Positioning method and device and electronic equipment

Abstract

The invention discloses a positioning method and device and electronic equipment. The method comprises the following steps that: a position management functional entity initiates an uplink reference signal receiving power measurement request to all transmitting and receiving points in a positioning site; measuring results returned by the transmitting and receiving points according to the uplink reference signal receiving power measuring requests are received, and the measuring results comprise reference signal receiving power of the transmitting and receiving points; determining the transmitting and receiving point corresponding to the reference signal receiving power of which the reference signal receiving power is greater than a first threshold value in the measurement result as an effective transmitting and receiving point; and determining an estimated position of the target user equipment according to the number of the effective transmitting and receiving points. According to the invention, the technical problem of poor positioning precision of a positioning technology in related technologies is solved.

Description

Technical Field

[0001] The present application relates to the field of wireless communications, and in particular to a positioning method, device and electronic equipment. Background Art

[0002] With the continuous emergence of new mobile Internet services, the demand for location-based services has begun to grow. Satellite positioning can provide all-weather, real-time positioning services in outdoor scenarios, achieving meter-level positioning accuracy, but it cannot meet the positioning needs in indoor and urban canyon scenarios. Traditional indoor positioning technologies such as WiFi, Bluetooth, and UWB can achieve sub-meter-level high-precision positioning, but are often limited by coverage, cost, system interference, and other issues during actual deployment. Therefore, the positioning technology in related technologies has the problem of poor positioning accuracy.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a positioning method, device and electronic device to at least solve the technical problem that the positioning technology in the related art has poor positioning accuracy.

[0005] According to one aspect of an embodiment of the present application, a positioning method is provided, including: a location management function entity initiates an uplink reference signal receiving power measurement request to all transmitting and receiving points within a positioning site; receives a measurement result returned by the transmitting and receiving point based on the uplink reference signal receiving power measurement request, wherein the measurement result includes the reference signal receiving power of each transmitting and receiving point; determines the transmitting and receiving point corresponding to the reference signal receiving power in the measurement result that is greater than a first threshold as a valid transmitting and receiving point; and determines the estimated position of a target user equipment based on the number of valid transmitting and receiving points.

[0006] Optionally, determining the estimated position of the target user equipment according to the number of valid transmitting and receiving points includes: when the number of valid transmitting and receiving points is 0, the location management function entity returns positioning failure.

[0007] Optionally, the estimated position of the target user equipment is determined based on the number of effective transmitting and receiving points, including: when the number of effective transmitting and receiving points is 1, obtaining the positioning coverage grid of the effective transmitting and receiving points to obtain a first positioning coverage grid; the position management function entity returns the center point of the first positioning coverage grid, and determines the center point of the first positioning coverage grid as the estimated position of the target user equipment; when the number of effective transmitting and receiving points is 2, respectively obtaining the positioning coverage grids of the effective transmitting and receiving points to obtain a second positioning coverage grid and a third positioning coverage grid; the position management function entity returns the center point of the second positioning coverage grid and the center point of the third positioning coverage grid, and determines the center point of the second positioning coverage grid and the center point of the third positioning coverage grid as the estimated position of the target user equipment.

[0008] Optionally, the estimated position of the target user equipment is determined based on the number of effective transmitting and receiving points, including: when the number of effective transmitting and receiving points is greater than or equal to 3, determining an adjacent positioning range based on the effective transmitting and receiving points, and determining the positioning transmitting and receiving points from the adjacent positioning range; the location management function entity initiates a positioning measurement request to the positioning transmitting and receiving points; receives a delay value reported by the positioning transmitting and receiving points based on the positioning measurement request, wherein the delay value is used to represent the signal propagation delay value of the positioning transmitting and receiving points, and the delay value is obtained by performing time domain filtering processing on the delay measurement value within the signal direct path time window by the positioning transmitting and receiving points, and the signal direct path time window is determined by the adjacent positioning range; the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report the delay values.

[0009] Optionally, the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report delay values, including: when the number of positioning transmitting and receiving points that report delay values ​​is 0, the location management function entity returns positioning failure.

[0010] Optionally, the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report delay values, including: when the number of positioning transmitting and receiving points that report delay values ​​is 1, the positioning coverage grid of the positioning transmitting and receiving points that report delay values ​​is obtained to obtain a fourth positioning coverage grid; the location management function entity returns the center point of the fourth positioning coverage grid, and determines the center point of the fourth positioning coverage grid as the estimated position of the target user equipment; when the number of positioning transmitting and receiving points that report delay values ​​is 2, the positioning coverage grid of the positioning transmitting and receiving points that report delay values ​​is obtained to obtain a fifth positioning coverage grid and a sixth positioning coverage grid; the location management function entity returns the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid, and determines the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid as the estimated position of the target user equipment.

[0011] Optionally, the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report delay values, including: when the number of positioning transmitting and receiving points that report delay values ​​is greater than or equal to 3, determining the first preset number of transmitting and receiving points with the largest reference signal receiving power from the positioning transmitting and receiving points that report delay values, and obtaining the preset transmitting and receiving points; the position management function entity performs positioning and solution on the delay values ​​reported by the preset transmitting and receiving points, and returns the estimated position of the target user equipment.

[0012] According to another aspect of an embodiment of the present application, a positioning device is also provided, including: an initiating module, used to initiate an uplink reference signal receiving power measurement request to all transmitting and receiving points in a positioning site; a receiving module, used to receive a measurement result returned by the transmitting and receiving point based on the uplink reference signal receiving power measurement request, wherein the measurement result includes the reference signal receiving power of each transmitting and receiving point; a first determination module, used to determine the transmitting and receiving point corresponding to the reference signal receiving power in the measurement result that is greater than a first threshold as a valid transmitting and receiving point; and a second determination module, used to determine the estimated position of the target user equipment based on the number of valid transmitting and receiving points.

[0013] According to another aspect of the embodiments of the present application, there is also provided an electronic device, including: a memory and a processor, the memory being used to store program instructions; the processor being connected to the memory and being used to execute and implement the above-mentioned positioning method.

[0014] According to another aspect of the embodiments of the present application, a non-volatile storage medium is provided, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned positioning method by running the computer program.

[0015] According to another aspect of the embodiments of the present application, a computer program product is provided, including computer instructions, which implement the above positioning method when executed by a processor.

[0016] In an embodiment of the present application, an uplink reference signal receiving power measurement request is initiated to all transmitting and receiving points in the positioning site through a location management function entity; a measurement result returned by the transmitting and receiving point based on the uplink reference signal receiving power measurement request is received, wherein the measurement result includes the reference signal receiving power of each transmitting and receiving point; the transmitting and receiving point corresponding to the reference signal receiving power in the measurement result being greater than the first threshold is determined as a valid transmitting and receiving point; the estimated position of the target user equipment is determined based on the number of valid transmitting and receiving points, thereby achieving the purpose of improving the positioning accuracy, thereby realizing the technical effect of positioning optimization based on signal strength, and further solving the technical problem of poor positioning accuracy in the positioning technology in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 is a hardware structure block diagram of a computer terminal for implementing a positioning method according to an embodiment of the present application;

[0019] Figure 2 is a flow chart of a positioning method according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a coverage grid of a TRP in a LMF maintenance and positioning site according to an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of determining a positioning TRP according to an embodiment of the present application;

[0022] Figure 5 is a flow chart of user equipment positioning according to an embodiment of the present application;

[0023] Figure 6 It is a structural diagram of a positioning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] First, some nouns or terms that appear in the process of explaining the embodiments of the present application are subject to the following explanations:

[0027] LMF (Location Management Function): responsible for managing the overall coordination and resource scheduling required to register or access the terminal location of the 5G core network, providing positioning process management, terminal positioning capability information, auxiliary positioning data, terminal location estimation and other functions.

[0028] TRP (Transmission / Reception Point): A unit of a base station that sends and receives radio signals to a UE based on the physical layer attributes and parameters inherent to the unit.

[0029] RSRP (Reference Signal Receiving Power): the linear average of the power of resource elements that carry reference signals.

[0030] 5G positioning technology is designed to meet indoor and outdoor positioning scenarios. It can achieve high-precision positioning by utilizing the technical advantages of large-scale antenna arrays, large bandwidth, high frequency bands, and dense deployment. At the same time, 5G positioning uses a single network for communication and positioning, without the need for additional network deployment, which can greatly reduce deployment costs. Therefore, 5G positioning technology has broad development prospects. 3GPP R16 defines a variety of 5G positioning technologies, including DL-TDOA (downlink time difference of arrival), DL-AOD (downlink angle of departure), UL-TDOA (uplink time difference of arrival), UL-AOA (uplink angle of arrival), Multi-RTT (multiple round-trip time), E-CID (enhanced cell ID), etc. These positioning technologies generally assume that the relevant parameters are measured in the LOS (line-of-sight) scenario, while the NLOS (non-line-of-sight) scenario and multipath effect in the actual site have a greater impact on positioning accuracy. Therefore, how to reduce the impact of NLOS scenarios and multipath effects is crucial to improving positioning accuracy and enhancing positioning universality. In addition, for densely deployed networks, how to select effective measurement sites from a large number of measurement sites is of great significance for improving positioning accuracy and improving network efficiency.

[0031] In order to solve the problem of poor positioning accuracy in the related art, the present invention provides a positioning method, which can be run on Figure 1 The computer terminal shown is described below.

[0032] The positioning method embodiment provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a positioning method. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions connected via a wired and / or wireless network. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those skilled in the art can understand that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0033] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0034] The memory 104 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the positioning method in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the above-mentioned positioning method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 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.

[0035] The transmission module 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission module 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission module 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0036] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0037] It should be noted that, in some optional embodiments, the above Figure 1 The computer terminal shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. It should be noted that Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computer terminal described above.

[0038] In the above operating environment, an embodiment of the present application provides an embodiment of a positioning method. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] Figure 2 is a flow chart of a positioning method according to an embodiment of the present application, such as Figure 2 As shown, the method comprises the following steps:

[0040] Step S202: The location management function entity initiates an uplink reference signal received power measurement request to all transmitting and receiving points within the positioning site.

[0041] In the above step S202, the location management function entity (LMF) is the core component responsible for processing and coordinating the terminal location information in the network. LMF initiates an uplink reference signal receiving power (RSRP, ReferenceSignal Receiving Power) measurement request to all transmission / reception points (TRP, Transmission / Reception Point) in the positioning site. This process is a key step in collecting positioning data in 5G positioning technology. In a 5G network, TRP is usually part of a base station and is responsible for sending and receiving wireless signals. During the positioning process, the UE (user equipment) sends specific reference signals, which are received by the TRP. LMF instructs the TRP to monitor these uplink reference signals and measure their received power by sending a measurement request. RSRP is the linear average of the power carried on these reference signals, which can reflect the quality of the wireless link between the UE and the TRP. LMF collects the RSRP measurement results of all TRPs, and then can use these data for subsequent positioning calculations, such as by comparing the RSRP values ​​of different TRPs to determine the most likely location of the UE. In addition, measuring RSRP can also help LMF screen valid TRPs, that is, those TRPs that are close to the UE and have sufficient signal strength, because the measurement data provided by these TRPs is more critical to improving positioning accuracy. In this way, LMF can optimize the positioning process and reduce the impact of invalid or low-quality data on positioning results.

[0042] Step S204: receiving a measurement result returned by the transmitting and receiving point according to the uplink reference signal received power measurement request, wherein the measurement result includes the reference signal received power of each transmitting and receiving point.

[0043] In the above step S204, after the location management function entity (LMF) initiates an uplink reference signal received power (RSRP) measurement request to all transmit receive points (TRPs) within the positioning site, the TRP will monitor and measure the received power of the uplink reference signal from the user equipment (UE). Once the measurement is completed, the TRP will report these measurement results to the LMF. In the measurement results, each TRP will report the RSRP value of the uplink reference signal it receives from the UE. These values ​​reflect the quality of the wireless link between the UE and a specific TRP, and can indirectly indicate the distance between them. Generally, the closer the UE is to the TRP, the higher the signal strength (ie, RSRP value); conversely, the farther the distance, the lower the signal strength.

[0044] Step S206: Determine the transmitting and receiving points corresponding to the reference signal receiving powers in the measurement results that are greater than the first threshold as valid transmitting and receiving points.

[0045] In the above step S206, when LMF analyzes the measurement results reported by TRP, it checks the RSRP value of each TRP. If the RSRP value of a certain TRP is greater than the set first threshold, then this TRP is considered to be a valid transmitting and receiving point. This means that the quality of the wireless link between the TRP and the UE (user equipment) is good enough to provide reliable positioning information. The valid TRP will be used for subsequent positioning calculations, such as determining the location of the UE. The first threshold is usually a predetermined power level used to distinguish between TRPs with sufficient signal strength and good link quality and TRPs with weak signal strength and poor link quality. The purpose of setting the first threshold is to filter out TRPs whose signal strength is too weak due to excessive distance, too many obstacles or other reasons, which may affect the positioning accuracy. By using only the measurement data of valid TRPs, LMF can improve the accuracy and reliability of the positioning results while reducing unnecessary complexity and noise in the calculation process. The first threshold can be set to -90dBm, for example.

[0046] It should be noted that the specific value of the first threshold needs to be adjusted according to factors such as the network environment, the expected communication quality between the UE and the TRP, and the positioning accuracy requirements. The first threshold may be different in different application scenarios. For example, in indoor positioning scenarios, since the signal may be blocked by more obstacles, the first threshold may need to be set lower so that valid signals can be received from all over the room. In open areas outdoors, the first threshold can be set higher to ensure that only high-quality signals are used for positioning.

[0047] Step S208: determining the estimated position of the target user equipment according to the number of effective transmitting and receiving points.

[0048] Through the above steps S202 to S208, the purpose of improving positioning accuracy is achieved, thereby realizing the technical effect of positioning optimization based on signal strength, and further solving the technical problem of poor positioning accuracy in the positioning technology in the related art.

[0049] In step S208 of the above positioning method, the estimated position of the target user equipment is determined according to the number of valid transmitting and receiving points, including: when the number of valid transmitting and receiving points is 0, the location management function entity returns positioning failure.

[0050] In an embodiment of the present application, a valid TRP refers to a TRP whose received signal strength (ie, RSRP value) exceeds a first threshold. These TRPs are considered to have a sufficiently strong wireless link with the UE and can provide measurement data for positioning. When LMF analyzes the measurement results and finds that the RSRP value of no TRP exceeds the first threshold, this means that the signals received by all TRPs are very weak, which may be caused by the UE being too far away from all TRPs, the signal being severely blocked, or the ambient noise being too high.

[0051] In this case, the LMF does not have any valid data to calculate the UE's position and therefore cannot execute the positioning algorithm to determine the UE's estimated position. The LMF will return a positioning failure, for example, usually in the form of some form of status information or error code to the system or application requesting the positioning. This mechanism ensures that the positioning system does not provide inaccurate or unreliable positioning information without sufficient data, thereby maintaining the quality and credibility of the positioning service.

[0052] Further, in the embodiment of the present application, the return of positioning failure can trigger the system to perform corresponding error processing or take alternative solutions, for example, requesting the UE to resend the signal to try to locate again, or using other positioning technologies (such as GPS, Wi-Fi positioning, etc.) as a backup solution to ensure that the UE's location information can still be provided when 5G positioning is unavailable. In addition, the system may also record the cause of the positioning failure for subsequent network optimization or troubleshooting.

[0053] In step S208 of the above positioning method, the estimated position of the target user equipment is determined based on the number of effective transmitting and receiving points, including: when the number of effective transmitting and receiving points is 1, the positioning coverage grid of the effective transmitting and receiving points is obtained to obtain a first positioning coverage grid; the position management function entity returns the center point of the first positioning coverage grid, and determines the center point of the first positioning coverage grid as the estimated position of the target user equipment; when the number of effective transmitting and receiving points is 2, the positioning coverage grids of the effective transmitting and receiving points are respectively obtained to obtain a second positioning coverage grid and a third positioning coverage grid; the position management function entity returns the center point of the second positioning coverage grid and the center point of the third positioning coverage grid, and determines the center point of the second positioning coverage grid and the center point of the third positioning coverage grid as the estimated position of the target user equipment.

[0054] In the embodiment of the present application, determining the estimated position of the target user equipment (UE) based on the number of valid transmit and receive points (TRP) is a hierarchical process, which aims to provide the most appropriate positioning accuracy based on the amount of available measurement data. This strategy is based on a premise: the more the number of valid TRPs, the higher the positioning accuracy is generally. The following is a specific explanation of determining the estimated position of the UE based on the number of valid TRPs of 1 and 2:

[0055] When the number of effective transmitting and receiving points is 1:

[0056] 1. Analysis of measurement results: If the LMF (location management function entity) finds that the RSRP value of only one TRP exceeds the set first threshold after analyzing the measurement results of all TRPs, then this TRP is identified as a valid transmitting and receiving point.

[0057] 2. Positioning coverage grid acquisition: LMF will obtain the positioning coverage grid information of this valid TRP. The area within this coverage range is defined as the first positioning coverage grid.

[0058] Specifically, LMF maintains the map information of TRPs in the positioning site and divides the coverage grid of each TRP according to the map and TRP distribution. Taking the positioning site of 120 meters long and 60 meters wide as an example, 18 TRPs are deployed in the site, and the TRP interval is 20 meters. The coverage grid of each TRP is evenly divided, such as Figure 3 shown.

[0059] 3. Center point positioning: LMF performs positioning based on the center point of the first positioning coverage grid. Because when there is only one TRP, it is impossible to determine the precise location of the UE through advanced algorithms such as triangulation or multilateral measurement, so LMF will take the simplest approach, that is, to determine that the target UE is located at the coverage center of this TRP.

[0060] 4. Estimated position return: LMF returns the coordinates of the center point of the first positioning coverage grid and determines it as the estimated position of the target UE. This is a rough positioning method, which is suitable for situations where the distance between the UE and the TRP is close and there is no other valid TRP for cross-validation.

[0061] When the number of effective transmitting and receiving points is 2:

[0062] 1. Analysis of measurement results: If LMF finds that the RSRP values ​​of two TRPs exceed the set first threshold after analyzing the measurement results of all TRPs, then these two TRPs are identified as valid transmitting and receiving points.

[0063] 2. Positioning coverage grid acquisition: LMF will obtain the positioning coverage grid information of the two valid TRPs respectively, namely the second positioning coverage grid and the third positioning coverage grid.

[0064] 3. Center point positioning: LMF estimates the position of the target UE based on the center point of the second positioning coverage grid and the center point of the third positioning coverage grid.

[0065] 4. Estimated position return: In an optional embodiment, LMF can directly determine the center point of the second positioning coverage grid and the center point of the third positioning coverage grid as the estimated position of the target UE. In another optional embodiment, LMF can also try to use the intersection between the center points of the coverage range of the two TRPs to roughly estimate the position of the UE. Specifically, LMF returns the coordinate information of the center point of the second positioning coverage grid and the center point of the third positioning coverage grid, and determines the average position of the two points or the midpoint of the line between them as the estimated position of the target UE. This positioning method provides a range of possible positions of a UE and increases the reliability of positioning, especially when the UE is in the boundary area of ​​​​two TRPs.

[0066] Through the above hierarchical positioning strategy, LMF can provide a certain degree of positioning service even when the number of valid TRPs is small, ensuring that the UE location estimate can be fed back in a timely manner in various network environments. This mechanism reflects the flexibility and adaptability of the 5G positioning system, and can provide the most accurate location information possible in different scenarios.

[0067] In step S208 of the above positioning method, the estimated position of the target user equipment is determined based on the number of effective transmitting and receiving points, including: when the number of effective transmitting and receiving points is greater than or equal to 3, the adjacent positioning range is determined based on the effective transmitting and receiving points, and the positioning transmitting and receiving points are determined from the adjacent positioning range; the location management function entity initiates a positioning measurement request to the positioning transmitting and receiving point; receives the delay value reported by the positioning transmitting and receiving point based on the positioning measurement request, wherein the delay value is used to represent the signal propagation delay value of the positioning transmitting and receiving point, and the delay value is obtained by the positioning transmitting and receiving point performing time domain filtering processing on the delay measurement value within the signal direct path time window, and the signal direct path time window is determined by the adjacent positioning range; the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report the delay value.

[0068] In the embodiment of the present application, in the 5G positioning technology, when the number of effective transmission and reception points (TRP) reaches or exceeds 3, the following steps are generally included:

[0069] 1. Determine the positioning transmitting and receiving point: Divide the effective TRP into a proximate positioning range, and select the TRP within the range as the positioning TRP (i.e., the above-mentioned positioning transmitting and receiving point). Specifically, when determining the positioning transmitting and receiving point, select the effective TRP with the largest RSRP value as the reference point from the effective TRP, and use the reference point as the center of the circle to determine the minimum radius containing a preset number of effective TRPs, thereby determining the proximate positioning range, and determining the effective TRP in the proximate positioning range as the positioning TRP. For example, Figure 4 In the figure, it is assumed that there are six valid TRPs A, B, C, D, E, and F in the venue, among which A has the largest RSRP value. Then LMF selects A as the reference point, and takes the reference point as the center of the circle to determine the minimum radius R containing M = 4 valid TRPs. The circular area divided by this is the proximity positioning range, and the valid TRPs A, B, C, and F in the area are the positioning TRPs.

[0070] 2. Initiate positioning measurement request: Once the positioning transmitting and receiving points are determined, LMF will send positioning measurement requests to these positioning TRPs, requiring them to perform more accurate location-related measurements, such as the signal's time difference of arrival (TDOA) or angle of arrival (AOA) measurements. These measurements can provide more detailed distance or direction information between the UE and the TRP.

[0071] 3. Receiving delay value: The positioning transmitting and receiving point responds to the LMF request, measures the arrival time of the signal, and reports the measured delay value.

[0072] Specifically, the time window of the direct path of the signal is estimated according to the adjacent positioning range. According to the diameter D=2R of the adjacent positioning range, the maximum propagation delay t of the direct path is calculated. max =D / c, where c is the speed of light constant, then the time window of the direct path of the signal is W LOS =[0,t max ]; LMF initiates positioning measurement requests to M positioning TRPs and sends time window information to the positioning TRP; the positioning TRP performs correlation detection on the reference signal to obtain a correlation value sequence S, and performs time domain filtering on the correlation value, that is, only retaining the time window W LOS The correlation value within is obtained to obtain the correlation value sequence S'; the positioning TRP performs peak detection on the correlation value sequence S', and the peak-to-mean ratio of the correlation value sequence S' is greater than the set threshold, which is determined to be the peak. The signal propagation delay value is determined based on the peak value, and the delay value is reported to the LMF. In the case of multiple peaks in a certain TRP, only the minimum delay value is reported.

[0073] 4. Target UE position estimation: Determine the estimated position of the target user equipment based on the number of positioning transmitting and receiving points that report delay values.

[0074] In the above steps, the estimated position of the target user equipment is determined according to the number of positioning transmitting and receiving points that report delay values, including: when the number of positioning transmitting and receiving points that report delay values ​​is 0, the location management function entity returns positioning failure.

[0075] In an embodiment of the present application, in 5G positioning technology, in order to determine the estimated position of the target user equipment (UE), the location management function entity (LMF) will implement a more accurate positioning calculation based on the delay value (signal propagation delay) received from the effective transmission and reception point (TRP). When the number of positioning transmission and reception points reporting delay values ​​is 0, this means that the LMF has not received any delay measurement data from any TRP after initiating the positioning request. In this case, the LMF will not be able to perform positioning calculations and will return positioning failure.

[0076] In the above steps, the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report delay values, including: when the number of positioning transmitting and receiving points that report delay values ​​is 1, the positioning coverage grid of the positioning transmitting and receiving points that report delay values ​​is obtained to obtain a fourth positioning coverage grid; the position management function entity returns the center point of the fourth positioning coverage grid, and determines the center point of the fourth positioning coverage grid as the estimated position of the target user equipment; when the number of positioning transmitting and receiving points that report delay values ​​is 2, the positioning coverage grid of the positioning transmitting and receiving points that report delay values ​​is obtained to obtain a fifth positioning coverage grid and a sixth positioning coverage grid; the position management function entity returns the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid, and determines the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid as the estimated position of the target user equipment.

[0077] In the embodiment of the present application, determining the estimated position of the target UE (user equipment) based on the number of positioning TRPs reporting delay values ​​is a strategy for gradually refining the positioning accuracy. When only 1 or 2 TRPs report delay values, that is, when the number of TRPs is limited, the location management function entity (LMF) will adopt different methods to estimate the position of the UE. The following explains these two situations in detail:

[0078] When the number of positioning transmitting and receiving points reporting delay values ​​is 1:

[0079] 1. Measurement data analysis: After analyzing the delay reporting data of all TRPs, LMF found that only one positioning TRP provided a valid delay value, which means that this positioning TRP is the point closest to the UE and has the best signal quality.

[0080] 2. Acquisition of positioning coverage grid: LMF will obtain the positioning coverage grid information of this positioning TRP. This grid defines the range that the positioning TRP can cover in its surrounding environment. This range is called the fourth positioning coverage grid.

[0081] 3. Center point positioning: LMF performs positioning based on the center point of the fourth positioning coverage grid and determines the center point position as the estimated position of the UE. When only one TRP provides the delay value, LMF cannot use multi-point positioning technology to improve the accuracy, so the simplest positioning method is used, that is, assuming that the UE is located at the center of the TRP coverage.

[0082] When the number of positioning transmitting and receiving points reporting delay values ​​is 2:

[0083] 1. Measurement data analysis: LMF analyzes the delay reporting data and finds that there are two positioning TRPs that provide valid delay values. This means that there are two TRPs that can be used as reference points to estimate the UE's position.

[0084] 2. Positioning coverage grid acquisition: LMF will obtain the positioning coverage grid information of the two TRPs respectively. These grid ranges are respectively called the fifth positioning coverage grid and the sixth positioning coverage grid.

[0085] 3. Center point positioning: LMF estimates the location of the target UE based on the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid. In an optional embodiment, LMF may directly determine the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid as the estimated location of the target UE. In another optional embodiment, when there are two TRPs providing delay values, LMF may try to use the intersection point or the midpoint of the line between the center points of the coverage range of the two TRPs to estimate the location of the UE.

[0086] Through the above method, LMF can provide the estimated position of UE even when the number of TRPs reporting delay values ​​is small, although the positioning accuracy will be limited. This method ensures that the 5G positioning system can provide location services as much as possible under different network conditions, reflecting its flexibility and robustness.

[0087] In the above steps, the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report delay values, including: when the number of positioning transmitting and receiving points that report delay values ​​is greater than or equal to 3, the first preset number of transmitting and receiving points with the largest reference signal receiving power are determined from the positioning transmitting and receiving points that report delay values ​​to obtain preset transmitting and receiving points; the position management function entity performs positioning and solution on the delay values ​​reported by the preset transmitting and receiving points, and returns the estimated position of the target user equipment.

[0088] In the embodiment of the present application, in the 5G positioning technology, when the LMF (location management function entity) receives the delay values ​​reported by three or more positioning transmission and reception points (TRP), it will adopt a more sophisticated strategy to determine the estimated location of the target user equipment (UE). This strategy not only takes into account the number of TRPs, but also pays special attention to the signal quality to further improve the positioning accuracy. The specific steps are as follows:

[0089] 1. Delay value analysis: LMF first checks the received delay value data to confirm that at least three TRPs provide valid delay measurement results. The delay value reflects the time required for the signal to propagate from the UE to each TRP, and LMF will use these time differences to calculate the UE's location.

[0090] 2. Filter the TRP with the largest reference signal received power: Among multiple TRPs reporting delay values, LMF will further filter out the first preset number of transmitting and receiving points with the largest reference signal received power (RSRP). The purpose of this step is to select the TRP with the best signal reception quality, because the better the signal quality, the smaller the error in positioning delay measurement and the higher the positioning accuracy. The preset number can be determined according to specific needs and the complexity of the scenario. It is common to select the first three TRPs with the largest RSRP, that is, the preset transmitting and receiving points.

[0091] 3. Positioning solution: LMF uses the delay value received from the preset transmission and reception points for positioning solution. Positioning solution usually involves complex mathematical models and algorithms, such as trilateral measurement or multilateral measurement algorithms, which can calculate the distance between the UE and each TRP based on the delay value, and then calculate the precise position of the UE through the principle of geometric positioning.

[0092] 4. Return the estimated position of the target UE: After completing the positioning solution, the LMF will return the estimated position of the target UE. This estimated position is calculated based on the delay value reported by the TRP with the best signal quality, so it theoretically provides a more accurate positioning result.

[0093] This method combines delay measurement and signal strength data, and performs positioning by screening the TRP with the best signal quality, which helps reduce positioning errors caused by environmental interference and multipath effects, and improves positioning accuracy and reliability. Especially in densely deployed 5G network environments, this strategy can make full use of high-quality signal measurement data and provide relatively accurate UE location information even in complex non-line-of-sight (NLOS) conditions.

[0094] To facilitate understanding of the process of the above positioning method, the following is combined with Figure 5 Explain the positioning process. Figure 5 is a flow chart of a user equipment positioning according to an embodiment of the present application, such as Figure 5 As shown:

[0095] Step 1: LMF maintains the map information of TRPs in the positioning site, and divides the coverage grid of each TRP according to the map and TRP distribution. For example, a positioning site with a length of 120 meters and a width of 60 meters is deployed in the site, with a TRP interval of 20 meters. The coverage grid of each TRP is evenly divided, as shown in the following figure: Figure 3 shown.

[0096] Step 2: LMF initiates an uplink RSRP measurement request to all TRPs in the positioning site, and TRP reports the measurement results to LMF. LMF sorts the RSRP of each TRP and selects valid TRPs based on the first threshold (i.e., RSRP threshold), setting the first threshold to -90dBm, i.e., RSRP ≥ -90dBm.

[0097] Step 3: LMF selects different position solutions according to the number of valid TRPs:

[0098] Step 3-1: If there is no valid TRP, LMF determines that positioning has failed;

[0099] Step 3-2: If the number of valid TRPs is equal to 1, the LMF returns the center point of this TRP coverage grid as the estimated position of the target UE;

[0100] Step 3-3: If the number of valid TRPs is equal to 2, the LMF returns the center point of the two TRP coverage grids as the estimated location of the target UE;

[0101] Step 3-4: If the number of valid TRPs is greater than or equal to 3, divide the effective TRP into a proximity positioning range and select the TRPs within the range as the positioning TRP. Assuming that there are six effective TRPs A, B, C, D, E, and F in the site, among which A has the largest RSRP value, then LMF selects A as the reference point and uses the reference point as the center of the circle to determine the minimum radius R containing M = 4 effective TRPs. The circular area divided in this way is the proximity positioning range, and the effective TRPs A, B, C, and F in the area are the positioning TRPs. Figure 4 shown.

[0102] Step 4: Estimate the time window of the direct path of the signal based on the adjacent positioning range. According to the diameter of the adjacent positioning range D = 2R, calculate the maximum propagation delay t of the direct path max =D / c, where c is the speed of light constant, then the time window of the direct path of the signal is W LOS =[0,t max ];

[0103] Step 5: LMF initiates a positioning measurement request to M positioning TRPs and sends the time window information to the positioning TRPs;

[0104] Step 6: Locate TRP to perform correlation detection on the reference signal to obtain a correlation value sequence S, and perform time domain filtering on the correlation value, that is, only retain the time window W LOS The correlation value within is obtained to obtain the correlation value sequence S';

[0105] Step 7: The positioning TRP performs peak detection on the correlation value sequence S'. If the ratio of the peak value to the mean value of the correlation value sequence S' is greater than the set threshold, it is determined to be a peak value. The signal propagation delay value is determined based on the peak value, and the delay value is reported to the LMF. If there are multiple peak values ​​for a certain TRP, only the minimum delay value is reported;

[0106] Step 8: LMF selects different location calculation schemes according to the number of TRPs reporting delays:

[0107] Step 8-1: If there is no valid peak value, that is, the number of TRPs reporting delay is considered to be equal to 0, then LMF determines that positioning has failed;

[0108] Step 8-2: If the number of TRPs reporting delay is equal to 1, the LM returns the center point of the TRP coverage grid as the estimated position of the target UE;

[0109] Step 8-3: If the number of TRPs reporting delay is equal to 2, the LMF returns the center point of the two TRP coverage grids as the estimated position of the target UE;

[0110] Step 8-4: If the number of TRPs reporting delay is greater than or equal to 3, LMF selects the delay values ​​reported by the positioning TRPs with the largest RSRP values ​​among the first three for positioning solution and returns the estimated position of the target UE.

[0111] Figure 6 is a structural diagram of a positioning device according to an embodiment of the present application, such as Figure 6 As shown, the device comprises:

[0112] An initiating module 40 is used to initiate an uplink reference signal received power measurement request to all transmitting and receiving points in the positioning site;

[0113] The receiving module 42 is used to receive the measurement result returned by the transmitting and receiving point according to the uplink reference signal received power measurement request, wherein the measurement result includes the reference signal received power of each transmitting and receiving point;

[0114] A first determination module 44 is used to determine the transmitting and receiving points corresponding to the reference signal receiving powers in the measurement results that are greater than the first threshold as valid transmitting and receiving points;

[0115] The second determination module 46 is configured to determine the estimated position of the target user equipment according to the number of effective transmitting and receiving points.

[0116] In the second determination module in the above positioning device, the second determination module is further configured to cause the location management function entity to return positioning failure when the number of valid transmitting and receiving points is 0.

[0117] In the second determination module in the above-mentioned positioning device, the second determination module is also used to obtain the positioning coverage grid of the effective transmitting and receiving points when the number of effective transmitting and receiving points is 1, and obtain the first positioning coverage grid; the location management function entity returns the center point of the first positioning coverage grid, and determines the center point of the first positioning coverage grid as the estimated position of the target user equipment; when the number of effective transmitting and receiving points is 2, respectively obtain the positioning coverage grids of the effective transmitting and receiving points to obtain the second positioning coverage grid and the third positioning coverage grid; the location management function entity returns the center point of the second positioning coverage grid and the center point of the third positioning coverage grid, and determines the center point of the second positioning coverage grid and the center point of the third positioning coverage grid as the estimated position of the target user equipment.

[0118] In the second determination module in the above-mentioned positioning device, the second determination module is also used to determine the adjacent positioning range based on the effective transmitting and receiving points when the number of effective transmitting and receiving points is greater than or equal to 3, and determine the positioning transmitting and receiving points from the adjacent positioning range; the location management function entity initiates a positioning measurement request to the positioning transmitting and receiving points; receives the delay value reported by the positioning transmitting and receiving points based on the positioning measurement request, wherein the delay value is used to represent the signal propagation delay value of the positioning transmitting and receiving points, and the delay value is obtained by the positioning transmitting and receiving points performing time domain filtering processing on the delay measurement value within the signal direct path time window, and the signal direct path time window is determined by the adjacent positioning range; the estimated position of the target user equipment is determined based on the number of positioning transmitting and receiving points that report the delay value.

[0119] In the second determination module in the above positioning device, the second determination module is further configured to cause the location management function entity to return a positioning failure when the number of positioning transmitting and receiving points reporting delay values ​​is 0.

[0120] In the second determination module in the above-mentioned positioning device, the second determination module is also used to, when the number of positioning transmitting and receiving points that report delay values ​​is 1, obtain the positioning coverage grid of the positioning transmitting and receiving points that report delay values, and obtain a fourth positioning coverage grid; the location management function entity returns the center point of the fourth positioning coverage grid, and determines the center point of the fourth positioning coverage grid as the estimated position of the target user equipment; when the number of positioning transmitting and receiving points that report delay values ​​is 2, obtain the positioning coverage grid of the positioning transmitting and receiving points that report delay values, and obtain a fifth positioning coverage grid and a sixth positioning coverage grid; the location management function entity returns the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid, and determines the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid as the estimated position of the target user equipment.

[0121] In the second determination module in the above-mentioned positioning device, the second determination module is also used to determine the first preset number of transmitting and receiving points with the largest reference signal receiving power from the positioning transmitting and receiving points that report delay values ​​when the number of positioning transmitting and receiving points that report delay values ​​is greater than or equal to 3, and obtain the preset transmitting and receiving points; the location management function entity performs positioning solution on the delay values ​​reported by the preset transmitting and receiving points, and returns the estimated position of the target user equipment.

[0122] It should be noted that Figure 6 The positioning device shown is used to perform Figure 2 The positioning method shown in the figure, therefore the relevant explanations in the above positioning method are also applicable to the positioning device and will not be repeated here.

[0123] An embodiment of the present application further provides an electronic device, which includes a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute and implement the above-mentioned positioning method.

[0124] An embodiment of the present application further provides a non-volatile storage medium, which includes a stored computer program, wherein a device where the non-volatile storage medium is located executes the above positioning method by running the computer program.

[0125] The embodiments of the present application also provide a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the positioning method in each embodiment of the present application.

[0126] The embodiments of the present application also provide a computer program, which, when executed by a processor, implements the steps of the positioning method in each embodiment of the present application.

[0127] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0128] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0129] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0131] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0132] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0133] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A positioning method, characterized in that: include: The location management function entity initiates an uplink reference signal received power measurement request to all transmitting and receiving points within the positioning site; Receiving a measurement result returned by the transmitting and receiving point according to the uplink reference signal received power measurement request, wherein the measurement result includes the reference signal received power of each transmitting and receiving point; Determine the transmitting and receiving point corresponding to the reference signal receiving power whose reference signal receiving power in the measurement result is greater than the first threshold as a valid transmitting and receiving point; An estimated position of a target user equipment is determined according to the number of the effective transmitting and receiving points.

2. The method according to claim 1, characterized in that Determining an estimated position of a target user equipment according to the number of effective transmitting and receiving points includes: When the number of the effective transmitting and receiving points is 0, the location management function entity returns a positioning failure.

3. The method according to claim 1, characterized in that Determining an estimated position of a target user equipment according to the number of effective transmitting and receiving points includes: When the number of the effective transmitting and receiving points is 1, obtaining the positioning coverage grid of the effective transmitting and receiving points to obtain a first positioning coverage grid; The location management function entity returns the center point of the first positioning coverage grid, and determines the center point of the first positioning coverage grid as the estimated location of the target user equipment; When the number of the effective transmitting and receiving points is 2, respectively acquiring the positioning coverage grids of the effective transmitting and receiving points to obtain a second positioning coverage grid and a third positioning coverage grid; The location management function entity returns the center point of the second positioning coverage grid and the center point of the third positioning coverage grid, and determines the center point of the second positioning coverage grid and the center point of the third positioning coverage grid as the estimated position of the target user equipment.

4. The method according to claim 1, characterized in that Determining an estimated position of a target user equipment according to the number of effective transmitting and receiving points includes: When the number of the effective transmitting and receiving points is greater than or equal to 3, determining an adjacent positioning range according to the effective transmitting and receiving points, and determining a positioning transmitting and receiving point from the adjacent positioning range; The location management function entity initiates a location measurement request to the location transmitting and receiving point; Receive the delay value reported by the positioning transmitting and receiving point according to the positioning measurement request, wherein the delay value is used to represent the signal propagation delay value of the positioning transmitting and receiving point, and the delay value is obtained by the positioning transmitting and receiving point performing time domain filtering processing on the delay measurement value within the signal direct path time window, and the signal direct path time window is determined by the adjacent positioning range; The estimated position of the target user equipment is determined according to the number of positioning transmitting and receiving points that report the delay value.

5. The method according to claim 4, characterized in that Determining the estimated position of the target user equipment according to the number of positioning transmitting and receiving points that report the delay value includes: When the number of positioning transmitting and receiving points reporting the delay value is 0, the location management function entity returns a positioning failure.

6. The method according to claim 4, characterized in that Determining the estimated position of the target user equipment according to the number of positioning transmitting and receiving points that report the delay value includes: When the number of the positioning transmitting and receiving points reporting the time delay value is 1, obtaining the positioning coverage grid of the positioning transmitting and receiving points reporting the time delay value to obtain a fourth positioning coverage grid; The location management function entity returns the center point of the fourth positioning coverage grid, and determines the center point of the fourth positioning coverage grid as the estimated location of the target user equipment; When the number of the positioning transmitting and receiving points reporting the time delay value is 2, obtaining the positioning coverage grids of the positioning transmitting and receiving points reporting the time delay value, and obtaining the fifth positioning coverage grid and the sixth positioning coverage grid; The location management function entity returns the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid, and determines the center point of the fifth positioning coverage grid and the center point of the sixth positioning coverage grid as the estimated position of the target user equipment.

7. The method according to claim 4, characterized in that Determining the estimated position of the target user equipment according to the number of positioning transmitting and receiving points that report the delay value includes: When the number of the positioning transmitting and receiving points reporting the delay value is greater than or equal to 3, determine the first preset number of transmitting and receiving points with the largest reference signal receiving power from the positioning transmitting and receiving points reporting the delay value to obtain the preset transmitting and receiving points; The location management function entity performs positioning calculation on the delay value reported by the preset transmitting and receiving point, and returns the estimated location of the target user equipment.

8. A positioning device, characterized in that: include: An initiating module, used to initiate an uplink reference signal received power measurement request to all transmitting and receiving points in the positioning site; A receiving module, configured to receive a measurement result returned by the transmitting and receiving point according to the uplink reference signal received power measurement request, wherein the measurement result includes the reference signal received power of each transmitting and receiving point; A first determination module is used to determine the transmitting and receiving points corresponding to the reference signal receiving powers in the measurement results that are greater than the first threshold as valid transmitting and receiving points; The second determination module is used to determine the estimated position of the target user equipment according to the number of the effective transmitting and receiving points.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the positioning method described in any one of claims 1 to 7.

10. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the positioning method according to any one of claims 1 to 7 by running the computer program.

11. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the positioning method described in any one of claims 1 to 7 is implemented.

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