Terminal positioning method, electronic equipment and device

Abstract

The invention provides a terminal positioning method, electronic equipment and a terminal positioning device. The method comprises the following steps: determining an estimation area where a target terminal is located; according to the respective positions of the plurality of TRPs and the position range of the estimation area, determining the probability distribution of ideal TOA from the plurality of TRPs to the estimation area where the target terminal is located; according to the probability distribution of ideal TOA from each of the plurality of TRPs to the estimation area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal and a second TOA measurement value from the non-reference TRP to the target terminal, obtaining a deviation estimation value of the relative time alignment error; and determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value. According to the scheme, the target terminal can be positioned without introducing a reference terminal, and the operation is simple and convenient.

Description

Technical Field

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

[0002] Time of Arrival (TOA) is a common terminal positioning technology. It calculates the distance between each Transmit Receive Point (TRP) and the terminal by measuring the TOA of the reference signal sent by the terminal to multiple Transmit Receive Points (TRP), thereby realizing the positioning of the terminal based on the distance between each TRP and the terminal.

[0003] In the terminal positioning method based on TOA, there is a time alignment deviation between multiple TRPs and terminals, which leads to inaccurate arrival time of the measured reference signal, affecting the accuracy of terminal positioning. Among them, by performing a single difference operation on the TOA of different TRPs on the same terminal, the time alignment deviation on the terminal side can be eliminated, and for the time alignment deviation between TRPs, the time alignment deviation can be double-differentially eliminated by introducing a reference terminal, thereby improving the positioning accuracy of the terminal.

[0004] However, the above method of introducing the reference terminal is relatively complicated to operate. Summary of the invention

[0005] The present application provides a terminal positioning method, electronic device and apparatus to solve the problem that the current method of introducing a reference terminal to eliminate the time alignment deviation between TRPs to perform terminal positioning is relatively complicated.

[0006] In a first aspect, the present application provides a terminal positioning method, comprising:

[0007] Determine an estimated area where the target terminal is located;

[0008] Determine the probability distribution of the ideal arrival time TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple transmitting and receiving units TRP and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP;

[0009] Obtain a deviation estimate of the relative time alignment error according to the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal;

[0010] The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

[0011] In a possible implementation, according to the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, the deviation estimate of the relative time alignment error is obtained, including:

[0012] Determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located;

[0013] According to the probability distribution of the ideal TDOA, the first TOA measurement value and the second TOA measurement value, a deviation estimation value of the relative time alignment error is obtained.

[0014] In a possible implementation, when the probability of the target terminal being in each location point in the estimation area is uniformly distributed, the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimation area, including:

[0015] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0016] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0017] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0018] In one possible implementation,

[0019] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0020]

[0021] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0022]

[0023] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0024]

[0025] Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference;

[0026] D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference;

[0027] R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0028] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of ideal TDOA.

[0029] In a possible implementation, obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value includes:

[0030] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0031] According to the TDOA value, the probability distribution of the ideal TDOA is transformed into an independent variable to obtain the probability distribution of the relative time alignment error;

[0032] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0033] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate according to the probability distribution of the relative time alignment error includes:

[0034] Performing weighted average processing on the probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors;

[0035] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

[0036] In a possible implementation, when the probability of the target terminal being at each location point in the estimated area is uniformly distributed, determining the probability distribution of the ideal arrival time TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective locations of the multiple transmitting and receiving units TRP and the location range of the estimated area, includes:

[0037] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0038] According to the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area, the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0039] In a possible implementation, determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes:

[0040] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0041] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0042] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0043] In a second aspect, the present application provides an electronic device, including a memory, a transceiver, and a processor;

[0044] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0045] Determine the estimated area where the target terminal is located;

[0046] According to the positions of multiple TRPs and the position range of the estimated area, determine the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located; the multiple TRPs include a reference TRP and at least one non-reference TRP;

[0047] According to the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, obtain the deviation estimate value of the relative time alignment error;

[0048] According to the deviation estimate value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value, determine the positioning position of the target terminal.

[0049] In a possible implementation manner, according to the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, obtaining the deviation estimate value of the relative time alignment error includes:

[0050] According to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the position points in the estimated area;

[0051] According to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, obtain the deviation estimate value of the relative time alignment error.

[0052] In a possible implementation manner, when the probability of the target terminal at each position point in the estimated area is uniformly distributed, according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, determining the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the position points in the estimated area includes:

[0053] According to the positions of multiple TRPs and the position range of the estimated area, determine the maximum distance and the minimum distance from each of the multiple TRPs to the position points in the estimated area;

[0054] Determine the first difference between the maximum distance and the minimum distance from the reference TRP to the position points in the estimated area, and the second difference between the maximum distance and the minimum distance from the non-reference TRP to the position points in the estimated area;

[0055] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0056] In one possible implementation,

[0057] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0058]

[0059] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0060]

[0061] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0062]

[0063] Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference;

[0064] D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference;

[0065] R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0066] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of ideal TDOA.

[0067] In a possible implementation, obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value includes:

[0068] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0069] According to the TDOA value, the probability distribution of the ideal TDOA is transformed into an independent variable to obtain the probability distribution of the relative time alignment error;

[0070] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0071] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate according to the probability distribution of the relative time alignment error includes:

[0072] Performing weighted average processing on the probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors;

[0073] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

[0074] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimation area where the target terminal is located according to the respective locations of the multiple TRPs and the location range of the estimation area includes:

[0075] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0076] According to the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area, the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0077] In a possible implementation, determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes:

[0078] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0079] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0080] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0081] In a third aspect, the present application provides a terminal positioning device, including:

[0082] A first determination module, used to determine an estimated area where a target terminal is located;

[0083] A second determination module is used to determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP;

[0084] A processing module, configured to obtain a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where a target terminal is located, a first TOA measurement value from a reference TRP to the target terminal, and a second TOA measurement value from a non-reference TRP to the target terminal;

[0085] The positioning module is used to determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

[0086] In a possible implementation manner, the processing module is specifically used for:

[0087] Determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located;

[0088] According to the probability distribution of the ideal TDOA, the first TOA measurement value and the second TOA measurement value, a deviation estimation value of the relative time alignment error is obtained.

[0089] In a possible implementation manner, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the processing module is specifically configured to:

[0090] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0091] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0092] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0093] In one possible implementation,

[0094] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0095]

[0096] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0097]

[0098] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0099]

[0100] Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference;

[0101] D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference;

[0102] R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0103] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of ideal TDOA.

[0104] In a possible implementation manner, the processing module is specifically used for:

[0105] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0106] According to the TDOA value, the probability distribution of the ideal TDOA is transformed into an independent variable to obtain the probability distribution of the relative time alignment error;

[0107] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0108] In a possible implementation manner, when there are multiple probability distributions of the relative time alignment error, the processing module is specifically configured to:

[0109] Performing weighted average processing on the probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors;

[0110] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

[0111] In a possible implementation manner, when the probability that the target terminal is located at each location point in the estimation area is uniformly distributed, the second determination module is specifically configured to:

[0112] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0113] According to the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area, the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0114] In a possible implementation manner, the positioning module is specifically used to:

[0115] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0116] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0117] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0118] In a fourth aspect, the present application provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any one of the terminal positioning methods in the first aspect.

[0119] The terminal positioning method, electronic device and device provided by the present application first determine the estimated area where the target terminal is located; then determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP; and then obtain the deviation estimate of the relative time alignment error according to the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal; and then determine the positioning position of the target terminal according to the deviation estimate of the relative time alignment error, the first TOA measurement value and the second TOA measurement value. The scheme of the present application can estimate and compensate for the relative time alignment error between each TRP without deploying a reference terminal, thereby realizing the positioning of the terminal under the premise of ensuring accuracy, without introducing any reference terminal, and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0120] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0121] Figure 1 A flow chart for terminal positioning;

[0122] Figure 2 A flowchart of a terminal positioning method provided in an embodiment of the present application;

[0123] Figure 3 A schematic diagram of an estimated area provided in an embodiment of the present application;

[0124] Figure 4 A flowchart for determining the probability distribution of ideal TOAs of multiple TRPs to the estimated area provided in an embodiment of the present application;

[0125] Figure 5 A flow chart for determining a deviation estimate of a relative time alignment error provided by an embodiment of the present application;

[0126] Figure 6 A flowchart of determining a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value provided in an embodiment of the present application;

[0127] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0128] Figure 8 A schematic diagram of the structure of a terminal positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0129] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0130] In most of the current methods for locating terminals based on TOA estimation, multiple TRPs and terminals need to be time aligned to ensure positioning accuracy.

[0131] Figure 1 A flowchart of terminal positioning is shown in FIG. Figure 1 As shown, first, the TOA measurement module mainly performs TOA measurements from different TRPs to the target terminal and TOA measurements from different TRPs to the reference terminal.

[0132] In some embodiments, the TOA from TRP to the reference terminal refers to the TOA of the reference signal sent by the reference terminal to the TRP; in other embodiments, the TOA from TRP to the reference terminal may also refer to the TOA of the reference signal sent by the TRP to the reference terminal. For ease of description, in the following embodiments, the TOA of the reference signal sent by the reference terminal to the TRP is used as the TOA from TRP to the reference terminal.

[0133] Different TRPs are referred to as TRP i , the target terminal is UE tar , the reference terminal is UE ref , then after the TOA measurement module, TRP i The TOA measurement value to the target terminal is denoted as t i，tar , TRPi The TOA measurement value to the reference terminal is denoted as t i，ref To facilitate subsequent positioning work, the TOA measurement value in time units needs to be converted into a TOA measurement value in distance units, t i，tar The TOA measurement converted to distance units is recorded as D i，tar , t i，ref The TOA measurement converted to distance units is recorded as D i，ref , where D i，tar =t i，tar *c, D i，ref =t i，ref *c, c is the speed of light, in actual calculations, c = 3*10 8 m / s.

[0134] Then, the TOA measurement value double difference calculation module calculates the TOA measurement value D i，tar and D i，ref Perform double difference operation, the double difference calculation can be expressed as:

[0135] ΔR i，j =(D i，tar -D j，tar )-(D i，ref -D j，ref ) (1)

[0136] Among them, TRP i is non-reference TRP, TRP j For reference TRP, D i，tar TRP i TOA measurement distance to the target terminal, D j，tar TRP j TOA measurement distance to the target terminal, D i，ref TRP i TOA measurement distance to the reference terminal, D j，ref TRP j TOA measurement distance to the reference terminal, ΔR i，j is the double difference value.

[0137] Then, through the known coordinates of the TRP and the reference terminal, the ideal distance between each TRP and the reference terminal can be calculated based on the Euclidean distance, and the ideal TDOA between the reference TRP and the reference terminal can be obtained. The ideal TDOA can be expressed as follows:

[0138] R ideal，i，ref =M i，ref -M j，ref (2)

[0139] Among them, R ideal，i，refIndicates TRP i and the ideal TDOA between the reference terminal, M i，ref Indicates TRP i The ideal distance between the reference terminal, M j，ref Indicates TRP j The ideal distance between the reference terminal.

[0140] Remember TRP i The coordinates of (x trp，i ,y trp，i , z trp，i ), the coordinates of the reference terminal are (x ue，ref ,y ue，ref , z ue，ref ), then:

[0141]

[0142] Then the recovered TDOA can be expressed as:

[0143] R i，tar，recover =ΔR i，j +R ideal，i，ref (4)

[0144] Among them, R i，tar，recover Represents the recovered TDOA, ΔR i，j is the double difference value, R ideal，i，ref Indicates TRP i , TRP j Ideal TDOA between the RF and reference terminals.

[0145] Finally, the recovered TDOA is input into the relevant algorithm for positioning solution to obtain the positioning position of the target terminal.

[0146] For the target terminal and the reference terminal, the output result of the TOA measurement module includes not only the transmission distance caused by the actual position distance between the terminal and the TRP, but also the synchronization deviation caused by the failure of the TRP and the terminal to synchronize with the standard time, which is recorded as s trp，i ,s ue，tar ,s ue，ref , the unit is seconds (s), where s trp，i Indicates TRP i Synchronization deviation from standard time, s ue，tar Indicates the synchronization deviation between the target terminal and the standard time, s ue，ref Indicates the synchronization deviation between the reference terminal and the standard time.

[0147] In order to align with the TOA unit in the derived calculation, the synchronization deviation expressed in time can be converted into the synchronization deviation expressed in distance through G=s*c, where s is the synchronization deviation expressed in time, G is the synchronization deviation expressed in distance, c is the speed of light, and s can be S trp，i ,s ue，tar ,s ue，ref . In s is S trp，i Substituting G = s*c, we can get G trp，i , G trp，i TRP i Synchronous deviation in distance; in s is s ue，tar Substituting G = s*c, we can get G ue，tar , G ue，tar is the synchronization deviation of the target terminal in distance; in s is s ue，ref Substituting G = s*c, we can get G ue，ref , G ue，ref is the synchronization deviation of the reference terminal in distance. Therefore, the TOA measurement distance value from TRP to the target terminal / reference terminal obtained by the TOA measurement module can be decomposed and expressed as:

[0148] D i，tar =M i，tar +G trp，i +G ue，tar +ΔD i，tar (5)

[0149] D i，ref =M i，ref +G trp，i +G ue，ref +ΔD i，ref (6)

[0150] Where, ΔD i，tar TRP i TOA measurement deviation to the target terminal, ΔD i，ref TRP i TOA measurement deviation to the reference terminal; M i，tar TRP i The Euclidean distance to the target terminal, also known as TRP i The ideal distance between the target terminal and the target terminal; M i，ref TRP i Euclidean distance to the reference terminal, also known as TRP i The ideal distance between the reference terminal and G trp，i Indicates TRP i Synchronization deviation in distance, G ue，tar Indicates the synchronization deviation of the target terminal in terms of distance, G ue，ref Indicates the synchronization deviation of the reference terminal in distance.

[0151] Through the double difference calculation formula, it can be found that in the subsequent double difference calculation module, the G described above can be trp，i , G ue，tar , G ue，ref Elimination, ΔR i，j It can be expressed as the following expression:

[0152] ΔR i，j =ΔM i，j +Δ i，j (7)

[0153] ΔM i，j =M i，tar -M j，tar -M i，ref +M j，ref , Δ i，j =ΔD i，tar --ΔD j，tar -ΔD i，ref +ΔD j，ref ;

[0154] M j，tar TRP j The Euclidean distance to the target terminal, also known as TRP j The ideal distance between the target terminal and the target terminal; M j，ref TRP j Euclidean distance to the reference terminal, also known as TRP j The ideal distance between the reference terminal; ΔD j，tar TRP j TOA measurement deviation to the target terminal; ΔD j，ref TRP j TOA measurement deviation to the reference terminal.

[0155] Through the above mathematical derivation and description, it can be found that in the existing scheme, a reference terminal must be introduced to eliminate the synchronization error between the TRP side and the terminal side, that is, G trp，i , G ue，tar and G ue，ref The impact on the measurement TOA results. At the same time, since it is necessary to ensure that there is line of sight (LOS) propagation between the reference terminal and each TRP, it is often necessary to deploy multiple reference terminals when arranging the positioning scene, which undoubtedly greatly increases the cost of positioning and complicates the operation.

[0156] Based on this, an embodiment of the present application provides a terminal positioning method, which realizes the positioning of the terminal without introducing a reference terminal. The solution of the embodiment of the present application will be introduced below in conjunction with the accompanying drawings.

[0157] Figure 2 A flowchart of a terminal positioning method provided in an embodiment of the present application, such as Figure 2 As shown, the method includes:

[0158] S21, determining an estimated area where the target terminal is located.

[0159] The target terminal is the terminal to be located, and the estimated area where the target terminal is located is the area to which the target terminal belongs determined based on the historical information of the target terminal. In the embodiment of the present application, the estimated area is only the area obtained by coarse label positioning of the target terminal, and the estimated area reflects the approximate range of the location of the target terminal, and the accuracy can be several meters.

[0160] There are many ways to determine the estimated area where the target terminal is located. For example, you can obtain the location of the target terminal at the last historical moment, and determine the estimated area where the target terminal is located based on the location of the last historical moment; for example, you can obtain the movement trajectory of the target terminal in a historical period, and determine the estimated area where the target terminal is located based on the direction and speed corresponding to the movement trajectory, and so on.

[0161] Since the estimated area is only the approximate range of the location of the target terminal, the accuracy requirement is not high, so the estimated area can be determined based on the location of the target terminal at the historical moment, the movement trajectory of the target terminal in the historical period, and other prior information. In the embodiment of the present application, the range and shape of the estimated area are not limited, the range of the estimated area can be larger or smaller, and the shape of the estimated area can be regular or irregular.

[0162] S22, determining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP.

[0163] In the embodiment of the present application, the multiple TRPs include a reference TRP and at least one non-reference TRP, the positions of the multiple TRPs are known, and the position range of the estimated area is also known. Since the estimated area is the area where the target terminal is located, after knowing the positions of the multiple TRPs, the probability distribution of the ideal TOA of the multiple TRPs to the estimated area where the target terminal is located can be determined based on the positions of the multiple TRPs and the position range of the estimated area.

[0164] Specifically, there are multiple location points within the location range of the estimated area, and the location of the target terminal is at one of these multiple location points. For any TRP among the multiple TRPs, the TOA from the TRP to the multiple location points can be determined based on the location of the TRP and the respective locations of the multiple location points within the location range of the estimated area. Since the TOA from the TRP to the multiple location points is determined based on the location of the TRP and the respective locations of the multiple location points, there is no time alignment error, so the TOA from the TRP to the multiple location points is called the ideal TOA from the TRP to the estimated area where the target terminal is located.

[0165] The probability that the location of the target terminal is at each of the multiple location points within the location range of the estimated area can be predetermined. In the absence of external prior information, it can be determined that the probability that the target terminal is at each location point in the estimated area is uniformly distributed. In the case of obtaining external prior information, the probability that the target terminal is at each location point in the estimated area may be non-uniformly distributed.

[0166] The external prior information may include multiple types, such as the historical positioning trajectory of the target terminal, historical data, etc. For example, if the probability of the target terminal appearing in a sub-area in the estimated area is determined to be greater through the historical positioning trajectory of the target terminal, then the probability value of the target terminal being in the sub-area can be set to be greater than the probability value of being in other sub-areas. For example, the probability of the target terminal appearing at each position point in the estimated area can be counted through the historical data of the target terminal, thereby obtaining the probability value of the target terminal being at each position point, and so on.

[0167] After determining the probability value of each location point where the target terminal is located in the estimated area and the ideal TOA from the TRP to the estimated area where the target terminal is located, the probability distribution of the ideal TOA from the TRP to the estimated area where the target terminal is located can be obtained.

[0168] S23, obtains the deviation estimate of the relative time alignment error based on the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal.

[0169] Specifically, according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the position points in the estimated area can be determined, wherein when the probability of the target terminal being at each position point in the estimated area is uniformly distributed or non-uniformly distributed, the probability distribution of the obtained ideal TDOA is also different accordingly. Then, according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, the deviation estimate of the relative time alignment error is calculated.

[0170] S24, determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

[0171] A single difference operation can be performed on the second TOA measurement value and the first TOA measurement value to determine the TDOA value between the non-reference TRP and the reference TRP, thereby correcting the TDOA value through the deviation estimate of the relative time alignment error to obtain the corrected TDOA value, and determining the positioning position of the target terminal based on the corrected TDOA value.

[0172] Based on any of the above embodiments, the scheme of the embodiments of the present application is described in detail below in conjunction with the accompanying drawings.

[0173] Figure 3 A schematic diagram of the estimated area provided in the embodiment of the present application, such as Figure 3 As shown, from point B 1 , B 2 , B 3 , B 4 The shaded area is the estimated area where the target terminal is located.

[0174] In practice, the estimated area should be a three-dimensional area. However, considering that the target terminal is usually held by the user, the height of the target terminal can be considered known, that is, the coordinate of the estimated area on the z-axis can be directly set to z ue，tar Therefore, Figure 3 In the example, only the range of the estimated area on the x-axis and y-axis is shown. Figure 3 The estimated region in the xy plane is a regular rectangle, but in fact the shape of the estimated region can be irregular. Figure 3 The illustrated shapes are merely examples.

[0175] In the absence of external prior information, it can be assumed that the probability of the target terminal being at each location point in the estimation area is uniformly distributed. In this case, combined with Figure 4The present invention introduces a solution for determining the probability distribution of the ideal TOA of each of multiple TRPs to the estimated area where the target terminal is located.

[0176] Figure 4 The flowchart for determining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area provided in the embodiment of the present application, when the probability of the target terminal being at each location point in the estimated area is uniformly distributed, such as Figure 4 As shown, including:

[0177] S41, determining the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area.

[0178] The plurality of TRPs include a reference TRP (ie, TRP j ) and non-reference TRP (ie, TRP i ), the calculation method of the probability distribution of the ideal TOA of multiple TRPs to the estimated area is similar.

[0179] For any TRP among the multiple TRPs, the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area can be determined based on the location of the TRP and the location range of the estimated area.

[0180] With any TRP i For example, the TRP i The location may be within the estimated area or outside the estimated area.

[0181] Assume that the coordinates of any point in the estimated area are (a, b, z ue，tar ), TRP i The coordinates of (x trp，i ,y trp，i , z trp，i ), then the TRP i The distance to the location point in the estimated area is:

[0182]

[0183] Assume D lower，i Indicates TRP i The minimum distance to the location point in the estimation area, D upper，i Indicates TRP i The maximum distance to the location point in the estimation area, then in TRP i If you are outside the estimated area:

[0184] D lower，i =min(ΔB i，(a，b) ) (9)

[0185] D upper，i =max(ΔB i，(a，b) ) (10)

[0186] In TRP i If you are located within the estimated area:

[0187] D lower，i =0 (11)

[0188] D upper，i =max(ΔB i，(a，b) ) (12)

[0189] in, E is a set of multiple position points obtained by dividing the boundary of the estimation area based on a preset step size, and (a, b) is the coordinates of any position point among the multiple position points.

[0190] Based on the above equations (8) to (12), we can get TRP i The maximum distance and the minimum distance to the location points in the estimated area, and any TRP among the multiple TRPs can adopt the above method to obtain the maximum distance and the minimum distance of each of the multiple TRPs to the location points in the estimated area.

[0191] S42, determining the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located based on the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area.

[0192] Based on the above formulas (8) to (12), it can be seen that for TRP i In terms of TRP i The distance range to the estimated area is [D lower，i , D upper，i Although the exact location of the target terminal in the estimated area is unknown, it can be determined that the target terminal is in the estimated area, and the ideal TOA value of any point in the estimated area will fall 100% within [D lower，i , D upper，i ] range. When the probability of the target terminal being at each location point in the estimation area is uniformly distributed, it can be considered that the probability distribution of the ideal TOA also tends to be uniformly distributed, thus obtaining TRP i The probability distribution of the ideal TOA to the estimated area where the target terminal is located is as follows:

[0193]

[0194] Among them, pdf TOA，i (p) is TRP iThe probability distribution of the ideal TOA to the estimated area where the target terminal is located, p represents TRP i The ideal TOA to the estimated area where the target terminal is located.

[0195] In the above embodiment, formula (8) to formula (13) are combined to introduce the TRP for any i How to get TRP i The implementation method of the probability distribution of the ideal TOA to the estimated area where the target terminal is located can use equations (8) to (13) for multiple TRPs, thereby obtaining the probability distribution of the ideal TOA to the estimated area where the target terminal is located for each of the multiple TRPs.

[0196] After obtaining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the deviation estimate of the relative time alignment error can be obtained according to the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal. Figure 5 This section introduces the process.

[0197] Figure 5 A flowchart for determining a deviation estimate of a relative time alignment error provided by an embodiment of the present application is as follows: Figure 5 As shown, including:

[0198] S51, based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimated area.

[0199] Assume that the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located is pdf TOA，j (p), the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located is pdf TOA，i (p), the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area can be obtained based on the following equation (14):

[0200]

[0201] Among them, pdf TDOA，i (q) is the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area, and the independent variable q represents the ideal TDOA; pdf TOA，i (x) represents TRP iThe probability distribution of the ideal TOA to the estimated area where the target terminal is located, x represents TRP i Ideal TOA to the estimated area where the target terminal is located; pdf TOA，j (p) indicates TRP j The probability distribution of the ideal TOA to the estimated area where the target terminal is located, p represents TRP j The ideal TOA to the estimated area where the target terminal is located; q = xp.

[0202] In one possible implementation, when the probability of the target terminal being at each location point in the estimated area is uniformly distributed, the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area can be determined based on the respective locations of the multiple TRPs and the location range of the estimated area; then, a first difference between the maximum distance and the minimum distance from the reference TRP to the location point in the estimated area and a second difference between the maximum distance and the minimum distance from the non-reference TRP to the location point in the estimated area are determined; and then, based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area is determined.

[0203] The calculation method of the maximum distance and the minimum distance from the TRP to the position point in the estimated area can be referred to the above formula (8) to formula (13). For the reference TRP, the maximum distance and the minimum distance from the reference TRP to the position point in the estimated area are subtracted to obtain the first difference; for the non-reference TRP, the maximum distance and the minimum distance from the non-reference TRP to the position point in the estimated area are subtracted to obtain the second difference.

[0204] In the case where the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the calculation method of the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area can be divided into the following cases:

[0205] In the case where the first difference is less than the second difference, the probability distribution of the ideal TDOA of the non-reference TRP and the reference TRP to the location point in the estimation area is:

[0206]

[0207] In the case where the first difference is greater than the second difference, the probability distribution of the ideal TDOA of the non-reference TRP and the reference TRP to the location point in the estimation area is:

[0208]

[0209] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA of the non-reference TRP and the reference TRP to the location point in the estimation area is:

[0210]

[0211] Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference;

[0212] D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference;

[0213] R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0214] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of ideal TDOA.

[0215] S52: Obtain a deviation estimate of a relative time alignment error according to the probability distribution of an ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0216] In the above embodiment, it is introduced how to obtain the probability distribution of the ideal TDOA. Figure 6 The present invention introduces a solution for obtaining a deviation estimation value of a relative time alignment error according to a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value.

[0217] Figure 6The flowchart of determining the deviation estimate of the relative time alignment error based on the probability distribution of the ideal TDOA, the first TOA measurement value and the second TOA measurement value provided in the embodiment of the present application is as follows: Figure 6 As shown, including:

[0218] S61, performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP.

[0219] Assume the first TOA measurement value is D j，tar , the second TOA measurement value is D i，tar , a single difference operation can be performed on the second TOA measurement value and the first TOA measurement value based on the following formula (15) to obtain the TDOA value between the non-reference TRP and the reference TRP:

[0220] R i，tar =D i，tar -D j，tar (15)

[0221] Among them, R i，tar Represents the TDOA value between the non-reference TRP and the reference TRP.

[0222] S62, performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0223] The TDOA value between the non-reference TRP and the reference TRP is R i，tar , the probability distribution of ideal TDOA is pdf TDOA，i (q), according to the TDOA value between the non-reference TRP and the reference TRP, R i，tar Probability distribution pdf for ideal TDOA TDOA，i (q) The process of independent variable conversion can be set as u = R i，tar -q, so:

[0224] pdf DTAE，i (u)=pdf DTAE，i (R i，tar -q)=pdf TDOA，i (q) (16)

[0225] Among them, pdf DTAE，i (u) is the probability distribution of relative time alignment error, and u represents the relative time alignment error.

[0226] In formula (16), by changing the pdf TDOA，i (q) By translating and flipping, we can get the pdf DTAE，i (R i，tar -q), and let u=Ri，tar -q as a whole is used as an independent variable to get the PDF DTAE，i (u).

[0227] S63, obtaining a deviation estimation value of the relative time alignment error according to the probability distribution of the relative time alignment error.

[0228] Since the timing deviation on the target terminal side has been eliminated on TDOA, and considering that the relative time alignment error is stable within a certain period of time, the probability distribution of the relative time alignment error of the position estimates of all target terminals that need to be located can be accumulated and averaged within a certain time window.

[0229] Specifically, when there are multiple probability distributions of relative time alignment errors, weighted average processing can be performed on the probability distributions of the multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors. The weighted average processing process can be referred to the following formula (17):

[0230]

[0231] Where N represents the number of probability distributions of multiple relative time alignment errors, N is a positive integer, and pdf DTAE，i，n (u) represents the probability distribution of the nth relative time alignment error, kn represents the weight value of the probability distribution of the nth relative time alignment error, pdf DTAE，i，total (u) represents the weighted average probability distribution of multiple relative time alignment errors.

[0232] In the absence of prior information, the weight values ​​of the probability distributions of multiple relative time alignment errors can be set equal. In the presence of prior information, the weight values ​​of the probability distributions of relative time alignment errors can be set based on the prior information. For example, the weight value of the probability distribution of the relative time alignment error can be set in combination with the signal to interference plus noise ratio (SINR) of the target terminal.

[0233] After obtaining a weighted average probability distribution of multiple relative time alignment errors, the relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error. For details, see the following formula (18):

[0234]

[0235] Among them, ΔG best，trp，i Bias estimate representing the relative temporal alignment error.

[0236] After the deviation estimation value of the relative time alignment error is obtained, the positioning position of the target terminal can be determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

[0237] Specifically, firstly, a single difference operation is performed on the second TOA measurement value and the first TOA measurement value to determine the TDOA value between the non-reference TRP and the reference TRP. This process can be referred to in the above formula (15) and will not be repeated here.

[0238] Then, according to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value. The specific implementation process can be seen in the following formula (19):

[0239]

[0240] Among them, R i，n，tar is the TDOA value between the non-reference TRP and the reference TRP, ΔG best，trp，i is the bias estimate of the relative time alignment error, is the TDOA value after correction.

[0241] Then, the positioning position of the target terminal is determined based on the TDOA value after correction. For example, after obtaining the TDOA value after correction from the target terminal to the reference TRP and the non-reference TRP, a hyperbola is drawn using the TDOA value after correction, and the intersection of the hyperbola is determined as the positioning position of the target terminal.

[0242] The terminal positioning method provided in the embodiment of the present application first determines the estimated area where the target terminal is located; then, according to the respective positions of the multiple TRPs and the position range of the estimated area, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located is determined; the multiple TRPs include a reference TRP and at least one non-reference TRP; and then, according to the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, the deviation estimate of the relative time alignment error is obtained; and then, according to the deviation estimate of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value, the positioning position of the target terminal can be determined. The scheme of the embodiment of the present application can estimate and compensate for the relative time alignment error between each TRP without deploying a reference terminal, thereby realizing the positioning of the terminal under the premise of ensuring accuracy, without introducing any reference terminal, and the operation is simple.

[0243] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 7As shown, the electronic device includes a memory 720, a transceiver 700, and a processor 710, wherein:

[0244] The memory 720 is used to store computer programs; the transceiver 700 is used to send and receive data under the control of the processor 710; the processor 710 is used to read the computer program in the memory 720 and perform the following operations:

[0245] Determine an estimated area where the target terminal is located;

[0246] Determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP;

[0247] Obtain a deviation estimate of the relative time alignment error according to the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal;

[0248] The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

[0249] Specifically, the transceiver 700 is used to receive and send data under the control of the processor 710.

[0250] Among them, Figure 7 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 710 and memory represented by memory 720. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 700 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which may include transmission media such as wireless channels, wired channels, optical cables, etc. The processor 710 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 710 when performing operations.

[0251] Optionally, the processor 710 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0252] The processor calls the computer program stored in the memory to execute any method provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0253] In a possible implementation, according to the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, the deviation estimate of the relative time alignment error is obtained, including:

[0254] Determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located;

[0255] According to the probability distribution of the ideal TDOA, the first TOA measurement value and the second TOA measurement value, a deviation estimation value of the relative time alignment error is obtained.

[0256] In a possible implementation, when the probability of the target terminal being in each location point in the estimation area is uniformly distributed, the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, is determined, including:

[0257] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0258] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0259] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0260] In one possible implementation,

[0261] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0262]

[0263] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0264]

[0265] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0266]

[0267] Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference;

[0268] D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference;

[0269] R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0270] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of ideal TDOA.

[0271] In a possible implementation, obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value includes:

[0272] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0273] According to the TDOA value, the probability distribution of the ideal TDOA is transformed into an independent variable to obtain the probability distribution of the relative time alignment error;

[0274] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0275] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate according to the probability distribution of the relative time alignment error includes:

[0276] Performing weighted average processing on the probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors;

[0277] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

[0278] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimation area where the target terminal is located according to the respective locations of the multiple TRPs and the location range of the estimation area includes:

[0279] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0280] According to the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area, the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0281] In a possible implementation, determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes:

[0282] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0283] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0284] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0285] It should be noted here that the above-mentioned electronic device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the execution subject is the electronic device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0286] Figure 8 A schematic diagram of the structure of a terminal positioning device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the terminal positioning device includes:

[0287] A first determining module 810 is used to determine an estimated area where a target terminal is located;

[0288] The second determination module 820 is used to determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP;

[0289] A processing module 830 is used to obtain a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal;

[0290] The positioning module 840 is used to determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

[0291] In a possible implementation, the processing module 830 is specifically configured to:

[0292] Determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located;

[0293] According to the probability distribution of the ideal TDOA, the first TOA measurement value and the second TOA measurement value, a deviation estimation value of the relative time alignment error is obtained.

[0294] In a possible implementation manner, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the processing module 830 is specifically configured to:

[0295] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0296] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0297] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0298] In one possible implementation,

[0299] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0300]

[0301] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0302]

[0303] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0304]

[0305] Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference;

[0306] D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, Dupper，j -D lower，j represents the first difference;

[0307] R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0308] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of ideal TDOA.

[0309] In a possible implementation, the processing module 830 is specifically configured to:

[0310] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0311] According to the TDOA value, the probability distribution of the ideal TDOA is transformed into an independent variable to obtain the probability distribution of the relative time alignment error;

[0312] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0313] In a possible implementation manner, when there are multiple probability distributions of the relative time alignment error, the processing module 830 is specifically configured to:

[0314] Performing weighted average processing on the probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors;

[0315] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

[0316] In a possible implementation manner, when the probability that the target terminal is located at each location point in the estimation area is uniformly distributed, the second determination module 820 is specifically configured to:

[0317] Determine the maximum distance and the minimum distance from each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area;

[0318] According to the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area, the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0319] In a possible implementation, the positioning module 840 is specifically configured to:

[0320] Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0321] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0322] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0323] Specifically, the terminal positioning device provided in the embodiment of the present application can implement all the method steps implemented in the method embodiment in which the execution subject is an electronic device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0324] It should be noted that the division of units / modules in the above embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the functional units in the various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0325] 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 processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially 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, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0326] In some embodiments, a processor-readable storage medium is further provided, the processor-readable storage medium storing a computer program, and the computer program is used to enable a computer to execute the terminal positioning method provided by the above-mentioned method embodiments.

[0327] Specifically, the processor-readable storage medium provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiments, and can achieve the same technical effects. The parts and beneficial effects that are the same as those in the method embodiments will not be described in detail herein.

[0328] It should be noted that the processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0329] It should also be noted that the terms "first", "second", etc. in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0330] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0331] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0332] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new radio (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0333] The terminal device involved in the embodiment of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a wireless access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs) and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, and a user device, but is not limited in the embodiments of the present application.

[0334] The network device involved in the embodiment of the present application may be a base station, which may include multiple cells providing services for the terminal. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, and serve as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (Global System for Mobile communications, GSM) or Code Division Multiple Access (Code Division Multiple Access, CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (evolutional Node B, eNB or e-NodeB) in the long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), or a home evolved Node B (Home evolved Node B, HeNB), a relay node, a home base station (femto), a pico base station (pico), etc., which is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be arranged geographically separately.

[0335] Network devices and terminal devices can each use one or more antennas for multi-input multi-output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the form and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, or it can be diversity transmission, precoding transmission or beamforming transmission, etc.

[0336] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0337] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0338] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0339] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0340] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A terminal positioning method, It is characterized in that include: Determine an estimated area where the target terminal is located; Determine the probability distribution of the ideal arrival time TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple transmitting and receiving units TRP and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP; Obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal; The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

2. The method according to claim 1, It is characterized in that The obtaining a deviation estimate of a relative time alignment error according to the probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal comprises: Determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

3. The method according to claim 2, It is characterized in that In a case where the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimation area according to the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, comprises: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; determining a first difference between a maximum distance and a minimum distance from the reference TRP to location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to location points in the estimation area; The probability distribution of the ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

4. The method according to claim 3, It is characterized in that When the first difference is less than the second difference, the probability distribution of the ideal TDOA is: When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is: When the first difference is equal to the second difference, the probability distribution of the ideal TDOA is: Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference; D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference; R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP; Represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of the ideal TDOA.

5. The method according to any one of claims 2 to 4, It is characterized in that The obtaining, according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, a deviation estimate of the relative time alignment error includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; Performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain a probability distribution of a relative time alignment error; A deviation estimation value of the relative time alignment error is obtained according to the probability distribution of the relative time alignment error.

6. The method according to claim 5, It is characterized in that In the case where there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate of the relative time alignment error according to the probability distribution of the relative time alignment error includes: Performing weighted average processing on probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors; The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

7. The method according to any one of claims 1 to 4, It is characterized in that In a case where the probability of the target terminal being at each location point in the estimated area is uniformly distributed, determining the probability distribution of the ideal arrival time TOA of each of the plurality of transmitting and receiving units TRP to the estimated area where the target terminal is located according to the respective locations of the plurality of TRPs and the location range of the estimated area, comprises: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; The probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined based on the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area.

8. The method according to any one of claims 1 to 4, It is characterized in that The determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain a corrected TDOA value; The positioning position of the target terminal is determined according to the TDOA value after the correction.

9. An electronic device, It is characterized in that Including memory, transceiver, processor; A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine an estimated area where the target terminal is located; Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, the probability distribution of the ideal TOA of each of the plurality of TRPs to the estimated area where the target terminal is located; the plurality of TRPs include a reference TRP and at least one non-reference TRP; Obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal; The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

10. The electronic device according to claim 9, It is characterized in that The obtaining a deviation estimate of a relative time alignment error according to the probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal comprises: Determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

11. The electronic device according to claim 10, It is characterized in that In a case where the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimation area according to the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, comprises: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; determining a first difference between a maximum distance and a minimum distance from the reference TRP to location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to location points in the estimation area; The probability distribution of the ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

12. The electronic device according to claim 11, It is characterized in that When the first difference is less than the second difference, the probability distribution of the ideal TDOA is: When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is: When the first difference is equal to the second difference, the probability distribution of the ideal TDOA is: Among them, D lower，i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper，i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper，i -D lower，i represents the second difference; D lower，j is the minimum distance from the reference TRP to the location point in the estimation area, D upper，j is the maximum distance from the reference TRP to the location point in the estimation area, D upper，j -D lower，j represents the first difference; R lower，i =D lower，i -D upper，j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper，i =D upper，i -D lower，j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP; Represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA，i (q) represents the probability distribution of the ideal TDOA.

13. The electronic device according to any one of claims 10 to 12, It is characterized in that The obtaining, according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, a deviation estimate of the relative time alignment error includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; Performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain a probability distribution of a relative time alignment error; A deviation estimation value of the relative time alignment error is obtained according to the probability distribution of the relative time alignment error.

14. The electronic device according to claim 13, It is characterized in that In the case where there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate of the relative time alignment error according to the probability distribution of the relative time alignment error includes: Performing weighted average processing on probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors; The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

15. The electronic device according to any one of claims 9 to 12, It is characterized in that In a case where the probability of the target terminal being at each location point in the estimated area is uniformly distributed, determining the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located according to the respective locations of the multiple TRPs and the location range of the estimated area, includes: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; The probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined based on the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area.

16. The electronic device according to any one of claims 9 to 12, It is characterized in that The determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain a corrected TDOA value; The positioning position of the target terminal is determined according to the TDOA value after the correction.

17. A terminal positioning device, It is characterized in that include: A first determination module, used to determine an estimated area where a target terminal is located; A second determination module is used to determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP; A processing module, configured to obtain a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal; A positioning module is used to determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

18. A processor-readable storage medium, It is characterized in that The processor-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute the terminal positioning method according to any one of claims 1 to 8.

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