network (4G / 5G) signal strength may also be included.

[0155] Step 5, using the fused wireless fingerprint, performs matching processing in the fused fingerprint library generated in the offline stage to calculate the terminal location coordinates. The processing method implementation method includes: KNN, WKNN, SVM and other machine learning algorithms for feature data classification.

[0156] In step 4, the terminal also sends the magnetic field signal collected by the terminal to the SLP, and the terminal magnetometer can measure the three-axis magnetic field strength [Mx, My, Mz] at the location of the terminal;

[0157] Furthermore, it also includes sensor information such as the terminal's acceleration and gyroscope.

[0158] In step 5, the fusion fingerprint positioning is used, and the magnetic field strength features Mx, My, Mz are also used for fusion positioning. Mx, My, Mz are the three-axis magnetic field components measured by the terminal at the location. When matching, the existing KNN, WKNN, and SVM matching algorithms are used to perform multi-dimensional feature matching to obtain the fingerprint position with the highest probability, such as the following two specific examples:

[0159] Example 1:

[0160] The terminal location distribution probability is calculated using the magnetic field strength feature alone, and then the extended UTDOA+Bluetooth / WiFi fusion fingerprint matching is used to calculate the terminal location distribution probability. The two distributions are combined to calculate the one with the highest probability as the terminal location.

[0161] The i-th fingerprint in the fingerprint library may include Tij, Sij, Wij and Bij, where Tij is the RTOA arrival time value of the terminal measured by the j-th 5G indoor TRP when the terminal is at the i-th collection position; Sij is the ULSS value of the terminal measured by the j-th 5G indoor TRP at this position; Wij is the signal strength of the j-th WiFi hotspot measured by the terminal at this position; Bij is the signal strength of the j-th Bluetooth Beacon measured by the terminal at this position.

[0162] Example 2:

[0163] Use UTDOA / Bluetooth and magnetic field data to build a combined fingerprint feature, generate a combined fingerprint library through offline collection, and then use fingerprint matching or AI matching technology such as KNN and WKNN to match and calculate the terminal location.

[0164] Through this embodiment, the fusion positioning platform exchanges with SLP and LMF respectively, obtains the downlink measurement data of the terminal and the uplink data measured by the base station based on the existing process, combines them into a fusion fingerprint, and performs uplink and downlink fusion fingerprint matching positioning, which effectively increases the data volume. When the existing 5G indoor substation density is insufficient, the terminal measurement data can be used to meet the positioning accuracy requirements, and the control plane positioning signaling can be used to put the terminal into a linked state, avoiding the problem of the terminal being offline and unable to perform user plane positioning.

[0165] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0166] Based on the same inventive concept, the embodiment of the present application also provides a positioning device for implementing the positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more positioning device embodiments provided below can refer to the limitations of the positioning method above, and will not be repeated here.

[0167] In one embodiment, as shown in FIG8 , a positioning device is provided, including: a measurement data acquisition module 801, a fusion fingerprint acquisition module 802 and a positioning result acquisition module 803, wherein:

[0168] The measurement data acquisition module 801 is used to obtain uplink signal measurement data of the target terminal from the target LMF corresponding to the target terminal by means of control plane positioning in response to a positioning request for the target terminal, and to obtain terminal measurement data of the target terminal from the SLP by means of user plane positioning;

[0169] The fusion fingerprint acquisition module 802 is used to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data;

[0170] The positioning result acquisition module 803 is used to match the fused fingerprint feature with the pre-built fused fingerprint library, and obtain the positioning result of the target terminal according to the matching result.

[0171] In one embodiment, the target terminal communicates with the target LMF through the AMF; the measurement data acquisition module 801 is further used to send PSL information carrying the terminal identifier of the target terminal to the AMF; the PSL information is used to instruct the AMF to determine the target LMF from multiple LMFs according to the terminal identifier, and set the target terminal to a linked state connected to the network; when the target terminal is in the linked state, the target LMF is used to obtain the uplink signal measurement data of the target terminal through the AMF and return it; when the target terminal is in the linked state, a terminal positioning request carrying the terminal identifier is sent to the SLP; the terminal positioning request is used to request the SLP to obtain the terminal measurement data of the target terminal according to the terminal identifier and return it.

[0172] In one embodiment, the uplink signal measurement data includes: uplink signal arrival time data sent by the target terminal measured by multiple target signal transceiver points, and the target signal transceiver points are set in the base station that interacts with the target terminal; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal; the fusion fingerprint acquisition module 802 is further used to obtain the uplink signal arrival time characteristics of the target terminal corresponding to each target signal transceiver point based on the uplink signal arrival time data measured by each target signal transceiver point; obtain the wireless communication signal strength characteristics of the target terminal corresponding to each wireless communication device based on each wireless communication signal strength data; and generate a fusion fingerprint feature using each uplink signal arrival time feature and each wireless communication signal strength feature.

[0173] In one embodiment, the fusion fingerprint acquisition module 802 is further used to obtain the target uplink signal arrival time data with the smallest data value from each uplink signal arrival time data; according to the transceiver point identifier of each target signal transceiver point, and the difference between the uplink signal arrival time data measured at each target signal transceiver point and the target uplink signal arrival time data, the uplink signal arrival time characteristics of each target signal transceiver point are obtained.

[0174] In one embodiment, the positioning result acquisition module 803 is further used to obtain the feature weight corresponding to each uplink signal arrival time feature according to the data value of each uplink signal arrival time data; wherein the data value is negatively correlated with the size of the feature weight; using each feature weight, weighted processing is performed on each uplink signal arrival time feature contained in the fused fingerprint feature to obtain weighted uplink signal arrival time features; the weighted uplink signal arrival time features and each wireless communication signal strength feature contained in the fused fingerprint feature are matched with the fingerprint contained in the fused fingerprint library, and the positioning result of the target terminal is obtained according to the matching result.

[0175] In one embodiment, the positioning result acquisition module 803 is further used to obtain the magnetic field strength characteristics of the target terminal from the SLP, and obtain a first positioning result of the target terminal based on the magnetic field strength characteristics; match the fused fingerprint characteristics with a pre-built fused fingerprint library, and obtain a second positioning result of the target terminal based on the matching result; and obtain the positioning result of the target terminal based on the first positioning result and the second positioning result.

[0176] In one embodiment, the fusion fingerprint acquisition module 802 is further used to obtain magnetic field strength data of the target terminal from the SLP; and generate a fusion fingerprint feature of the target terminal according to the magnetic field strength data, uplink signal measurement data and terminal measurement data.

[0177] Each module in the above positioning device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0178] In an exemplary embodiment, a computer device is provided, which may be a fusion positioning platform, and its internal structure diagram may be shown in FIG9. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store fusion fingerprint feature data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a positioning method is implemented.

[0179] Those skilled in the art will understand that the structure shown in FIG. 9 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0180] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0181] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0182] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0183] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0184] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0185] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0186] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A positioning method, characterized in that: The method comprises: In response to a positioning request for a target terminal, obtaining uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal by means of control plane positioning, and obtaining terminal measurement data of the target terminal from an SLP by means of user plane positioning; Generating a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; The fused fingerprint feature is matched with a pre-built fused fingerprint library, and the positioning result of the target terminal is obtained according to the matching result.

2. The method according to claim 1, characterized in that The target terminal communicates with the target LMF through the AMF; the obtaining of uplink signal measurement data of the target terminal from the target LMF corresponding to the target terminal by means of control plane positioning, and the obtaining of terminal measurement data of the target terminal from the SLP by means of user plane positioning, including: Sending a PSL message carrying the terminal identifier of the target terminal to the AMF; the PSL message is used to instruct the AMF to determine the target LMF from multiple LMFs according to the terminal identifier, and set the target terminal to a linked state connected to the network; when the target terminal is in the linked state, the target LMF is used to obtain the uplink signal measurement data of the target terminal through the AMF and return it; When the target terminal is in the linked state, a terminal positioning request carrying the terminal identifier is sent to the SLP; the terminal positioning request is used to request the SLP to obtain the terminal measurement data of the target terminal according to the terminal identifier and return it.

3. The method according to claim 1, characterized in that The uplink signal measurement data includes: uplink signal arrival time data sent by the target terminal measured by multiple target signal transceiver points, the target signal transceiver points are set in a base station interacting with the target terminal; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal; The generating, according to the uplink signal measurement data and the terminal measurement data, a fusion fingerprint feature of the target terminal includes: Obtaining, according to the uplink signal arrival time data measured at each of the target signal transceiver points, uplink signal arrival time characteristics of the target terminal corresponding to each of the target signal transceiver points; According to each of the wireless communication signal strength data, obtaining a wireless communication signal strength characteristic of the target terminal corresponding to each of the wireless communication devices; The fusion fingerprint feature is generated by using the arrival time features of each uplink signal and the strength features of each wireless communication signal.

4. The method according to claim 3, characterized in that The obtaining, according to the uplink signal arrival time data measured at each of the target signal transceiver points, the uplink signal arrival time characteristics of the target terminal corresponding to each of the target signal transceiver points includes: From each of the uplink signal arrival time data, obtain the target uplink signal arrival time data with the smallest data value; The uplink signal arrival time characteristics of each target signal transceiver point are obtained according to the transceiver point identifier of each target signal transceiver point and the difference between the uplink signal arrival time data measured at each target signal transceiver point and the target uplink signal arrival time data.

5. The method according to claim 4, characterized in that The matching process of the fused fingerprint feature with a pre-built fused fingerprint library and obtaining the positioning result of the target terminal according to the matching result includes: According to the data value of each uplink signal arrival time data, obtaining the feature weight corresponding to each uplink signal arrival time feature; wherein the data value is negatively correlated with the feature weight; Using each of the feature weights, weighted processing is performed on each of the uplink signal arrival time features contained in the fused fingerprint feature to obtain weighted uplink signal arrival time features; The weighted arrival time features of each uplink signal and the wireless communication signal strength features contained in the fused fingerprint feature are matched with the fingerprint contained in the fused fingerprint library, and the positioning result of the target terminal is obtained according to the matching result.

6. The method according to claim 1, characterized in that The matching process of the fused fingerprint feature with a pre-built fused fingerprint library and obtaining the positioning result of the target terminal according to the matching result includes: Acquire a magnetic field strength characteristic of the target terminal from the SLP, and acquire a first positioning result of the target terminal according to the magnetic field strength characteristic; Matching the fused fingerprint feature with a pre-built fused fingerprint library, and obtaining a second positioning result of the target terminal according to the matching result; A positioning result of the target terminal is obtained according to the first positioning result and the second positioning result.

7. The method according to claim 1, characterized in that The generating, according to the uplink signal measurement data and the terminal measurement data, a fusion fingerprint feature of the target terminal includes: Acquire magnetic field strength data of the target terminal from the SLP; A fused fingerprint feature of the target terminal is generated according to the magnetic field strength data, the uplink signal measurement data and the terminal measurement data.

8. A positioning system, characterized in that: The system includes: a fusion positioning platform, and a target LMF and SLP corresponding to a target terminal that are communicatively connected to the fusion positioning platform; wherein, The fusion positioning platform is used to obtain uplink signal measurement data of the target terminal from the target LMF by means of control plane positioning in response to a positioning request for the target terminal, and to obtain terminal measurement data of the target terminal from the SLP by means of user plane positioning; The fusion positioning platform is also used to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; match the fusion fingerprint feature with a pre-built fusion fingerprint library, and obtain the positioning result of the target terminal according to the matching result.

9. The system according to claim 8, characterized in that The system further comprises: an AMF, wherein the AMF is used for the target terminal to communicate with the target LMF; The fusion positioning platform is further used to send PSL information carrying the terminal identifier of the target terminal to the AMF; The AMF is used to determine the target LMF from multiple LMFs according to the terminal identifier in the PSL information, and set the target terminal to a link state connected to the network; The target LMF is further used to obtain and return the uplink signal measurement data of the target terminal through the AMF when the target terminal is in the link state; The fusion positioning platform is further configured to send a terminal positioning request carrying the terminal identifier to the SLP when the target terminal is in the linked state; The SLP is used to obtain the terminal measurement data of the target terminal according to the terminal identifier and return the data.

10. The system according to claim 9, characterized in that The AMF is further used to send an Nlmf location determination request to the target LMF; The target LMF is also used to obtain the uplink signal measurement data of the target terminal from the base station interacting with the target terminal through the AMF according to the Nlmf location determination request, and return the uplink signal measurement data to the fusion positioning platform.

11. The system according to claim 9, characterized in that The SLP is further used to send a SUPL INIT message to the target terminal according to the terminal identifier; the SUPL INIT message is used to initiate a positioning session request to the target terminal; The target terminal is configured to return a SUPL POS INIT message to the SLP to initiate a response to the positioning session request, and return a SUPL POS message carrying the terminal measurement data to the SLP.

12. A positioning device, characterized in that: The device comprises: a measurement data acquisition module, configured to, in response to a positioning request for a target terminal, acquire uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal by means of control plane positioning, and acquire terminal measurement data of the target terminal from an SLP by means of user plane positioning; A fusion fingerprint acquisition module, used to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; The positioning result acquisition module is used to match the fused fingerprint feature with a pre-built fused fingerprint library, and obtain the positioning result of the target terminal according to the matching result.

13. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images