Wireless positioning method and device, and storage medium

Abstract

The embodiment of the invention provides a wireless positioning method and device and a storage medium. Comprising the following steps: a terminal requests first auxiliary information about a downlink positioning reference signal from a first core network, or the terminal requests uplink positioning reference signal configuration from a base station; wherein the first auxiliary information comprises at least one of the following items: a physical cell index, a global cell index, an absolute wireless channel number, a transmission receiving point index, base station timing information, or a time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration and an effective area; and the effective cell range is realized. According to the wireless positioning method provided by the embodiment of the invention, the 5G wireless positioning technology is applied to the 6G network, and the requirements of high precision, low time delay and high reliability of positioning can be met.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of wireless communication technologies, and in particular, to a wireless positioning method, device, and storage medium. Background Art

[0002] Wireless positioning can be used to enhance the user experience, improve network efficiency, and be used in smart city scenarios. For example, through precise positioning, users can enjoy more personalized and intelligent services, such as location-based advertising push, navigation services, and emergency rescue. Operators can use positioning information for network optimization, such as dynamically adjusting network resource allocation according to the user's location to improve network coverage and capacity. Precise positioning can support real-time tracking of devices and materials, optimize production processes, and improve efficiency. Positioning can also be used to support intelligent traffic management, public facility maintenance, disaster emergency response, etc.

[0003] With the evolution from 5G to 6G, the demand for high-precision, low-latency, and high-reliability positioning increases.

[0004] Integrated communication and sensing is one of the important evolutionary directions of future communication technologies recognized by the International Telecommunication Union, facilitating typical scenarios such as smart low altitude, smart transportation, smart life, and smart network. Sensing extracts the characteristics of the measured object or environment from the reflected / scattered wave through a device that receives and measures the reflected / scattered wave to obtain measurement data for the sensing target or environment. There are six basic sensing modes: base station self-transmitting and self-receiving, base station A transmitting and base station B receiving, terminal self-transmitting and self-receiving, terminal A transmitting and terminal B receiving, base station transmitting to terminal receiving, and terminal transmitting to base station receiving. Summary of the Invention

[0005] Embodiments of the present application provide a wireless positioning method, device, and storage medium, which can meet the requirements for high-precision, low-latency, and high-reliability positioning.

[0006] To achieve the above object, embodiments of the present application provide a wireless positioning method, including:

[0007] The terminal requests first auxiliary information about the downlink positioning reference signal from the first core network, or the terminal requests uplink positioning reference signal configuration from the base station; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or the time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range.

[0008] To achieve the above object, embodiments of the present application provide a wireless positioning method, including:

[0009] The first core network sends first auxiliary information of a downlink positioning reference signal to a terminal, so that the terminal performs positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or location information; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range.

[0010] To achieve the above object, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the wireless positioning method described in the embodiment of the present application is implemented.

[0011] To achieve the above object, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the wireless positioning method described in the embodiment of the present application is implemented.

[0012] An embodiment of the present application provides a wireless positioning method, device, and storage medium. It includes: a terminal requests first auxiliary information about a downlink positioning reference signal from a first core network, or the terminal requests an uplink positioning reference signal configuration from a base station; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range. The wireless positioning method provided in this embodiment applies 5G wireless positioning technology to a 6G network, which can meet the requirements for high-precision, low-latency, and high-reliability positioning. Description of the Drawings

[0013] Figure 1 is a flowchart of a wireless positioning method in an embodiment of the present application;

[0014] Figure 2 is a wireless positioning architecture diagram in an embodiment of the present application;

[0015] Figure 3 is a signaling diagram of 6G supporting downlink positioning in an embodiment of the present application;

[0016] Figure 4 is a signaling diagram of 6G supporting uplink positioning in an embodiment of the present application;

[0017] Figure 5 is a wireless positioning architecture diagram in an embodiment of the present application;

[0018] Figure 6 It is a wireless positioning architecture diagram in an embodiment of the present application;

[0019] Figure 7 It is a wireless positioning architecture diagram in an embodiment of the present application;

[0020] Figure 8 It is a wireless positioning architecture diagram in an embodiment of the present application;

[0021] Figure 9 It is a flowchart of a wireless positioning method in an embodiment of the present application;

[0022] Figure 10 It is a schematic structural diagram of a wireless positioning device in an embodiment of the present application;

[0023] Figure 11 It is a schematic structural diagram of a wireless positioning device in an embodiment of the present application;

[0024] Figure 12 It is a schematic structural diagram of an electronic device in an embodiment of the present application. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other arbitrarily.

[0026] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] In the subsequent descriptions, suffixes such as "module", "component", or "unit" used to represent elements are only for the convenience of describing the present invention and have no specific meaning by themselves. Therefore, "module", "component", or "unit" can be used interchangeably.

[0028] Figure 1 It is a flowchart of a wireless positioning method provided by an embodiment of the present application. As Figure 1 shown, the method includes the following steps:

[0029] S110. The terminal requests first auxiliary information about the downlink positioning reference signal from the first core network, or the terminal requests uplink positioning reference signal configuration from the base station.

[0030] Among them, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or the time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range. The first core network may be a 6G core network.

[0031] In one embodiment, Figure 2 is a wireless positioning architecture diagram in an embodiment of the present application. As Figure 2 shown, in this architecture, the terminal only interacts with the 6G core network by signaling, and there is no signaling interaction between the terminal and the 5G core network. The terminal can establish connections with the 5G base station and the 6G base station through the air interface. The 6G core network has signaling interactions with both the 5G base station and the 6G base station. There may be an interface between the 5G core network and the 6G core network to meet the function of the 6G core network using the 5G reference signal for positioning.

[0032] Optionally, the terminal supports dual connection. A terminal can be connected to the 5G base station and the 6G base station, that is, it can receive signals or channels sent from the 5G base station and the 6G base station.

[0033] Optionally, the positioning service can be initiated by the 6G core network, the application layer, or the terminal.

[0034] Optionally, the first core network requests the second auxiliary information from the base station or the base station sends the second auxiliary information to the first core network. Among them, the second auxiliary information includes at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set for bandwidth aggregation or downlink positioning reference signal positioning frequency layer, synchronization signal block (SSB) information of the transmission and reception point, spatial orientation information of the downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of the transmission-reception point (TRP), timing advance parameter configured by the base station, information of the moving base station.

[0035] Among them, the base station can be a 5G base station, that is, the 6G core network and the 5G base station exchange signaling. The index signal of the base station includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index; the base station timing information includes the initial time of the system frame number; the base station information includes at least one of the following: geographical location information of the base station, geographical location information of the TRP, location information of the downlink positioning reference signal, speed information of the base station, associated timestamp information; the information of the moving base station includes at least one of the following: timestamp, geographical location, speed magnitude, speed direction, speed.

[0036] Optionally, after the terminal requests the first core network for the first auxiliary information about the downlink positioning reference signal, it further includes: the terminal performs positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or location information, and actively or based on the request of the first core network, sends the positioning measurement result or location information to the first core network.

[0037] Optionally, the first core network sends measurement request information to the base station. Among them, the measurement request information includes at least one of the following: terminal uplink positioning reference signal configuration information, terminal uplink clock information, terminal timing advance uplink angle-of-arrival (AOA) angle range, terminal timing expected uplink AOA angle range.

[0038] Optionally, the signaling interaction mode between the 6G core network and the 5G base station can adopt one or more of the following: there is direct signaling interaction between the 6G core network and the 5G base station: the 6G core network can collect information of the 5G base station, among which, it includes base station location information, downlink positioning reference signal configuration information, and uplink positioning reference signal configuration information. There is no direct signaling interaction between the 6G core network and the 5G base station, and the 6G core network can exchange information through the 6G base station and the 5G base station. Among them, information is transmitted between the 5G base station and the 6G base station through the Xn interface, and the information exchanged between the 6G core network and the 5G base station may be transparent to the 6G base station.

[0039] Optionally, the first core network and the second core network transmit information through an interface.

[0040] Among them, the second core network is a 5G core network, and the 5G core network can be an AMF (Access and Mobility Management Function), an LMF (Location Management Function), or an NEF (Network Exposure Function). This interface can be a private interface. The information transmitted through this interface includes at least one of the following: The second core network sends at least one of the following information to the first core network: positioning-related information, authentication and authorization information, base station index for positioning, base station location, positioning reference unit location, other terminal index, other terminal location, or positioning method. The first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; among them, the positioning requirement information includes at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angular accuracy, response time, reporting period; among them, the quality of service information includes at least one of the following: service type, distance speed angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed range, duration, feedback period, delay; the positioning measurement request includes at least one of the following: positioning method, coordinate information of the positioning measurement quantity terminal, quality information, time information. The second core network also sends the location information of the terminal to the first core network. Among them, the positioning-related information may include enabling the 6G core network to support 5G positioning methods. Such as: DL-TDOA, UL-TDOA, SL-TDOA, SL-TOA, Multi-RTT, SL-RTT, SL-AoA, DL-AoD, UL-AoA.

[0041] In this embodiment, the terminal measures the downlink positioning reference signal and reports the measurement result to the 6G core network. The terminal needs a measurement gap or a downlink positioning reference signal processing window (PRS processing window, PPW) to measure the downlink positioning signal.

[0042] Optionally, the terminal requests a measurement gap or a downlink positioning reference signal processing window from the base station through high-layer signaling; or, the terminal requests the base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window through low-layer signaling.

[0043] Among them, the high-layer signaling can be Radio Resource Control (RRC) signaling, and the low-layer signaling can be Media Access Control Control Element (MACCE) signaling. The base station can be a 5G base station or a 6G base station. That is, the terminal requests a measurement gap or a downlink positioning reference signal processing window from the 5G base station through high-layer signaling; or, the terminal requests the 5G base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window through low-layer signaling. The terminal requests a measurement gap or a downlink positioning reference signal processing window from the 6G base station through high-layer signaling; or, the terminal requests the 6G base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window through low-layer signaling.

[0044] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the first core network receives the pre-configured measurement gap or downlink positioning reference signal processing window sent by the base station; or, the first core network requests the base station to activate the pre-configured measurement gap or downlink positioning reference signal processing window; where the base station is a 5G base station or a 6G base station.

[0045] Among them, the base station can be a 5G base station or a 6G base station. That is, the 6G core network can request the 5G base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the 5G base station can send the pre-configured measurement gap or downlink positioning reference signal processing window to the 6G core network, and the 6G core network can request the 5G base station to activate a certain pre-configured measurement gap or downlink positioning reference signal processing window. The 6G core network can request the 6G base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the 6G base station can send the pre-configured measurement gap or downlink positioning reference signal processing window to the 6G core network, and the 6G core network can request the 6G base station to activate a certain pre-configured measurement gap or downlink positioning reference signal processing window.

[0046] Optionally, after the terminal requests the base station to configure the uplink positioning reference signal, it further includes: the terminal sends an uplink positioning reference signal to the base station based on the uplink positioning reference information configuration, so that the base station performs positioning measurement on the uplink positioning reference signal, obtains a positioning measurement result or location information, and sends the positioning measurement result or location information to the first core network.

[0047] In one embodiment, Figure 3 is the signaling diagram of 6G supporting downlink positioning in this embodiment. As Figure 3As shown in the figure, the process of 6G supporting downlink positioning includes the following steps: The 6G core network requests second auxiliary information from the 5G base station; The 5G base station reports the second auxiliary information to the 6G core network; The terminal requests first auxiliary information from the 6G core network; The 6G core network sends the first auxiliary information to the terminal; The terminal performs positioning measurements based on the first auxiliary information to obtain positioning measurement results or location information; The 6G core network requests the positioning result from the terminal; The terminal reports the positioning measurement results or location information to the 6G core network.

[0048] In one embodiment, Figure 4 is the signaling diagram of 6G supporting uplink positioning in this embodiment. As Figure 3 shown, the process of 6G supporting uplink positioning includes the following steps: The terminal requests uplink positioning reference signal configuration from the 5G base station; The 5G base station sends the uplink positioning reference signal configuration to the terminal; The terminal sends an uplink positioning reference signal to the 5G base station; The 5G base station performs positioning measurements on the uplink positioning reference signal; The 6G core network requests second auxiliary information from the 5G base station; The 5G base station reports the second auxiliary information to the 6G core network; The 6G core network requests the positioning result from the 5G base station; The 5G base station reports the positioning measurement results or location information to the 6G core network.

[0049] In one embodiment, Figure 5 is a wireless positioning architecture diagram in an embodiment of this application. As Figure 5 shown, in this architecture, the terminal needs to be connected to two core networks, namely the 5G core network and the 6G core network. There needs to be at least an interface between the 5G core network and the 6G core network to transfer positioning measurement results or the location information of the terminal.

[0050] Optionally, the terminal supports dual connection. One terminal can be connected to the 5G base station and the 6G base station, that is, it can receive signals or channels sent by the 5G base station and the 6G base station.

[0051] Optionally, the positioning service can be initiated by the 6G core network, the application layer, or the terminal.

[0052] Optionally, the 6G core network can forward the positioning request to the 5G core network.

[0053] Optionally, the 5G core network initiates the 5G positioning process and interacts with the 5G base station or the terminal for auxiliary information, terminal capability information, and measurement information.

[0054] Optionally, the 5G core network feeds back the positioning measurement results or the terminal location information to the 6G core network.

[0055] As Figure 5As shown, in this architecture, the 5G base station and the 6G base station may not interact through the Xn interface. That is, the 5G base station and the 5G core network are responsible for 6G positioning services, and the 6G base station and the 6G core network are responsible for 6G communication services. The signaling interaction related to positioning mainly occurs between the 5G core network and the 6G core network. Among them, the 5G core network and the 6G core network transmit information through an interface. The information transmitted through this interface can refer to the above embodiments and will not be elaborated here.

[0056] In one embodiment, a terminal is associated with another terminal, and the other terminal is a reference terminal; the terminal and the reference terminal are respectively connected to a second core network and a first core network.

[0057] Optionally, the association relationship between the two terminals is sent to the second core network or the base station; where the association relationship includes at least one of the following: a set of terminal indexes, a terminal index, the distance between the terminal and the reference terminal, or the relative position of the two terminals.

[0058] Optionally, it further includes at least one of the following:

[0059] The reference terminal receives a positioning request from the first core network; where the positioning request includes a location information request or a positioning measurement result request. The reference terminal forwards the positioning request to the terminal, so that the terminal performs positioning measurement based on a preset positioning algorithm to obtain location information, and synchronizes the location information to the reference terminal. The reference terminal receives the location information synchronized by the terminal and sends the location information to the first core network.

[0060] Optionally, enabling the terminal to perform positioning measurement based on a preset positioning method to obtain location information includes: if it is a terminal-based positioning method, the terminal performs positioning measurement to obtain location information; if it is a core network-based positioning method, the terminal performs positioning measurement to obtain a positioning measurement result; the terminal sends the positioning measurement result to the second core network, so that the second core network determines the location information based on the positioning measurement result and sends the positioning information to the second core network or the reference terminal.

[0061] Exemplarily, Figure 6 is a wireless positioning architecture diagram in an embodiment of the present application. As Figure 6 shown, in this architecture, there are two associated terminals, namely terminal 1 and terminal 2, where terminal 2 is the reference terminal. As Figure 6 shown, terminal 1 is connected to the 5G core network, and terminal 2 is connected to the 6G core network. The 5G core network and the 6G core network can interact with positioning measurement information.

[0062] In this architecture, the terminal 1 reports the association relationship with the terminal 2 to the 5G base station or the 5G core network. The 6G core network sends a positioning request to the terminal 2; the terminal 2 sends the positioning request to the terminal 1 through high-layer signaling or the application layer; the terminal 1 triggers the positioning process. If it is a terminal-based positioning method, the terminal 1 can obtain the location information and send the location information to the terminal 2; if it is a positioning core network-based positioning method, the terminal 1 can obtain the positioning measurement result and report it to the 5G positioning core network. The 5G positioning core network determines the location information based on the positioning measurement result and sends the location information to the 6G core network or the terminal 1.

[0063] Optionally, it further includes: The reference terminal sends at least one of the following to the first core network: the index information of the terminal, the index information bound to the terminal, the positioning measurement result of the terminal, the coordinate information of the terminal, the relative position or relative distance information or relative angle information between the terminal and the reference terminal. That is, the result reported by the terminal 2 to the 6G core network can also include: the index information of the terminal 1, the bound index information of the terminal, the positioning measurement result of the terminal 1, the location information of the terminal 1, the relative position or relative distance information or relative angle information between the terminal 1 and the terminal 2. In this embodiment, the terminal 1 and the terminal 2 are two terminals with dual SIM cards on the same device. The terminal 1 operates in 5G, and the terminal 2 operates in 6G (without introducing the positioning function). The positioning measurement result of the terminal 1 can be synchronized to the terminal 2.

[0064] Optionally, Figure 7 is a wireless positioning architecture diagram in an embodiment of the present application. As Figure 7 shown, in this architecture, the terminal can communicate with the 5G base station and the 6G base station, but the core network is borne by the 5G core network.

[0065] Optionally, both the 5G base station and the 6G base station participate in the positioning of the terminal. To ensure the synchronization of the 5G base station and the 6G base station: for example, the core network (5G or 6G) can recommend a synchronization source or a synchronization time standard to the 5G and 6G base stations.

[0066] Optionally, Figure 8 is a wireless positioning architecture diagram in an embodiment of the present application. As Figure 8 described, the first core network can be a perception core network.

[0067] Optionally, the perception core network receives at least one of the following information sent by the terminal or the base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, location information, and other perception information.

[0068] Among them, the distance-related information includes at least one of the following: time delay, time of arrival (TOA), reference signal time difference (RSTD), relative time of arrival (RTOA), Rx-Tx time difference; the angle-related information includes at least one of the following: reference signal received power (RSRP), reference signal received path power (RSRPP), AOA, zenith angle of arrival (ZOA); the speed-related information includes at least one of the following: speed measurement result, Doppler measurement result; the phase-related information includes at least one of the following: carrier phase measurement result, reference signal carrier phase (RSCP), reference signal carrier phase difference (RSCPD), phase measurement for micro-deformation; the reference-related information includes at least one of the following: reference TRP, reference time; the quality-related information includes at least one of the following: quality, uncertainty, confidence level; the position information includes at least one of the following: position information of the terminal, position information of the sensed target; other sensed information of the call number includes at least one of the following: micro-Doppler measurement result, target type, target quantity, presence of target, target trajectory, relative displacement magnitude.

[0069] Figure 9 is a flowchart of a wireless positioning method provided by an embodiment of the present application, as Figure 9 shown, the method includes the following steps:

[0070] S910, the first core network sends first auxiliary information of a downlink positioning reference signal to the terminal, so that the terminal performs positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or position information.

[0071] Among them, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range.

[0072] Optionally, the first core network requests the base station or the base station sends second auxiliary information to the first core network; wherein, the second auxiliary information includes at least one of the following: the index signal of the base station, the base station timing information, the base station information, the downlink positioning reference signal configuration of the base station, the uplink positioning reference signal configuration of the base station, the downlink positioning reference signal resource set or the downlink positioning reference signal positioning frequency layer for bandwidth aggregation, the SSB information of the transmission and reception point, the spatial orientation information of the downlink positioning reference signal resource, the requested downlink positioning reference signal configuration, the transmission time error group information of the TRP, the timing advance parameter configured by the base station, the information of the moving base station.

[0073] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the first core network receives the pre-configured measurement gap or downlink positioning reference signal processing window sent by the base station; or, the first core network requests the base station to activate the pre-configured measurement gap or downlink positioning reference signal processing window; wherein, the base station is a 5G base station or a 6G base station.

[0074] Optionally, the first core network and the second core network transmit information through an interface.

[0075] Optionally, the second core network sends at least one of the following information to the first core network: positioning-related information, authentication and authorization information, the base station index for positioning, the base station location, the location of the positioning reference unit, the index of other terminals, the location of other terminals or the positioning method; the first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request and positioning measurement result; wherein, the positioning requirement information includes at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angular accuracy, response time, reporting period; the second core network also sends the location information of the terminal to the first core network; wherein, the quality of service information includes at least one of the following: service type, distance, speed, angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed range, duration, feedback period, delay; the positioning measurement request includes at least one of the following: positioning method, positioning measurement quantity, the coordinate information of the terminal, quality information, time information.

[0076] Optionally, the first core network is a sensing core network.

[0077] Optionally, the sensing core network receives at least one of the following information sent by the terminal or the base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, location information and other sensing information.

[0078] Figure 10 It is a schematic structural diagram of a wireless positioning device provided by an embodiment of the present application. The device is disposed in a terminal, such asFigure 10 As shown in the figure, it includes:

[0079] A first auxiliary information or uplink positioning reference signal configuration request module 1001, which is used for the terminal to request the first auxiliary information about the downlink positioning reference signal from the first core network, or for the terminal to request the uplink positioning reference signal configuration from the base station; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or the time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range.

[0080] Optionally, it further includes: a downlink positioning measurement module, which is used for:

[0081] Performing positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or location information.

[0082] Optionally, the first core network requests the second auxiliary information from the base station or the base station sends the second auxiliary information to the first core network; wherein, the second auxiliary information includes at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set for bandwidth aggregation or downlink positioning reference signal positioning frequency layer, synchronization signal block SSB information of the transmission and reception point, spatial orientation information of the downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of the transmission and reception point TRP, timing advance parameter configured by the base station, information of the moving base station.

[0083] Optionally, the index signal of the base station includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index; the base station timing information includes the initial time of the system frame number; the base station information includes at least one of the following: geographical location information of the base station, geographical location information of the TRP, location information of the downlink positioning reference signal, speed information of the base station, associated timestamp information; the information of the moving base station includes at least one of the following: timestamp, geographical location, speed magnitude, speed direction, speed.

[0084] Optionally, the first core network sends measurement request information to the base station; wherein, the measurement request information includes at least one of the following: terminal uplink positioning reference signal configuration information, terminal uplink clock information, terminal timing advance uplink angle of arrival AOA angle range, terminal timing expected uplink AOA angle range.

[0085] Optionally, it further includes: a positioning measurement result or location information sending module, which is used for:

[0086] Send the positioning measurement result or location information to the first core network.

[0087] Optionally, it further includes: a measurement gap or downlink positioning reference signal processing window request module, configured to:

[0088] The terminal requests a measurement gap or a downlink positioning reference signal processing window from the base station through high-layer signaling; or,

[0089] The terminal requests the base station to activate a pre-configured measurement gap or downlink positioning reference signal processing window through low-layer signaling.

[0090] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the first core network receives a pre-configured measurement gap or downlink positioning reference signal processing window sent by the base station; or, the first core network requests the base station to activate a pre-configured measurement gap or downlink positioning reference signal processing window; wherein, the base station is a 5G base station or a 6G base station.

[0091] Optionally, it further includes: an uplink positioning measurement module, configured to:

[0092] Based on the uplink positioning reference information configuration, send an uplink positioning reference signal to the base station, so that the base station performs positioning measurement on the uplink positioning reference signal, obtains a positioning measurement result or location information, and sends the positioning measurement result or location information to the first core network.

[0093] Optionally, the first core network and the second core network transmit information through an interface.

[0094] Optionally, the information transmitted through the interface includes at least one of the following:

[0095] The second core network sends at least one of the following information to the first core network: positioning-related information, authentication and authorization information, base station index for positioning, base station location, positioning reference unit location, other terminal index, other terminal location, or positioning method;

[0096] The first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; wherein, the positioning requirement information includes at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angular accuracy, response time, reporting period; wherein, the quality of service information includes at least one of the following: service type, distance speed angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed range, duration, feedback period, time delay; the positioning measurement request includes at least one of the following: positioning method, coordinate information of the positioning measurement quantity terminal, quality information, time information;

[0097] The second core network also sends the location information of the terminal to the first core network.

[0098] Optionally, the terminal is associated with another terminal, and the other terminal is a reference terminal; the terminal and the reference terminal are respectively connected to the second core network and the first core network.

[0099] Optionally, it further includes: an association relationship sending module, which is used for:

[0100] Sending the association relationship between the two terminals to the second core network or the base station; wherein, the association relationship includes at least one of the following: terminal index set, terminal index, distance between the terminal and the reference terminal, or relative position of the two terminals.

[0101] Optionally, it further includes at least one of the following:

[0102] The reference terminal receives a positioning request from the first core network; wherein, the positioning request includes a location information request or a positioning measurement result request;

[0103] The reference terminal forwards the positioning request to the terminal, so that the terminal performs positioning measurement based on a preset positioning algorithm, obtains location information, and synchronizes the location information to the reference terminal;

[0104] The reference terminal receives the location information synchronized by the terminal and sends the location information to the first core network.

[0105] Optionally, enabling the terminal to perform positioning measurement based on a preset positioning method to obtain location information includes:

[0106] If the preset positioning method is a terminal-based positioning method, the terminal performs positioning measurement to obtain location information;

[0107] If the preset positioning method is a core network-based positioning method, the terminal performs positioning measurements to obtain positioning measurement results; the terminal sends the positioning measurement results to the second core network, so that the second core network determines location information based on the positioning measurement results and sends the location information to the second core network or the reference terminal.

[0108] Optionally, it further includes:

[0109] The reference terminal sends at least one of the following to the first core network: the index information of the terminal, the index information bound to the terminal, the positioning measurement results of the terminal, the coordinate information of the terminal, the relative position or relative distance information or relative angle information between the terminal and the reference terminal.

[0110] Optionally, the first core network is a sensing core network.

[0111] Optionally, the sensing core network receives at least one of the following information sent by the terminal or the base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, location information, and other sensing information.

[0112] Optionally, the distance-related information includes at least one of the following: time delay, time of arrival (TOA), reference signal time difference (RSTD), relative time of arrival (RTOA), receive-transmit time difference; the angle-related information includes at least one of the following: reference signal received power (RSRP), reference signal received path power (RSRPP), angle of arrival (AOA), zenith angle of arrival (ZOA); the speed-related information includes at least one of the following: speed measurement results, Doppler measurement results; the phase-related information includes at least one of the following: carrier phase measurement results, reference signal carrier phase (RSCP), reference signal carrier phase difference (RSCPD), phase measurement for micro-deformation; the reference-related information includes at least one of the following: reference transmit-receive point (TRP), reference time; the quality-related information includes at least one of the following: quality, uncertainty, confidence level; the location information includes at least one of the following: location information of the terminal, location information of the sensing target; other sensing information includes at least one of the following: micro-Doppler measurement results, target type, target quantity, presence of target, target trajectory, relative displacement magnitude.

[0113] Figure 11 It is a schematic structural diagram of a wireless positioning device provided by an embodiment of the present application. The device is disposed in the first core network, as Figure 11 shown, the device includes:

[0114] The first auxiliary information sending module 1101 is configured to send first auxiliary information of a downlink positioning reference signal from a first core network to a terminal, so that the terminal performs positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or location information; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission reception point index, base station timing information, or time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range.

[0115] Optionally, the first core network requests a base station or the base station sends second auxiliary information to the first core network; wherein, the second auxiliary information includes at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set for bandwidth aggregation or downlink positioning reference signal positioning frequency layer, SSB information of a transmission reception point, spatial orientation information of downlink positioning reference signal resources, requested downlink positioning reference signal configuration, TRP transmission time error group information, timing advance parameter configured by the base station, mobile base station information.

[0116] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the first core network receives a pre-configured measurement gap or a downlink positioning reference signal processing window sent by the base station; or, the first core network requests the base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window; wherein, the base station is a 5G base station or a 6G base station.

[0117] Optionally, the first core network and the second core network transmit information through an interface.

[0118] Optionally, the second core network sends at least one of the following information to the first core network: positioning-related information, authentication and authorization information, base station index for positioning, base station location, location of positioning reference unit, other terminal index, other terminal location, or positioning method; the first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; wherein, the positioning requirement information includes at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angular accuracy, response time, reporting period; the second core network also sends the location information of the terminal to the first core network; wherein, the quality of service information includes at least one of the following: service type, distance speed angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed range, duration, feedback period, latency; the positioning measurement request includes at least one of the following: positioning method, coordinate information of the positioning measurement quantity terminal, quality information, time information.

[0119] Optionally, the first core network is a sensing core network.

[0120] Optionally, the sensing core network receives at least one of the following information sent by the terminal or the base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, location information, and other sensing information.

[0121] In one embodiment, Figure 12 is a schematic structural diagram of a computer device provided by an embodiment of the present application. As Figure 12 shown, the device provided by the present application includes: a processor 510 and a memory 520. The number of processors 510 in the device can be one or more, Figure 12 and one processor 510 is taken as an example. The number of memories 520 in the device can be one or more, Figure 12 and one memory 520 is taken as an example. The processor 510 and the memory 520 of the device can be connected by a bus or other means, Figure 12 and taking the connection by bus as an example. In the embodiment, the device is a computer device.

[0122] The memory 520, being a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the device in any embodiment of the present application. The memory 520 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the device, etc. In addition, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 520 may further include a memory remotely provided relative to the processor 510, and these remote memories can be connected to the device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0123] The device provided above can be configured to execute the wireless positioning method provided in any of the above embodiments, and has corresponding functions and effects.

[0124] The program stored in the corresponding memory 520 can be the program instructions / modules corresponding to the wireless positioning method provided in the embodiments of the present application. The processor 510 executes one or more functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 520, that is, implements the wireless positioning method in the above method embodiments. It can be understood that when the above device is a receiving end, it can execute the wireless positioning method provided in any embodiment of the present application and has corresponding functions and effects.

[0125] The embodiments of the present application further provide a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute a wireless positioning method when executed by a computer processor. The method includes: the terminal requests first auxiliary information about the downlink positioning reference signal from the first core network, or the terminal requests an uplink positioning reference signal configuration from the base station; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or the time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range. Or, the first core network sends the first auxiliary information of the downlink positioning reference signal to the terminal, so that the terminal performs positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or location information; wherein, the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio channel number, transmission and reception point index, base station timing information, or the time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, effective cell range.

[0126] Those skilled in the art should understand that the term user equipment covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable network browser, or a vehicle-mounted mobile station.

[0127] Generally speaking, various embodiments of the present application can be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. For example, some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software that can be executed by a controller, a microprocessor, or other computing devices, although the present application is not limited thereto.

[0128] The embodiments of the present application can be implemented by a data processor of a mobile device executing computer program instructions, for example, in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages.

[0129] Any block diagram of a logical process in the accompanying drawings of the present application may represent program steps, or may represent interconnected logical circuits, modules and functions, or may represent a combination of program steps and logical circuits, modules and functions. A computer program may be stored in a memory. The memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as but not limited to Read-Only Memory (ROM), Random Access Memory (RAM), optical memory devices and systems (Digital Video Disc (DVD) or Compact Disc (CD)), etc. The computer-readable medium may include non-transitory storage media. The data processor may be of any type suitable for the local technical environment, such as but not limited to general-purpose computers, special-purpose computers, microprocessors, Digital Signal Processing (DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FGPA), and processors based on multi-core processor architectures.

[0130] As described above, it is only an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application.

[0131] Embodiments of the present application may be implemented by a data processor of a mobile device executing computer program instructions, such as in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages.

[0132] By way of illustrative and non-limiting examples, a detailed description of exemplary embodiments of the present application has been provided above. However, considering the accompanying drawings and the claims, various modifications and adjustments to the above embodiments will be obvious to those skilled in the art without departing from the scope of the present invention. Therefore, the proper scope of the present invention will be determined according to the claims.

Claims

1. A wireless positioning method, characterized in that: include: The terminal requests the first auxiliary information about the downlink positioning reference signal from the first core network, or the terminal requests the uplink positioning reference signal configuration from the base station; wherein the first auxiliary information includes at least one of the following: a physical cell index, a global cell index, an absolute wireless channel number, a transmission receiving point index, a base station timing information, or a time difference between a base station and a reference base station, a downlink positioning reference signal configuration, a downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range.

2. The method according to claim 1, characterized in that Also includes: Perform positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or position information.

3. The method according to claim 1, characterized in that The first core network requests the base station or the base station sends the second auxiliary information to the first core network; wherein, the second auxiliary information includes at least one of the following: the base station index signal, the base station timing information, the base station information, the base station downlink positioning reference signal configuration, the base station uplink positioning reference signal configuration, the downlink positioning reference signal resource set or the downlink positioning reference signal positioning frequency layer used for bandwidth aggregation, the synchronization information block SSB information of the transmission receiving point, the spatial orientation information of the downlink positioning reference signal resource, the requested downlink positioning reference signal configuration, the transmission receiving point TRP sending time error group information, the base station configured timing advance parameter, and the mobile base station information.

4. The method according to claim 3, characterized in that The index signal of the base station includes at least one of the following: physical cell index, global cell index, absolute wireless channel number, transmission receiving point index; the base station timing information includes the system frame number initial time; the base station information includes at least one of the following: the geographic location information of the base station, the geographic location information of the TRP, the location information of the downlink positioning reference signal, the speed information of the base station, and the associated timestamp information; the mobile base station information includes at least one of the following: timestamp, geographic location, speed magnitude, speed direction, and speed.

5. The method according to claim 1, characterized in that The first core network sends measurement request information to the base station; wherein the measurement request information includes at least one of the following: terminal uplink positioning reference signal configuration information, terminal uplink clock information, uplink arrival angle AOA angle range of terminal timing advance, and uplink AOA angle range of terminal timing expectation.

6. The method according to claim 1, characterized in that After obtaining the positioning measurement result or location information, it also includes: Send the positioning measurement result or location information to the first core network.

7. The method according to claim 1, characterized in that Also includes: The terminal requests a measurement gap or a downlink positioning reference signal processing window from a base station through high-layer signaling; or, The terminal requests the base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window through underlying signaling.

8. The method according to claim 7, characterized in that The first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the first core network receives a pre-configured measurement gap or a downlink positioning reference signal processing window sent by the base station; or, the first core network requests the base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

9. The method according to claim 1, characterized in that: Also includes: An uplink positioning reference signal is sent to the base station based on the uplink positioning reference information configuration, so that the base station performs positioning measurement on the uplink positioning reference signal, obtains a positioning measurement result or location information, and sends the positioning measurement result or location information to the first core network.

10. The method according to claim 1, characterized in that The first core network and the second core network transmit information via an interface.

11. The method according to claim 10, characterized in that The information transmitted by the interface includes at least one of the following: The second core network sends at least one of the following information to the first core network: positioning related information, authentication authorization information, a base station index used for positioning, a base station position, a positioning reference unit position, an index of another terminal, a position of another terminal, or a positioning method; The first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request and positioning measurement result; wherein the positioning requirement information includes at least one of the following: terminal index information, service quality information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, and reporting cycle; wherein the service quality information includes at least one of the following: service type, distance speed angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, perception area, detection speed range, duration, feedback cycle, and delay; the positioning measurement request includes at least one of the following: positioning method, coordinate information of the positioning measurement terminal, quality information, and time information; The second core network also sends the location information of the terminal to the first core network.

12. The method according to claim 1, characterized in that The terminal is associated with another terminal, and the other terminal is a reference terminal; the terminal and the reference terminal establish connections with the second core network and the first core network respectively.

13. The method according to claim 12, characterized in that Also includes: The association relationship between the two terminals is sent to the second core network or base station; wherein the association relationship includes at least one of the following: a terminal index set, a terminal index, a distance between a terminal and a reference terminal, or a relative position of the two terminals.

14. The method according to claim 13, characterized in that Also includes at least one of the following: The reference terminal receives a positioning request from the first core network; wherein the positioning request includes a location information request or a positioning measurement result request; The reference terminal forwards the positioning request to the terminal, so that the terminal performs positioning measurement based on a preset positioning algorithm, obtains position information, and synchronizes the position information to the reference terminal; The reference terminal receives the location information synchronized by the terminal, and sends the location information to the first core network.

15. The method according to claim 14, characterized in that The terminal is enabled to perform positioning measurement based on a preset positioning method to obtain location information, including: If the preset positioning method is a terminal-based positioning method, the terminal performs positioning measurement to obtain location information; If the preset positioning method is a core network-based positioning method, the terminal performs positioning measurement to obtain a positioning measurement result; the terminal sends the positioning measurement result to the second core network, so that the second core network determines the location information based on the positioning measurement result, and sends the positioning information to the second core network or the reference terminal.

16. The method according to claim 14, further comprising: The reference terminal sends at least one of the following to the first core network: index information of the terminal, index information bound to the terminal, positioning measurement results of the terminal, coordinate information of the terminal, relative position or relative distance information or relative angle information between the terminal and the reference terminal.

17. The method according to claim 1, characterized in that The first core network is a perception core network.

18. The method according to claim 17, characterized in that The perception core network receives at least one of the following information sent by the terminal or the base station: distance related information, angle related information, speed related information, phase related information, reference related information, quality related information, location information and other perception information.

19. The method according to claim 18, characterized in that The distance-related information includes at least one of the following: delay, arrival time TOA, reference signal time difference RSTD, relative arrival time RTOA, receive-send time difference Rx-Tx timedifference; the angle-related information includes at least one of the following: reference signal received power RSRP, reference signal received path power RSRPP, AOA, zenith arrival angle ZOA; the speed-related information includes at least one of the following: speed measurement result, Doppler measurement result; the phase-related information includes at least one of the following: carrier phase measurement result, reference signal carrier phase RSCP, reference signal carrier phase difference RSCPD, phase measurement for micro-deformation; the reference-related information includes at least one of the following: reference TRP, reference time; the quality-related information includes at least one of the following: quality, uncertainty, confidence; the location information includes at least one of the following: terminal location information, perceived target location information; other perceived information of the call number includes at least one of the following: micro-Doppler measurement result, target type, number of targets, whether there is a target, target trajectory, relative displacement size.

20. A wireless positioning method, characterized in that: include: The first core network sends first auxiliary information of a downlink positioning reference signal to the terminal, so that the terminal performs positioning measurement on the downlink positioning reference signal based on the first auxiliary information to obtain a positioning measurement result or position information; wherein the first auxiliary information includes at least one of the following: a physical cell index, a global cell index, an absolute wireless channel number, a transmission receiving point index, a base station timing information, or a time difference between a base station and a reference base station, a downlink positioning reference signal configuration, a downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range.

21. The method according to claim 20, characterized in that The first core network requests the base station or the base station sends the second auxiliary information to the first core network; wherein, the second auxiliary information includes at least one of the following: the base station index signal, the base station timing information, the base station information, the base station downlink positioning reference signal configuration, the base station uplink positioning reference signal configuration, the downlink positioning reference signal resource set or the downlink positioning reference signal positioning frequency layer for bandwidth aggregation, the SSB information of the transmission receiving point, the spatial orientation information of the downlink positioning reference signal resource, the requested downlink positioning reference signal configuration, the sending time error group information of the TRP, the timing advance parameter configured by the base station, and the mobile base station information.

22. The method according to claim 20, characterized in that The first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or, the first core network receives a pre-configured measurement gap or a downlink positioning reference signal processing window sent by the base station; or, the first core network requests the base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

23. The method according to claim 20, characterized in that The first core network and the second core network transmit information via an interface.

24. The method according to claim 23, characterized in that The second core network sends at least one of the following information to the first core network: positioning related information, authentication authorization information, base station index used for positioning, base station location, positioning reference unit location, other terminal index, other terminal location or positioning method; the first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request and positioning measurement result; wherein the positioning requirement information includes at least one of the following: terminal index information, service quality information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; the second core network also sends the terminal location information to the first core network; wherein the service quality information includes at least one of the following: service type, distance speed angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, perception area, detection speed range, duration, feedback cycle, delay; the positioning measurement request includes at least one of the following: positioning method, coordinate information of the positioning measurement terminal, quality information, time information.

25. The method according to claim 20, characterized in that The first core network is a perception core network.

26. The method according to claim 25, characterized in that The perception core network receives at least one of the following information sent by the terminal or the base station: distance related information, angle related information, speed related information, phase related information, reference related information, quality related information, location information and other perception information.

27. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements the wireless positioning method as described in any one of claims 1-26.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, it implements the wireless positioning method as described in any one of claims 1-26.

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