Positioning method and device and related equipment

Abstract

The invention provides a positioning method and device and related equipment, and the method comprises the steps: obtaining target MR data, the target MR data being positioning measurement data of an indoor user, the target MR data comprising vAOA, hAOA and a first TA value, the first TA value being obtained by correcting a second TA value in the positioning measurement data of the indoor user, and the first TA value being obtained by correcting the second TA value in the positioning measurement data of the indoor user; the vAOA is used for representing the position relationship between the user equipment and the base station in a vertical plane, and the hAOA is used for representing the position relationship between the user equipment and the base station in a horizontal plane; determining deviation information between the user equipment and the base station according to the vAOA, the hAOA and the first TA value; and determining first position information of the user equipment according to the deviation information and position information corresponding to the base station. The MR data are fully utilized, an accurate three-dimensional positioning result can be provided in an indoor environment, and the indoor positioning complexity is reduced.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular, to a positioning method, device and related equipment. Background Art

[0002] In the process of the construction and optimization of the 5th-Generation Mobile Communication Technology (5G) network, how to accurately evaluate the 5G signal coverage quality in buildings has become the main problem faced by the network planning work of operators. At present, the signal coverage in indoor scenarios is complex and changeable, and traditional evaluation methods are difficult to meet the precise requirements. There is an urgent need for more efficient technical means to improve the accuracy of network evaluation. In this context, developing a three-dimensional positioning technology based on indoor users to deeply analyze indoor signal coverage has become a key link to solve this problem.

[0003] In the prior art, generally two indoor positioning technologies are adopted, namely Wireless Local Area Network (WLAN) positioning or Time of Arrival (TOA) & Time Difference of Arrival (TDOA) positioning. However, both of these two methods require the transformation of the terminal, which increases the complexity of system deployment at the engineering implementation level.

[0004] It can be seen that there is a problem of relatively high complexity in indoor positioning in the prior art. Summary of the Invention

[0005] Embodiments of this application provide a positioning method, device and related equipment to solve the problem of relatively high complexity in indoor positioning in the prior art.

[0006] To solve the above technical problems, this application is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a positioning method, and the method includes:

[0008] Obtain target Measurement Report (MR) data, where the target MR data is positioning measurement data of an indoor user, the target MR data includes a vertical Angle of Arrival (vAOA), a horizontal Angle of Arrival (hAOA), and a first Timing Advance (TA) value, the first TA value is obtained by correcting a second TA value in the positioning measurement data of the indoor user, the vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane;

[0009] Determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value, where the deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system, the origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in the horizontal plane;

[0010] Determine first location information of the user equipment according to the deviation information and the location information corresponding to the base station.

[0011] Optionally, the determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes:

[0012] Calculate a vertical angle between the user equipment and the base station according to the vAOA and the antenna tilt angle of the base station, where the antenna tilt angle includes an electrical tilt angle and a mechanical tilt angle, and the vertical angle is used to represent an angle between the signal incident direction and the antenna pointing direction of the base station;

[0013] Determine the first deviation value according to the vertical angle and a first distance, where the first distance is a straight-line distance between the user equipment and the base station determined based on the first TA value.

[0014] Optionally, the determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes:

[0015] Determine the second deviation value according to the hAOA, the antenna azimuth angle of the base station, and a second distance by using the sine formula, where the second distance is a projection distance of the user equipment and the base station on the horizontal plane determined based on the first TA value;

[0016] Determine the third deviation value according to the hAOA, the antenna azimuth angle of the base station, and the second distance by using the cosine formula.

[0017] Optionally, the vertical angle is calculated based on a first formula, and the first formula is:

[0018]

[0019] where θ is the vertical angle, α is the electrical tilt angle, and β is the mechanical tilt angle.

[0020] Optionally, the first location information is obtained based on a second formula, and the second formula is:

[0021]

[0022] wherein, US x is the longitude in the first location information, US y is the latitude in the first location information, US z is the altitude in the first location information, G x is the longitude of the base station, G y is the latitude of the base station, G z is the altitude of the base station, △h is the first deviation value, △x is the second deviation value, △y is the third deviation value, and ARC is the average radius of the Earth.

[0023] Optionally, after determining the first location information of the user equipment according to the deviation information and the location information corresponding to the base station, the method further includes:

[0024] Obtaining reference positioning data of a location corresponding to the target MR data;

[0025] Correcting the first location information according to the reference positioning data to obtain the second location information of the user equipment, where the positioning accuracy of the second location information is greater than the positioning accuracy of the first location information.

[0026] In a second aspect, an embodiment of the present application provides a positioning device, and the device includes:

[0027] A first acquisition module, configured to acquire target measurement report MR data, where the target MR data is positioning measurement data of an indoor user, and the target MR data includes a vertical angle of arrival vAOA, a horizontal angle of arrival hAOA, and a first timing advance TA value, and the first TA value is obtained by correcting a second TA value in the positioning measurement data of the indoor user, and the vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane;

[0028] A first determination module, configured to determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value, where the deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system, the origin of the three-dimensional rectangular coordinate system is the location where the base station is located, and the X-axis direction and the Y-axis direction are located in the horizontal plane;

[0029] A second determination module, configured to determine the first location information of the user equipment according to the deviation information and the location information corresponding to the base station.

[0030] In a third aspect, an embodiment of the present application provides an electronic device, including a transceiver and a processor.

[0031] The transceiver is configured to obtain target measurement report (MR) data, where the target MR data is positioning measurement data of an indoor user, and the target MR data includes vertical angle of arrival (vAOA), horizontal angle of arrival (hAOA), and a first timing advance (TA) value. The first TA value is obtained by correcting a second TA value in the positioning measurement data of the indoor user. The vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane.

[0032] The processor is configured to determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value. The deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system. The origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in the horizontal plane.

[0033] The processor is further configured to determine first position information of the user equipment according to the deviation information and the position information corresponding to the base station.

[0034] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a program stored on the memory and executable on the processor. When the program is executed by the processor, the steps of the above positioning method are implemented.

[0035] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above positioning method are implemented.

[0036] In the embodiments of the present application, by obtaining MR data including vAOA, hAOA, and the first TA value, calculating the deviation information between the user equipment and the base station in a three-dimensional rectangular coordinate system using these data, and then combining the position information of the base station, accurate positioning of the indoor user equipment is finally achieved. The MR data is fully utilized, which can provide relatively accurate three-dimensional positioning results in an indoor environment and reduce the complexity of indoor positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0038] Figure 1 is one of the flowcharts of a positioning method provided by an embodiment of the present application;

[0039] Figure 2 is a schematic diagram of the position of vAOA provided by an embodiment of the present application;

[0040] Figure 3 is the second flowchart of a positioning method provided by an embodiment of the present application;

[0041] Figure 4 is a schematic diagram of the Kalman filtering process provided by an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of the structure of a positioning device provided by an embodiment of the present application;

[0043] Figure 6 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Specific Embodiments

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0045] See Figure 1 , Figure 1 is one of the flowcharts of a positioning method provided by an embodiment of the present application. As Figure 1 shown, the method includes the following steps:

[0046] Step 101, obtain target measurement report MR data. The target MR data is positioning measurement data for indoor users. The target MR data includes vertical angle of arrival vAOA, horizontal angle of arrival hAOA, and a first timing advance TA value. The first TA value is obtained by correcting the second TA value in the positioning measurement data for the indoor users. The vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane;

[0047] In this step, the measurement report (MR) data, i.e., the positioning measurement data. The MR data includes the positioning measurement data of indoor users and outdoor users, so indoor and outdoor differentiation is required. Exemplarily, the MR data reported by users is grouped into call detail records, and the indoor and outdoor status of each group of MR call detail records is judged. MR call detail records usually refer to a series of MR data continuously generated by users in a short period of time. Then, based on the extracted MR call detail record features, by using an artificial intelligence (AI) binary classification model, the indoor and outdoor status prediction corresponding to each user can be obtained. Thus, the positioning measurement data of indoor users, i.e., the target MR data, can be obtained.

[0048] Among them, the target MR data includes the vertical angle of arrival (vAOA), the horizontal angle of arrival (hAOA), and the first timing advance (TA) value.

[0049] vAOA, that is, MR.vAOA, defines the estimated angle of the user equipment relative to the first reference direction in a vertical plane, as Figure 2 shown. In this vertical plane, the abscissa is the horizontal direction and the ordinate is the zenith direction. Since the antenna panel of the base station is not necessarily set completely vertically along the zenith direction, there is a certain inclination angle between the pointing direction of the antenna panel and the zenith direction. The first reference direction is the normal direction of the antenna panel, that is, the normal direction is perpendicular to the pointing direction. vAOA is the downward angle relative to the first reference direction, and the accuracy is 1 degree.

[0050] hAOA, that is, MR.hAOA, defines the estimated angle of the user equipment relative to the second reference direction in a horizontal plane. In this horizontal plane, the second reference direction is the antenna horizontal direction angle direction. hAOA is the counterclockwise angle relative to the second reference direction, and the accuracy is 0.5 degree.

[0051] The TA value, namely MR.Tadv, reflects the signal propagation time from the User Equipment (UE) to the serving base station. The larger the subcarrier spacing, the shorter the distance represented by the same TA, which is the main indicator reflecting the distance between the UE and the serving base station. The specific calculation method is as follows: During the random access process, the generation NodeB (gNB) determines the time advance value by measuring the received pilot signal, and the time advance quantity ranges from (0, 1, 2,..., 3846) × 16Ts / 2u; in the Radio Resource Control (RRC) connected state, the gNB determines the TA adjustment value for each UE based on the measurement of the uplink transmission of the corresponding UE, and the range of this adjustment value is (0, 1, 2,..., 63) × 16Ts / 2u. The latest time advance quantity reported this time should be the sum of the time advance quantity recorded last time and the adjustment value measured by the gNB this time, and its unit conforms to the time measurement dimension. Where u is the subcarrier spacing configuration. Exemplarily, 1TA = 16Ts / 2u. Taking the subcarrier of 15K as an example: Ts = 1 / (Δf ref ·N f,ref ), where Δf ref = 15·10^3Hz, N f,ref = 2048. Among them, the distance of 1Ts = 3*10^8 / 30720 / 1000 / 2 = 4.89m, and the distance of 1TA = 16Ts' distance = 16*4.89 = 78.24m. Therefore, the distance between the effective sampling point and the base station antenna can be obtained as n*TA, where n is the value corresponding to the MR.NRScTadv field in the effective sampling point data.

[0052] The TA value is used to measure the time distance of wireless signal transmission. Considering that in an urban environment, due to the obstruction of obstacles, there may be no line-of-sight path between the transmitter and the receiver, and radio waves reach the receiver after reflection, scattering, etc., resulting in Non Line of Sight (NLOS) propagation. NLOS propagation causes a large delay in the radio wave propagation, resulting in a large deviation in the TA value based on time, so that the distance between the transmitter and the receiver cannot be correctly reflected. If the measurement value with NLOS propagation error is directly used for positioning, the error is intolerable. Based on this, the second TA value in the positioning measurement data of indoor users can be corrected to obtain the first TA value to eliminate the NLOS error in the second TA value. The position relationship between the user equipment and the base station is described by vAOA in the vertical plane; the position relationship between the user equipment and the base station in the horizontal plane is clarified by hAOA. In this way, by combining the vAOA and hAOA in the target MR data with the first TA value, the position relationship between the user equipment and the base station can be estimated, thereby realizing the indoor positioning of the user equipment.

[0053] Step 102: Determine the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value. The deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system. The origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in the horizontal plane;

[0054] In this step, according to the vAOA, the hAOA, and the first TA value, the deviation information between the user equipment and the base station in the three-dimensional rectangular coordinate system is calculated. The origin of this three-dimensional rectangular coordinate system is the location of the base station, the X-axis and the Y-axis are in the horizontal plane, and the Z-axis is perpendicular to the horizontal plane. Exemplarily, the first deviation value can be calculated based on the vAOA and the first TA value. Specifically, the first TA value can be converted into the slant range between the user equipment and the base station, and the vAOA represents the angle information between this slant range and the normal direction of the base station antenna panel. Through trigonometric relations, the height deviation of the user equipment relative to the base station in the Z-axis direction, that is, the first deviation value, can be calculated. Exemplarily, the second deviation value and the third deviation value can be calculated based on the hAOA and the first TA value. Specifically, the projection length of the slant range obtained according to the first TA value on the horizontal plane, and then according to the angle information of the hAOA, the horizontal deviation of the user equipment relative to the base station in the X-axis direction, that is, the second deviation value, can be calculated using trigonometric functions; and the horizontal deviation of the user equipment relative to the base station in the Y-axis direction, that is, the third deviation value, can be calculated using trigonometric functions.

[0055] Step 103: Determine the first position information of the user equipment according to the deviation information and the position information corresponding to the base station.

[0056] In this step, the position information of the base station is usually known, which can be the three-dimensional coordinates of the longitude, latitude, and altitude of the base station or the coordinates in a certain specific coordinate system. The position information corresponding to the base station is the basic reference point for determining the position of the user equipment. The deviation information (the first deviation value, the second deviation value, and the third deviation value) obtained in step 102 is superimposed and calculated with the position information of the base station. The position of the indoor user equipment in the three-dimensional space can be accurately determined, reducing the complexity of indoor positioning.

[0057] In this embodiment, by acquiring MR data including vAOA, hAOA, and the first TA value, using these data to calculate the deviation information between the user equipment and the base station in the three-dimensional rectangular coordinate system, and then combining the position information of the base station, the accurate positioning of the indoor user equipment is finally realized. The MR data is fully utilized, which can provide relatively accurate three-dimensional positioning results in the indoor environment and reduce the complexity of indoor positioning.

[0058] Optionally, determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes:

[0059] Calculating a vertical angle between the user equipment and the base station according to the vAOA and the antenna tilt angle of the base station, where the antenna tilt angle includes an electrical tilt angle and a mechanical tilt angle, and the vertical angle is used to represent an angle between a signal incident direction and an antenna pointing direction of the base station;

[0060] Determining a first deviation value according to the vertical angle and a first distance, where the first distance is a straight-line distance between the user equipment and the base station determined based on the first TA value.

[0061] In some embodiments, the antenna tilt angle of the base station includes an electrical tilt angle and a mechanical tilt angle. The mechanical tilt angle is an angle generated by mechanically adjusting the physical position of the antenna to make it deviate from the vertical direction, which is a fixed adjustment angle and can be set during antenna installation. The electrical tilt angle is to change the radiation direction of the antenna through electronic tilt technology, so as to further adjust the downward tilt angle of the antenna on the basis of the mechanical tilt angle, and can be dynamically adjusted according to network requirements.

[0062] Exemplarily, taking the base station site on the horizontal plane as the origin, with the due east direction as the positive direction of the X axis, the due north direction as the positive direction of the Y axis, and the zenith direction as the positive direction of the Z axis, a space rectangular coordinate system is established. The first deviation value can be calculated according to the vAOA and the first TA value. Specifically, first, calculate the vertical angle between the user equipment and the base station according to the vAOA and the antenna tilt angle of the base station. The vertical angle describes the deviation degree between the signal incident direction and the antenna pointing direction of the base station; the straight-line distance between the user equipment and the base station determined based on the first TA value, that is, the first distance. The first TA value reflects the time delay of the signal propagation between the user equipment and the base station. Through the known signal propagation speed, this time delay can be converted into a distance. Thus, according to the vertical angle and the first distance, and using the trigonometric function relationship, the height deviation of the user equipment in the Z-axis direction relative to the base station, that is, the first deviation value, can be calculated.

[0063] Optionally, the vertical angle is calculated based on a first formula, and the first formula is:

[0064]

[0065] where θ is the vertical angle, α is the electrical tilt angle, and β is the mechanical tilt angle.

[0066] The first deviation value is calculated based on a third formula, and the third formula is:

[0067] △h = Lcosθ;

[0068] In the formula, △h is the first deviation value, and L is the first distance.

[0069] In this embodiment, by combining the vAOA, the antenna tilt angle, and the first TA value, the deviation information in the vertical direction between the user equipment and the base station is gradually calculated. First, the vertical angle is calculated, which comprehensively considers the vertical incident direction of the user equipment signal and the actual pointing of the base station antenna; then, using this vertical angle and the straight-line distance between the user equipment and the base station, the first deviation value is calculated through trigonometric relations, thereby determining the position deviation of the user equipment relative to the base station in the Z-axis direction, providing key information for accurately determining the three-dimensional position of the user equipment later, and reducing the indoor positioning complexity.

[0070] Optionally, determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes:

[0071] Determining the second deviation value according to the hAOA, the antenna azimuth angle of the base station, and the second distance using the sine formula, where the second distance is the projection distance of the user equipment and the base station onto the horizontal plane determined based on the first TA value;

[0072] Determining the third deviation value according to the hAOA, the antenna azimuth angle of the base station, and the second distance using the cosine formula.

[0073] In some embodiments, the hAOA represents the angle of the signal emitted by the user equipment relative to the horizontal reference direction (usually the antenna horizontal direction angle direction) of the base station antenna in the horizontal plane, clarifying the positional relationship between the user equipment and the base station in the horizontal plane. The antenna azimuth angle of the base station can be the horizontal angle pointed by the main lobe of the antenna, measured starting from the due north direction (geographical north, i.e., the positive direction of the Y-axis in the three-dimensional rectangular coordinate system). The second distance can be the projection distance of the user equipment and the base station onto the horizontal plane determined based on the first TA value. The first TA value reflects the time delay of the signal propagation between the user equipment and the base station. Combining the signal propagation speed, the straight-line distance between the user equipment and the base station can be obtained, and then according to the vertical arrival angle vAOA, the straight-line distance is projected onto the horizontal plane using trigonometric functions to obtain the second distance. Among them, the calculation formula for the second distance is: L 投影 = Lsinθ, L 投影 is the second distance, L is the first distance, θ is the vertical angle, and the calculation process of the vertical angle can be seen in the foregoing content and will not be elaborated here.

[0074] Exemplarily, according to hAOA, the antenna azimuth angle of the base station, and the second distance, the sine formula is used to determine the second deviation value. Specifically, refer to the following fourth formula:

[0075] △x = L 投影 × sin(A - hAOA);

[0076] Exemplarily, according to hAOA, the antenna azimuth angle of the base station, and the second distance, the cosine formula is used to determine the third deviation value. Specifically, refer to the following fifth formula:

[0077] △y = L 投影 × cos(A - hAOA);

[0078] Where, A is the antenna azimuth angle, △x is the second deviation value, and △y is the third deviation value.

[0079] In this embodiment, by combining hAOA, the antenna azimuth angle of the base station, and the second distance, the sine formula and the cosine formula are respectively used to calculate the second deviation value and the third deviation value, thereby determining the position deviation of the user equipment relative to the base station in the X-axis and Y-axis directions on the horizontal plane. The second deviation value, the third deviation value, and the third deviation value together constitute the complete deviation information of the user equipment relative to the base station in the three-dimensional rectangular coordinate system, providing a key basis for accurately determining the three-dimensional position of the user equipment and reducing the complexity of indoor positioning.

[0080] Optionally, the first position information is obtained based on the second formula, and the second formula is:

[0081]

[0082] In the formula, US x is the longitude in the first position information, US y is the latitude in the first position information, US z is the height in the first position information, G x is the longitude of the base station, G y is the latitude of the base station, G z is the height of the base station, △h is the first deviation value, △x is the second deviation value, △y is the third deviation value, and ARC is the average radius of the earth.

[0083] In this embodiment, the position information corresponding to the base station includes G x 、G y and G z, that is, the three-dimensional coordinates of the longitude, latitude, and altitude of the base station. Using the location information corresponding to the base station as the basic reference point for the location of the user equipment, and calculating based on the obtained deviation information (the first deviation value △h, the second deviation value △x, and the third deviation value △y). Thus, the first location information can be determined, and the first location information includes the longitude US of the user equipment x , latitude US y , and altitude US z . In addition, considering that the unit of the position deviation in the horizontal direction is length, which is inconsistent with the longitude and latitude of the geographical location. Therefore, a conversion and unification are performed when calculating the first location information of the user equipment according to the second formula, where ARC is the average radius of the earth, 6,371,393 meters. The user equipment is generally below the base station, that is, △h is usually positive.

[0084] In this way, by converting the relative position deviation between the user equipment and the base station into absolute space coordinates, a high-precision three-dimensional positioning result (longitude + latitude + altitude) is finally output, reducing the indoor positioning complexity. It can accurately determine the specific location of the indoor user in the three-dimensional space (such as a certain area on a certain floor), providing core data support for scenarios such as indoor navigation, network coverage optimization (such as identifying weak coverage at the floor level), and traffic flow analysis, significantly improving the positioning accuracy and the spatial perception ability of the network service.

[0085] Optionally, after determining the first location information of the user equipment according to the deviation information and the location information corresponding to the base station, the method further includes:

[0086] Obtaining reference positioning data for the position corresponding to the target MR data;

[0087] Correcting the first location information according to the reference positioning data to obtain the second location information of the user equipment, and the positioning accuracy of the second location information is higher than that of the first location information.

[0088] In this embodiment, the reference positioning data can be from high-precision positioning technology or known fixed reference points, and its positioning accuracy is higher than the result of single MR data calculation. By performing spatial matching between the first location information and the reference positioning data, the multipath effect error, antenna angle measurement deviation, or TA value calculation noise that may exist in MR positioning can be effectively corrected. In this way, the second location information obtained after correction can further improve the indoor positioning accuracy, meet the higher requirements of indoor navigation, and especially in complex indoor environments with multiple walls, the discreteness of the positioning results can be significantly reduced.

[0089] Exemplarily, first, road test data, i.e., reference positioning data, is collected. The road test data collection requirements are distributed on different floors, and data collection should be carried out in different directions on each floor. This is to cover various environments and location situations within the building as comprehensively as possible to obtain richer and more accurate actual location data. The signal propagation characteristics on different floors may vary due to factors such as building structure and occlusion, and there will also be signal differences in different directions on each floor. Comprehensive collection helps to establish a more accurate positioning model subsequently. At the same time, MR data in the same time period as the road test data is collected. MR data contains information such as AOA, TA value, Received Signal Strength Indicator (RSSI), etc. These information reflect the communication characteristics between the user equipment and the base station and are important bases for positioning calculations.

[0090] Take the preliminarily calculated three-dimensional coordinates, base station location and height information, AOA and TA values, and RSSI as feature vectors. These information comprehensively reflect the communication status between the user equipment and the base station and the preliminary positioning result. Take the deviation between the preliminarily calculated three-dimensional coordinates and the actual position as the target variable. The goal of the model is to learn how to predict and correct this deviation through these feature vectors. Then, use the training set data to train the selected machine learning model. The training set data contains a large number of feature vectors and corresponding target variables. The model adjusts its own parameters by continuously learning the relationships between these data to achieve the best prediction effect. Common machine learning models such as neural networks, decision trees, and support vector machines can be used for this task.

[0091] Use the trained model to correct the position of new MR data. When new MR data is input, the model can predict the deviation between the preliminary calculation result and the actual position according to the learned rules and correct the preliminarily calculated three-dimensional coordinates to obtain more accurate position information. Check the corrected data against the known building position information. By comparing whether the calculation result matches the actual building position, some points with large errors are excluded. This can further improve the accuracy and reliability of the final positioning result and ensure that the obtained indoor user three-dimensional position information conforms to the actual situation.

[0092] In some other alternative embodiments, refer to Figure 3 , Figure 3 is the second flowchart of a positioning method provided by an embodiment of the present application. As Figure 3 shown, it includes the following steps:

[0093] Conduct correlation analysis on MR data and XDR data, and screen out the MR data set corresponding to indoor users from the MR data.

[0094] Specifically, the MR data, i.e., 5G MR data, does not contain information about the indoor / outdoor status of users. Therefore, it is impossible to directly distinguish indoor and outdoor users through MR data. To distinguish between indoor and outdoor, it is necessary to group the call records of the MR data reported by users and judge the indoor / outdoor status for each group of MR call records. MR call records usually refer to a series of MR data continuously generated by users in a short period of time. Then, based on the extracted MR call record features, by using an AI binary classification model, the indoor / outdoor status prediction corresponding to each user can be obtained. Among them, the MR data itself does not carry user identification, and the user information can be backfilled by associating with the Access and Mobility Management Function Experience Data Record (AMF XDR) data. The MR data and the AMF XDR data are associated through the E-UTRAN Cell Identity (ECI) and the Access and Mobility Management Function User Equipment Network GAP Identifier (AMFUENGAPID). The association rules can include: the ECI and AMFUENGAPID of the two types of data are equal; the time difference between the two types of data is within 3 minutes.

[0095] In this way, through association, the user number (International Mobile Subscriber Identification Number, IMSI) is backfilled into the MR data. Then, the MR call record data is collected and sorted by user, and the features of the MR call record data are extracted. These features are used to judge the indoor / outdoor status of users. The features related to the indoor / outdoor status of users include uplink features, cell time series features, and signal level features. Among them, the uplink feature is to obtain the corresponding beam information according to the beam reporting information. The cell time series feature, also known as the movement feature, is based on the fact that outdoor users are usually in a moving state and have a higher handover frequency, while indoor users are relatively stationary and have a limited moving range, so the handover frequency is low and only switches back and forth between fixed cells. The signal level feature is based on the fact that indoor users have relatively weak signal levels due to large penetration losses. Based on the above features, a tree-based binary classification model (such as XGBoost) is used for modeling, transforming the problem into a 0 / 1 binary classification modeling and prediction problem. The indoor / outdoor status of users is distinguished through the binary classification model, and then the MR data of indoor users is collected and sorted to be used as the data source for subsequent steps.

[0096] The TA value in the MR data corresponding to indoor users is corrected using Kalman filtering.

[0097] Specifically, in an urban environment, due to the obstruction of obstacles, there may be no line-of-sight path between the transmitter and the receiver. Radio waves reach the receiver after reflection, scattering, etc., resulting in non-line-of-sight (NLOS) propagation. NLOS propagation causes a large delay in the radio wave propagation, resulting in a large deviation in the time-based measurement value TA, so that the distance between the transmitter and the receiver cannot be correctly reflected. If the measurement value with NLOS propagation error is directly used for positioning, the error is intolerable. Therefore, the TA data in 5G MR can be processed first using Kalman filtering to eliminate the NLOS error in the TA measurement value. The Kalman filtering process is as Figure 4 shown. First, the system state equation and the observation equation are established. Prediction is made through the known state of the previous moment to obtain the predicted value of the previous moment for the current moment. Then, the current moment's observation value is compared with the predicted value of the previous moment to update the system state in a timely manner, obtaining the estimated state of the current moment. As time is continuously updated, the prediction of the entire process is completed.

[0098] Among them, the state equation can be expressed as: X(k) = AX(k - 1) + BU(k) + W(k). The observation equation can be expressed as: Z(k) = HX(k) + V(k). In the formula, X(k) is the predicted value of the system state at time k, X(k - 1) is the predicted value of the system state at the previous moment, U(k) is the relevant system control quantity at time k, both W(k) and V(k) are Gaussian white noises, and Z(k) is the observed value of the system at time k. A, B, and H are system parameter matrices.

[0099] At time k:

[0100] X(k / k - 1) = AX(k - 1|k - 1) + BU(k). In the formula, X(k|k - 1) is the predicted value of the system for the current moment at the previous moment, X(k - 1|k - 1) is the optimal output result at the previous moment, BU(k) is the relevant system control quantity at the current moment. After passing through X(k / k - 1) = AX(k - 1|k - 1) + BU(k), the update of the system state at the current moment can be completed.

[0101] P(k|k - 1) = AP(k - 1|k - 1)A T + Q. In the formula, P(k|k - 1) is the covariance matrix of the predicted value X(k|k - 1), P(k - 1|k - 1) is the covariance matrix of the predicted value X(k - 1|k - 1), and Q is the covariance matrix of W(k) in X(k) = AX(k - 1) + BU(k) + W(k). According to the predicted value and the observed value at the current moment, the optimal estimated result X(k|k) of the system at the current moment can be obtained.

[0102] where X(k|k) = X(k|k - 1) + K gain (k)(Z(k) - HX(k|k - 1)), where K gain is the Kalman gain: K gain (k) = P(k|k - 1)H T (HP(k|k - 1)H T + R) -1 ; R is the covariance matrix of matrix V(k) in Z(k) = HX(k) + V(k).

[0103] Update its corresponding covariance matrix from the optimal estimated value X(k|k) at the current moment: P(k|k) = (1 - K gain (k)H)P(k|k - 1).

[0104] The Kalman filtering process is essentially an iterative process on matrices P and K to obtain the optimal system estimation result. After Kalman filtering, it can effectively reduce the data fluctuation degree of the original TA value, eliminate the NLOS error influence in the TA measurement value, and reduce the influence on the positioning accuracy.

[0105] Calculate the height deviation of the user relative to the antenna according to vAOA and the corrected TA value, and calculate the horizontal deviation of the user relative to the antenna according to hAOA and the corrected TA value.

[0106] Use hAOA, vAOA and TA after Kalman filtering in the MR data to calculate the three-dimensional position of the user. First, calculate the height deviation information between the user and the base station according to the vertical direction arrival angle vAOA and TA parameters in the 5G MR data, and then use the horizontal arrival angle hAOA and TA to determine the position deviation between the user and the base station in the horizontal direction.

[0107] Finally, calculate the three-dimensional position information of the user according to the coordinates of the base station and the calculated height deviation and horizontal deviation.

[0108] In addition, use the drive test data to build a model to correct the calculated three-dimensional position information.

[0109] Specifically, collect drive test data and collect MR data in the same time period. The drive test data collection needs to be distributed on different floors, and data collection needs to be carried out in different directions on each floor. Then, perform preliminary three-dimensional position calculation according to the above steps, and pair the preliminarily calculated three-dimensional coordinates with the actual positions in the drive test data. Use the preliminarily calculated three-dimensional coordinates, base station position and height information, AOA and TA, and RSSI as feature vectors, and the deviation from the actual position as the target variable to construct a machine learning model. Use the training set data to train the selected model, and then use the trained model to correct the position of the new MR data. Finally, verify the corrected data with the known building position information to determine whether the calculation result matches the actual building position, and eliminate some points with large errors, so as to finally obtain the three-dimensional position information of indoor users in the building.

[0110] In this embodiment, the indoor 5G MR data is accurately obtained by combining with XDR data, and the indoor 5G MR data is preprocessed by using a Kalman filter to eliminate the non-line-of-sight propagation error. Then, based on the AOA and TADV in the indoor 5G MR data, the three-dimensional preliminary positioning of indoor users is carried out. The AOA includes vAOA and hAOA, that is, the vertical antenna arrival angle and the horizontal antenna arrival angle. First, calculate the height deviation information between the user and the base station according to the vertical arrival angle vAOA and the TADV parameter in the 5G MR data. Then, use the horizontal arrival angle hAOA and TADV to determine the position deviation between the user and the base station in the horizontal direction. Finally, according to the known spatial geographical coordinate information of the base station, determine the three-dimensional geographical position of the user. In order to obtain a more accurate three-dimensional position, use the drive test data to correct the positioning position, and finally obtain the accurate three-dimensional position information of the user, reducing the indoor positioning complexity.

[0111] See Figure 5 , Figure 5 is a schematic structural diagram of a positioning device provided by an embodiment of the present application. As Figure 5 shown, the positioning device 500 includes:

[0112] A first acquisition module 501, configured to acquire target measurement report MR data. The target MR data is positioning measurement data for indoor users. The target MR data includes a vertical arrival angle vAOA, a horizontal arrival angle hAOA, and a first timing advance TA value. The first TA value is obtained by correcting the second TA value in the positioning measurement data for the indoor users. The vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane;

[0113] The first determination module 502 is configured to determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value. The deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system. The origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in the horizontal plane;

[0114] The second determination module 503 is configured to determine first location information of the user equipment according to the deviation information and the location information corresponding to the base station.

[0115] Optionally, the first determination module 502 is specifically configured to:

[0116] Calculate a vertical included angle between the user equipment and the base station according to the vAOA and the antenna tilt angle of the base station. The antenna tilt angle includes an electronic tilt angle and a mechanical tilt angle. The vertical included angle is used to represent the included angle between the signal incident direction and the antenna pointing direction of the base station;

[0117] Determine the first deviation value according to the vertical included angle and a first distance. The first distance is the straight-line distance between the user equipment and the base station determined based on the first TA value.

[0118] Optionally, the first determination module 502 is specifically configured to:

[0119] Determine the second deviation value according to the hAOA, the antenna azimuth angle of the base station, and a second distance by using the sine formula. The second distance is the projection distance of the user equipment and the base station on the horizontal plane determined based on the first TA value;

[0120] Determine the third deviation value according to the hAOA, the antenna azimuth angle of the base station, and the second distance by using the cosine formula.

[0121] Optionally, the vertical included angle is calculated based on a first formula, and the first formula is:

[0122]

[0123] where θ is the vertical included angle, α is the electronic tilt angle, and β is the mechanical tilt angle.

[0124] Optionally, the first location information is obtained based on a second formula, and the second formula is:

[0125]

[0126] In the formula, US xis the longitude in the first position information, US y is the latitude in the first position information, US z is the altitude in the first position information, G x is the longitude of the base station, G y is the latitude of the base station, G z is the altitude of the base station, △h is the first deviation value, △x is the second deviation value, △y is the third deviation value, and ARC is the average radius of the earth.

[0127] Optionally, the device further includes:

[0128] A second acquisition module, configured to acquire reference positioning data of a position corresponding to the target MR data;

[0129] A calibration module, configured to calibrate the first position information according to the reference positioning data to obtain second position information of the user equipment, and the positioning accuracy of the second position information is greater than that of the first position information.

[0130] The positioning device 500 can implement each process of the above-described positioning method embodiments, with the technical features corresponding one by one and achieving the same technical effects. To avoid repetition, details are not described here again.

[0131] An embodiment of the present application further provides an electronic device, including: a processor, a memory, and a program stored on the memory and executable on the processor. When the program is executed by the processor, it implements each process of the above-described positioning method embodiment and achieves the same technical effects. To avoid repetition, details are not described here again.

[0132] Specifically, referring to Figure 6 , an embodiment of the present application further provides an electronic device, including a bus 601, a transceiver 602, an antenna 603, a bus interface 604, a processor 605, and a memory 606.

[0133] Wherein, the transceiver 602 is configured to acquire target measurement report MR data, the target MR data is positioning measurement data of an indoor user, the target MR data includes a vertical angle of arrival vAOA, a horizontal angle of arrival hAOA, and a first timing advance TA value, the first TA value is obtained by calibrating a second TA value in the positioning measurement data of the indoor user, the vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane;

[0134] A processor 605, configured to determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value, where the deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system, the origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in a horizontal plane;

[0135] The processor 605 is further configured to determine first location information of the user equipment according to the deviation information and the location information corresponding to the base station.

[0136] Optionally, the determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes:

[0137] Calculating a vertical included angle between the user equipment and the base station according to the vAOA and the antenna tilt angle of the base station, where the antenna tilt angle includes an electronic tilt angle and a mechanical tilt angle, and the vertical included angle is used to represent an included angle between a signal incident direction and an antenna pointing direction of the base station;

[0138] Determining the first deviation value according to the vertical included angle and a first distance, where the first distance is a straight-line distance between the user equipment and the base station determined based on the first TA value.

[0139] Optionally, the determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes:

[0140] Determining the second deviation value according to the hAOA, the antenna azimuth angle of the base station, and a second distance by using a sine formula, where the second distance is a projection distance of the user equipment and the base station on a horizontal plane determined based on the first TA value;

[0141] Determining the third deviation value according to the hAOA, the antenna azimuth angle of the base station, and the second distance by using a cosine formula.

[0142] Optionally, the vertical included angle is calculated based on a first formula, and the first formula is:

[0143]

[0144] where θ is the vertical included angle, α is the electronic tilt angle, and β is the mechanical tilt angle.

[0145] Optionally, the first location information is obtained based on a second formula, and the second formula is:

[0146]

[0147] In the formula, US x is the longitude in the first location information, US y is the latitude in the first location information, US z is the altitude in the first location information, G x is the longitude of the base station, G y is the latitude of the base station, G z is the altitude of the base station, △h is the first deviation value, △x is the second deviation value, △y is the third deviation value, and ARC is the average radius of the earth.

[0148] Optionally, after determining the first location information of the user equipment according to the deviation information and the location information corresponding to the base station, the method further includes:

[0149] The transceiver 602 is further configured to obtain reference positioning data of a location corresponding to the target MR data;

[0150] The processor 605 is further configured to correct the first location information according to the reference positioning data to obtain second location information of the user equipment, and the positioning accuracy of the second location information is greater than the positioning accuracy of the first location information.

[0151] In Figure 6 the bus architecture (represented by bus 601), bus 601 may include any number of interconnected buses and bridges, and bus 601 links together various circuits including one or more processors represented by processor 605 and a memory represented by memory 606. Bus 601 may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and thus will not be further described herein. The bus interface 604 provides an interface between bus 601 and transceiver 602. The transceiver 602 may be one element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. Data processed by the processor 605 is transmitted over the wireless medium via the antenna 603. Further, the antenna 603 also receives data and transmits the data to the processor 605.

[0152] The processor 605 is responsible for managing the bus 601 and general processing, and may also provide various functions including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory 606 may be used to store data used by the processor 605 when performing operations.

[0153] Optionally, the processor 605 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).

[0154] The embodiments of the present application further provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, it implements each process of the above-described embodiment of the positioning method and can achieve the same technical effects. To avoid repetition, details are not described herein again. The computer-readable storage medium includes, for example, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disc, etc.

[0155] It should be noted that in this document, the terms "include", "comprise", or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "including a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element. In addition, it should be pointed out that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing functions in the order discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0156] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0157] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

Claims

1. A positioning method, characterized in that, The method includes: Obtaining target measurement report (MR) data, where the target MR data is positioning measurement data of an indoor user. The target MR data includes vertical angle of arrival (vAOA), horizontal angle of arrival (hAOA), and a first timing advance (TA) value. The first TA value is obtained by correcting a second TA value in the positioning measurement data of the indoor user. The vAOA is used to represent the positional relationship between the user equipment and the base station in the vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in the horizontal plane. Determining deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value. The deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system. The origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in the horizontal plane. Determining first position information of the user equipment according to the deviation information and the position information corresponding to the base station.

2. The method according to claim 1, characterized in that, The determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes: Calculating a vertical included angle between the user equipment and the base station according to the vAOA and the antenna tilt angle of the base station. The antenna tilt angle includes an electrical tilt angle and a mechanical tilt angle. The vertical included angle is used to represent the included angle between the signal incident direction and the antenna pointing direction of the base station. Determining the first deviation value according to the vertical included angle and a first distance. The first distance is the straight-line distance between the user equipment and the base station determined based on the first TA value.

3. The method according to claim 1, wherein The determining the deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value includes: Determining the second deviation value according to the hAOA, the antenna azimuth angle of the base station, and a second distance by using the sine formula. The second distance is the projection distance of the straight-line distance between the user equipment and the base station on the horizontal plane determined based on the first TA value. Determining the third deviation value according to the hAOA, the antenna azimuth angle of the base station, and the second distance by using the cosine formula.

4. The method according to claim 2, wherein The vertical included angle is calculated based on a first formula, and the first formula is: where θ is the vertical included angle, α is the electrical tilt angle, and β is the mechanical tilt angle.

5. The method according to claim 1, wherein The first position information is obtained based on a second formula, and the second formula is: wherein, US x is the longitude in the first position information, US y is the latitude in the first position information, US z is the altitude in the first position information, G x is the longitude of the base station, G y is the latitude of the base station, G z is the altitude of the base station, △h is the first deviation value, △x is the second deviation value, △y is the third deviation value, and ARC is the average radius of the earth.

6. The method according to claim 1, wherein After determining the first position information of the user equipment according to the deviation information and the position information corresponding to the base station, the method further includes: Obtaining reference positioning data at the position corresponding to the target MR data. Correcting the first position information according to the reference positioning data to obtain second position information of the user equipment. The positioning accuracy of the second position information is higher than that of the first position information.

7. A positioning device, characterized in that, The device includes: A first acquisition module, configured to acquire target measurement report (MR) data, where the target MR data is positioning measurement data of an indoor user, the target MR data includes a vertical angle of arrival (vAOA), a horizontal angle of arrival (hAOA), and a first timing advance (TA) value, the first TA value is obtained by correcting a second TA value in the positioning measurement data of the indoor user, the vAOA is used to represent the positional relationship between a user equipment and a base station in a vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in a horizontal plane; A first determination module, configured to determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value, where the deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system, the origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in a horizontal plane; A second determination module, configured to determine first position information of the user equipment according to the deviation information and the position information corresponding to the base station.

8. An electronic device, characterized in that, Comprising a transceiver and a processor, The transceiver is configured to acquire target measurement report (MR) data, where the target MR data is positioning measurement data of an indoor user, the target MR data includes a vertical angle of arrival (vAOA), a horizontal angle of arrival (hAOA), and a first timing advance (TA) value, the first TA value is obtained by correcting a second TA value in the positioning measurement data of the indoor user, the vAOA is used to represent the positional relationship between a user equipment and a base station in a vertical plane, and the hAOA is used to represent the positional relationship between the user equipment and the base station in a horizontal plane; The processor is configured to determine deviation information between the user equipment and the base station according to the vAOA, the hAOA, and the first TA value, where the deviation information includes a first deviation value in the Z-axis direction, a second deviation value in the X-axis direction, and a third deviation value in the Y-axis direction in a three-dimensional rectangular coordinate system, the origin of the three-dimensional rectangular coordinate system is the location of the base station, and the X-axis direction and the Y-axis direction are in a horizontal plane; The processor is further configured to determine first position information of the user equipment according to the deviation information and the position information corresponding to the base station.

9. An electronic device, characterized in that, Comprising: A processor, a memory, and a program stored on the memory and executable on the processor, where when the program is executed by the processor, the steps of the positioning method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the positioning method according to any one of claims 1 to 6 are implemented.

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