Positioning method and device, readable storage medium and chip system

Abstract

The invention provides a positioning method and device, a readable storage medium and a chip system, and the method relates to the technical field of communication, and can be applied to a positioning scene of terminal equipment. According to the method, multiple positioning parameters of the terminal equipment are acquired, a positioning parameter set comprising at least one positioning parameter in the multiple positioning parameters is determined based on confidence coefficients of the multiple positioning parameters, and then positioning information of the terminal equipment is obtained by inputting the positioning parameter set into a first positioning model or a second positioning model. According to the method, the appropriate positioning parameter is selected based on the confidence coefficient of the positioning parameter to predict the positioning information of the terminal equipment, the situation that the positioning precision is low due to the fact that the error of the positioning parameter estimated by the terminal equipment is large is avoided, and the positioning precision of the terminal equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a positioning method, apparatus, readable storage medium, and chip system. Background Art

[0002] With the development of communication technologies, the demand for positioning of terminal devices in fields such as intelligent transportation and logistics management is increasing day by day. As a key infrastructure of a digital communication system, the throughput of 5th-generation mobile communication technology (5G) base stations is also growing rapidly with the increasing demand for data transmission. Since the positioning service of terminal devices consumes a large amount of network resources, the rapid growth of the throughput of 5G base stations has led to an increasingly tight positioning resource situation. At the same time, the increase in the number of terminal devices has caused a surge in the positioning demand of terminal devices, posing higher requirements for the positioning real-time performance and accuracy of 5G base stations.

[0003] However, due to the influence of environmental factors such as multipath effects, attenuation, and interference, the positioning accuracy of terminal devices is affected to a certain extent. Summary of the Invention

[0004] This application provides a positioning method, apparatus, readable storage medium, and chip system, which can improve the positioning accuracy of terminal devices.

[0005] In a first aspect, a positioning method is provided. This method can be executed, for example, by a terminal device or a location management function network element, or can also be executed by components (such as circuits, chips, or chip systems, etc.) configured in the terminal device or the location management function network element, and can also be implemented by a logic module or software that can implement all or part of the functions of the terminal device or the location management function network element. This application does not limit this. The method includes: obtaining multiple positioning parameters of the terminal device, determining a set of positioning parameters including at least one of the multiple positioning parameters based on the confidence levels of the multiple positioning parameters, and then obtaining the positioning information of the terminal device based on the set of positioning parameters. At least one of the positioning parameters includes time of arrival and / or time difference of arrival.

[0006] In this implementation, the terminal device or the location management function network element only selects appropriate positioning parameters based on the confidence levels of the positioning parameters to predict the positioning information of the terminal device, avoiding the situation where the positioning parameters estimated by the terminal device have large errors, resulting in low positioning accuracy, which is beneficial to improving the positioning accuracy of the terminal device.

[0007] In a second aspect, a communication device is provided, which includes a processing module and a transceiver module. The transceiver module is used to obtain a plurality of positioning parameters of a terminal device; the processing module is used to determine a set of positioning parameters including at least one of the plurality of positioning parameters based on the confidence levels of the plurality of positioning parameters, and then obtain the positioning information of the terminal device based on the set of positioning parameters.

[0008] The second aspect is the implementation on the device side corresponding to the first aspect. The explanations, supplements, and descriptions of beneficial effects regarding the first aspect also apply to the second aspect and will not be elaborated here.

[0009] In a third aspect, a communication device is provided, including one or more processors. The one or more processors are coupled to a memory and can be used to execute instructions or data in the memory to implement the method in any possible implementation manner of the first aspect above. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0010] In one implementation manner, the communication interface can be a transceiver, or an input / output interface.

[0011] In another implementation manner, the communication device is a chip configured in a terminal device. When the communication device is a chip configured in a terminal device, the communication interface can be an input / output interface.

[0012] In a fourth aspect, a processor is provided, including: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to receive a signal through the input circuit and transmit a signal through the output circuit, so that the processor executes the method in any possible implementation manner of any aspect.

[0013] In a specific implementation process, the above-mentioned processor can be one or more chips, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits, etc. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be output to, for example, but not limited to, a transmitter and transmitted by the transmitter. Moreover, the input circuit and the output circuit can be the same circuit, which serves as the input circuit and the output circuit at different times. The embodiments of the present application do not limit the specific implementation manners of the processor and various circuits.

[0014] In a fifth aspect, a communication device is provided, including a processor and a memory. The processor is used to read the instructions stored in the memory, and can receive a signal through a receiver and transmit a signal through a transmitter to execute the method in any possible implementation manner of any aspect above.

[0015] Optionally, there is one or more processors and one or more memories.

[0016] In a sixth aspect, a computer program product is provided, which includes a computer program (which may also be referred to as code or instructions). When the computer program runs, it causes a computer to execute the method in any one of the possible implementation manners in any of the above aspects.

[0017] In a seventh aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program (which may also be referred to as code or instructions). When it runs on a computer, it causes the computer to execute the method in any one of the possible implementation manners in any of the above aspects.

[0018] In an eighth aspect, an embodiment of the present application provides a chip system, which includes one or more processors for calling and running instructions stored in a memory from the memory, so that the methods in any of the above aspects or any of the possible implementation manners of each aspect are executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0019] Among them, the chip system may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.

[0020] In a ninth aspect, a communication system is provided, which includes a terminal device and a location management function network element. Optionally, the communication system may further include other devices that communicate with the terminal device and / or the location management function network element. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of a communication system applied in an embodiment of the present application; Figure 2 It is a schematic flowchart of a positioning method provided by an embodiment of the present application; Figure 3 It is a schematic diagram of a scenario of a positioning method provided by an embodiment of the present application; Figure 4 It is a schematic structural diagram of a first positioning model provided by an embodiment of the present application; Figure 5 It is a schematic structural diagram of a second positioning model provided by an embodiment of the present application; Figure 6 It is a schematic diagram of a positioning method provided by an embodiment of the present application; Figure 7 It is a schematic signaling interaction diagram of a positioning method provided by an embodiment of the present application; Figure 8Signaling interaction schematic diagram of another positioning method provided by an embodiment of this application; Figure 9 Schematic block diagram of a communication device provided by an embodiment of this application; Figure 10 Schematic block diagram of another communication device provided by an embodiment of this application. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of this application will be described with reference to the accompanying drawings.

[0023] The technical solutions provided by this application can be applied to various communication systems, such as: Global System for Mobile Communications (GSM) system, General Packet Radio Service (GPRS), Wireless Local Area Network (WLAN), Long Term Evolution (LTE) system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (TDD), Sidelink communication system, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, Non-Terrestrial Network (NTN) communication system, 5th generation (5G) mobile communication system or New Radio Access Technology (NR). Among them, the 5G mobile communication system can include Non-Standalone (NSA) and / or Standalone (SA). The technical solutions provided by this application can also be applied to future communication systems. This application does not make any limitation in this regard.

[0024] Figure 1 Schematic diagram of a communication system to which an embodiment of this application is applied. The communication system 100 may include network devices, such as Figure 1 the network device 110 shown. The communication system 100 may further include terminal devices, such as Figure 1The terminal device 120 shown. The network device 110 and the terminal device 120 can communicate via a wireless link.

[0025] Figure 1 Exemplarily, a network device 110 and a terminal device 120 are shown. Optionally, the communication system 100 may further include multiple network devices and / or multiple terminal devices.

[0026] The network device in this application can be a device on the network side such as an access network, a core network device, etc. The access network device is sometimes also called an access node. The access network device has a wireless transceiver function for communicating with the terminal device. The access network device includes but is not limited to the base station (base station), evolved NodeB (eNodeB), transmission reception point (TRP), next generation NodeB (gNB) in the 5G mobile communication system, the access network device or module in the open RAN (ORAN) system, the satellite in the NTN communication system, the base station in the future mobile communication system, or the access node in the WiFi system, etc. The access network device can also be a module or unit capable of implementing some functions of the base station. The access network device can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a radio controller in the cloud radio access network (CRAN) scenario. Optionally, the access network device can also be a server, a wearable device, or a vehicle-mounted device, etc. For example, the access network device in vehicle to everything (V2X) technology can be a road side unit (RSU). The multiple access network devices in the communication system can be of the same type of base station or different types of base stations. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. The terminal device can communicate with multiple base stations in different access technologies. The specific technologies and specific device forms adopted by the access network device in the embodiments of this application are not limited. In this application, the access network device is simply referred to as the network device.

[0027] In this application, the device for implementing the functions of the network device can be the network device or a device capable of supporting the network device to implement such functions, such as a processor, a circuit, a chip, or a chip system, etc. This device can be installed in the network device or used in connection with the network device. In the technical solutions provided in this application, the device for implementing the functions of the network device is taken as the network device as an example to describe the technical solutions provided in this application.

[0028] The terminal device in this application can be a wireless terminal device capable of receiving scheduling and indication information from a network device. The wireless terminal device can be a device that provides voice and / or data connectivity to users, or a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal device can be widely applied in various scenarios, such as device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality, augmented reality, industrial control, autonomous driving, remote medical treatment, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, or satellite communication, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, aircraft (such as drones, helicopters, airplanes), hot air balloon, ship, robot, robotic arm, or smart home device, etc. The embodiments of this application do not limit the form of the terminal device.

[0029] In this application, the device for implementing the functions of the terminal device can be the terminal device, or a device capable of supporting the terminal device to implement such functions, such as a processor, circuit, chip, chip system, etc. This device can be installed in the terminal device or connected to the terminal device for use. In the technical solution provided in this application, the device for implementing the functions of the terminal device is taken as an example of the terminal device to describe the technical solution provided in this application.

[0030] The access network device and / or the terminal can be fixed or movable. The access network device and / or the terminal can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; they can also be deployed on the water surface; they can also be deployed on airplanes, balloons, and artificial satellites in the air. The embodiments of this application do not limit the application scenarios of the access network device and the terminal. The access network device and the terminal device can be deployed in the same scenario or different scenarios. For example, the access network device and the terminal device are both deployed on land at the same time; or, the access network device is deployed on land and the terminal device is deployed on the water surface, etc., and no more examples are given one by one.

[0031] In practical applications, multiple network devices can cooperate to assist a terminal in achieving wireless access, and different network devices respectively implement some functions of a base station. For example, the network device can be a central unit (CU), a distributed unit (DU), a CU - control plane (CP), a CU - user plane (UP), or a radio unit (RU), etc. The CU and the DU can be set separately, or can also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio device or a radio unit, such as included in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0032] In different systems, the CU (or CU - CP and CU - UP), DU, or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, the CU can also be called an O - CU (open CU), the DU can also be called an O - DU, the CU - CP can also be called an O - CU - CP, the CU - UP can also be called an O - CU - UP, and the RU can also be called an O - RU. Any one of the CU (or CU - CP, CU - UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. The CU (or CU - CP and CU - UP), DU, and RU can implement different protocol layer functions.

[0033] In the related art, when positioning a terminal device, positioning parameters can be estimated, such as the time of arrival (TOA) or the angle of arrival (AOA). Then, based on any one of the estimated positioning parameters, the positioning information of the terminal device can be determined through artificial intelligence (AI) or machine learning (ML).

[0034] Among them, this positioning process can be executed by the terminal device or by a location management function (LMF) network element. In the case of being executed by the LMF network element, the positioning parameters can be estimated by the terminal device and sent to the LMF through an access network device, or can also be directly sent to the LMF by the terminal device, without limitation.

[0035] In the related art, due to the influence of environmental factors such as multipath effects, attenuation, and interference, there are certain errors in the estimated positioning parameters, resulting in limited positioning accuracy of the positioning information of the terminal device determined only by a single positioning parameter such as time of arrival or angle of arrival in the related art. In addition, due to the limited ability of the existing positioning algorithms to correct the errors of the positioning parameters, especially in scenarios with weak signals or a lot of interference, when positioning the terminal device in the related art, the inherent parameter errors and information losses in the estimated positioning parameters cannot be effectively compensated during the process of determining the positioning information of the terminal device, thereby affecting the positioning accuracy of the terminal device.

[0036] In view of this, the present application provides a positioning method. After the terminal device or the location management function network element obtains multiple positioning parameters of the terminal device and determines a positioning parameter set including at least one positioning parameter among the multiple positioning parameters based on the confidence levels of the multiple positioning parameters, the positioning information of the terminal device is obtained based on the positioning parameter set. Among them, the confidence level of the positioning parameter is used to characterize the accuracy of the positioning parameter. Thus, the terminal device or the location management function network element selects appropriate positioning parameters based on the confidence levels of the positioning parameters to predict the positioning information of the terminal device, avoiding the situation where the errors of the positioning parameters estimated by the terminal device are large, resulting in low positioning accuracy, which is beneficial to improving the positioning accuracy of the terminal device.

[0037] The solution provided by the present application will be described in detail below in combination with the corresponding flowchart. It can be understood that in the schematic flowchart provided by the present application, different devices (such as a terminal device, a network device) are mainly used as the execution subjects of the interaction schematic to illustrate the method, but the present application does not limit the execution subjects of the interaction schematic. For example, the devices (such as a terminal device, a network device) in the schematic flowchart can also be a chip, a chip system, or a processor that supports the device to implement the method, and can also be a logic module or software that can implement all or part of the functions of the device.

[0038] A unified description is made here. In the interaction process of the embodiments of the present application, the message or signaling interaction involved can adopt the messages or signaling in the standard, or can also be newly introduced messages or signaling. The embodiments of the present application do not make specific limitations on this.

[0039] Figure 2 It is a schematic flowchart of a positioning method provided by an embodiment of the present application. It can be understood that Figure 2 the terminal device in Figure 1 can be any terminal device in Figure 1 or can also refer to the device in the terminal device (such as a processor, a chip, or a chip system, etc.). The network device can be any access network device inFigure 2 As shown, this positioning method can be executed by a terminal device or by an LMF network element, and there is no limitation here. Taking the terminal device executing this positioning method as an example for introduction below, this method may include the following steps: S210, the terminal device obtains a plurality of positioning parameters of the terminal device.

[0040] Among them, the plurality of positioning parameters include a time-of-arrival parameter and a first positioning parameter. The time-of-arrival parameter is TOA and / or time difference of arrival (TDOA). The first positioning parameter includes at least one of received signal strength (RSS), AOA, and round-trip time (RTT).

[0041] Optionally, after the receiving antenna of the terminal device receives positioning reference signals (PRS) from an access network device, the terminal device can measure the received positioning reference signals to obtain positioning parameters. In this application, the PRS can be one or more, and these one or more PRS can come from one access network device or from multiple access network devices, without limitation. When the terminal device receives multiple PRS, the terminal device can obtain the positioning parameters corresponding to each PRS based on each PRS. Subsequently, the terminal device can determine the positioning information of the terminal device based on the positioning parameters corresponding to the multiple PRS, and the accuracy of the determined positioning information of the terminal device is higher in this way.

[0042] The following introduces the specific implementation of the positioning parameters and the terminal device measuring the positioning reference signals to obtain the positioning parameters.

[0043] RSS represents the received signal strength of the terminal device receiving the positioning reference signal from the access network device, and RSS is an important parameter for evaluating the communication link quality. The larger the value of RSS, the stronger the positioning reference signal received by the terminal device. Optionally, after the terminal device receives the positioning reference signal from the access network device, it measures the power value of the positioning reference signal through a built-in signal strength detection module, and substitutes the measured power value into the following formula (1) to obtain RSS.

[0044] Formula (1); Among them, RSS represents the received signal strength of the terminal device receiving the positioning reference signal from the access network device, represents the transmit power of the positioning reference signal, represents the transmit antenna gain, represents the receive antenna gain, Indicates the loss of the cable and connector. Indicates the free space path loss.

[0045] TOA represents the signal transmission time of the positioning reference signal from the access network device to the terminal device. Optionally, the terminal device receives the positioning reference signal from the access network device, records the timestamp when the positioning reference signal is received, and determines the signal transmission time according to the time when the access network device sends the positioning reference signal and the time when the terminal device receives the positioning reference signal. For example, the terminal device takes the difference between the time when the positioning reference signal is received and the time when the positioning reference signal is sent as the signal transmission time.

[0046] AOA represents the angle at which the positioning reference signal arrives at the terminal device. Optionally, the terminal device is provided with a multi-antenna array, and the terminal device determines the angle at which the positioning reference signal arrives at the terminal device by comparing the phase differences of the positioning reference signals received by different antennas. For example, the terminal device determines the angle corresponding to the phase difference of the positioning reference signals received by two adjacent antennas as the angle at which the positioning reference signal arrives at the terminal device.

[0047] TDOA represents the time difference of the positioning reference signal from multiple different access network devices to the terminal device. Optionally, after the terminal device receives the positioning reference signals from multiple access network devices, the terminal device records the timestamps when the multiple positioning reference signals are received. Then, the terminal device calculates the arrival time difference of the positioning reference signals from different access network devices according to the multiple timestamps. For example, the terminal device takes the difference between the times when the positioning reference signals from different access network devices are received as the arrival time difference.

[0048] RTT represents the total time for the terminal device to send a response signal to the access network device after the access network device sends the positioning reference signal to the terminal device. Optionally, after the access network device sends the positioning reference signal to the terminal device, the terminal device receives and processes the signal and then sends a response signal to the access network device. After the access network device records the timestamps of sending and receiving the signal, the access network device obtains the RTT according to the timestamps of sending and receiving the signal.

[0049] Exemplarily, as Figure 3 shown, the communication system includes 3 base stations, namely gNB1, gNB2, and gNB3. These 3 base stations can all communicate with the LMF network element. gNB1, gNB2, and gNB3 send positioning reference signals to the terminal device through wireless channels. The terminal device receives the positioning reference signals from the 3 gNBs and generates corresponding multiple positioning parameters based on each received positioning reference signal. The multiple positioning parameters include at least one of received signal strength, angle of arrival, or round-trip time, and arrival time parameters. For the process of the terminal device generating corresponding multiple positioning parameters based on each received positioning parameter signal, refer to the above process and will not be elaborated here.

[0050] S220, the terminal device determines a set of positioning parameters based on the confidence levels of multiple positioning parameters.

[0051] Wherein, the set of positioning parameters includes at least one of the multiple positioning parameters.

[0052] Since the multiple positioning parameters of the terminal device obtained by the terminal device are affected by environmental factors such as multipath effects, attenuation, and interference, the accuracy of the multiple positioning parameters is affected to a certain extent. In the embodiments of the present application, the terminal device can determine at least one positioning parameter from the multiple positioning parameters based on the confidence levels of the multiple positioning parameters, that is, the terminal device determines a set of positioning parameters including at least one positioning parameter based on the confidence levels of the multiple positioning parameters, so as to determine the positioning information of the terminal device.

[0053] Optionally, for any one of the multiple positioning parameters, if the confidence level of the positioning parameter is greater than the confidence level threshold corresponding to the positioning parameter, the terminal device determines that the set of positioning parameters includes the positioning parameter. Wherein, the confidence level threshold is a preset value, and each positioning parameter among the multiple positioning parameters corresponds to a confidence level threshold. It should be understood that the confidence level of the positioning parameter being greater than the corresponding confidence level threshold indicates that the accuracy of the positioning parameter estimated by the terminal device based on the positioning reference signal is relatively high. In this case, the terminal device uses the positioning parameter to determine the positioning information of the terminal device, which is beneficial to improving the positioning accuracy of the terminal device.

[0054] For a detailed introduction on how to specifically determine the confidence levels of the multiple positioning parameters of the terminal device, reference can be made to the description process of the subsequent embodiments, and no specific introduction is made here for the time being.

[0055] Optionally, each positioning parameter corresponds to two confidence level thresholds, namely a first confidence level threshold and a second confidence level threshold, and the second confidence level threshold is greater than the first confidence level threshold. The terminal device can determine whether the positioning parameter can be used to determine the positioning information of the terminal device, that is, determine whether the set of positioning parameters includes the positioning parameter, according to the first confidence level threshold and the second confidence level threshold corresponding to each positioning parameter, and the confidence level of the positioning parameter. Specifically, it includes the following two cases: In the first case, if the confidence level of the time-of-arrival parameter is greater than the second confidence level threshold corresponding to the time-of-arrival parameter, the terminal device determines that the set of positioning parameters includes the time-of-arrival parameter.

[0056] It should be understood that for multiple positioning parameters, due to the achievable centimeter-level or even millimeter-level positioning accuracy of the time of arrival and the time difference of arrival, which has the advantages of high-precision positioning, low requirement for clock synchronization, and strong anti-interference ability. Therefore, in order to improve the positioning accuracy of the terminal device and reduce the calculation amount, after the terminal device determines the confidence levels of multiple positioning parameters, it first judges the size relationship between the confidence level of the time of arrival parameter among the multiple positioning parameters and the second confidence level threshold corresponding to the time of arrival parameter, so as to judge whether the positioning parameter set includes the time of arrival parameter.

[0057] When the terminal device determines that the confidence level of the time of arrival parameter is greater than the second confidence level threshold corresponding to the time of arrival parameter, the terminal device determines that the positioning parameter set includes the time of arrival parameter. In this case, the terminal device determines that the accuracy of the time of arrival parameter is extremely high, and the positioning information of the terminal device can be accurately determined only based on the time of arrival parameter, without the need to compare the size relationship between the confidence levels of other positioning parameters and the corresponding confidence level thresholds, thereby reducing the calculation amount, reducing the calculation complexity, and being beneficial to improving the positioning efficiency.

[0058] Exemplarily, assuming that the time of arrival parameter is the time of arrival, if the confidence level of the time of arrival is greater than the second confidence level threshold corresponding to the time of arrival, the terminal device determines that the positioning parameter set includes the time of arrival. Assuming that the time of arrival parameter is the time difference of arrival, if the confidence level of the time difference of arrival is greater than the second confidence level threshold corresponding to the time difference of arrival, the terminal device determines that the positioning parameter set includes the time difference of arrival. Assuming that the time of arrival parameter is the time of arrival and the time difference of arrival, if the confidence level of the time of arrival is greater than the second confidence level threshold corresponding to the time of arrival, and the time difference of arrival is greater than the second confidence level threshold corresponding to the time difference of arrival, the terminal device determines that the positioning parameter set includes the time of arrival and the time difference of arrival.

[0059] When the terminal device determines that the confidence level of the time of arrival parameter is less than or equal to the second confidence level threshold corresponding to the time of arrival parameter, the terminal device determines that the positioning parameter set does not include the time of arrival parameter. In this case, the terminal device determines that the positioning information of the terminal device cannot be accurately predicted only based on the accuracy of the time of arrival parameter, and the terminal device determines that it is necessary to determine the positioning information of the terminal device together with other positioning parameters based on the time of arrival parameter. The terminal needs to continue to judge the size relationship between the confidence level of the first positioning parameter among the multiple positioning parameters and the confidence level threshold corresponding to the first positioning parameter, so that the terminal device determines the first positioning parameter included in the positioning parameter set. The specific implementation is shown in the following second case and will not be elaborated here for the time being.

[0060] In the second case, if the confidence level of the arrival time parameter is less than the second confidence threshold corresponding to the arrival time parameter and greater than the first confidence threshold corresponding to the arrival time parameter, it is determined that the set of positioning parameters includes the arrival time parameter and the target positioning parameter. Among them, the target positioning parameter is included in the first positioning parameter.

[0061] It should be understood that since the confidence level of the arrival time parameter is less than the second confidence threshold corresponding to the arrival time parameter and greater than the first confidence threshold corresponding to the arrival time parameter, it indicates that the accuracy of the arrival time parameter determined by the terminal device has decreased to a certain extent due to factors such as multipath effects. In this case, the terminal device can comprehensively consider various positioning parameters, that is, the terminal device determines that the set of positioning parameters includes the arrival time parameter and the target positioning parameter.

[0062] Optionally, the first positioning parameters specifically included in the target positioning parameter determined by the terminal device include the following three cases.

[0063] Case 1: The target positioning parameter includes the positioning parameters in the first positioning parameter that meet the first condition.

[0064] Among them, meeting the first condition means that the confidence level of the positioning parameter is greater than the second confidence threshold corresponding to the positioning parameter.

[0065] In this case, when the terminal device obtains the first positioning parameter, if the terminal device determines that there are positioning parameters in the first positioning parameter that meet the first condition, the terminal device determines the positioning parameters that meet the first condition as the target positioning parameter.

[0066] Exemplarily, assume that the first positioning parameter includes one first positioning parameter, and the confidence level of this one first positioning parameter is greater than the second confidence threshold corresponding to the first positioning parameter. Then the terminal device determines that the target positioning parameter includes this one first positioning parameter. For example, assume that this one first positioning parameter is the angle of arrival, and the confidence level of the angle of arrival is greater than the second confidence threshold corresponding to the angle of arrival. Then the terminal device determines that the target positioning parameter includes the angle of arrival.

[0067] Assume that the first positioning parameter includes multiple ones. The terminal device can determine the first positioning parameters in the multiple first positioning parameters whose confidence levels are greater than the corresponding second confidence thresholds as the target positioning parameters. For example, assume that the first positioning parameter includes the angle of arrival, round-trip time, and received signal strength. If the terminal device determines that the confidence level of the angle of arrival is greater than the second confidence threshold corresponding to the angle of arrival, and the confidence level of the round-trip time is greater than the second confidence threshold corresponding to the round-trip time, then the terminal device determines that the target positioning parameters include the angle of arrival and the round-trip time.

[0068] Therefore, the terminal device determines only the first positioning parameter that meets the first condition as the target positioning parameter, ensuring the positioning accuracy of the positioning information of the terminal device determined based on the time-of-arrival parameter and the target positioning parameter.

[0069] Case 2: Among the first positioning parameters included in the target positioning parameter, the second positioning parameter with the highest priority among the positioning parameters that meet the first condition, and the third positioning parameter.

[0070] Among them, the third positioning parameter is a parameter in the first positioning parameter with a priority higher than that of the second positioning parameter and does not meet the first condition.

[0071] The priority of the positioning parameter is used to characterize the degree of influence of the positioning parameter on the accuracy of the positioning information of the terminal device. The higher the priority of the positioning parameter, the smaller the influence of the positioning parameter on the accuracy of the positioning information of the terminal device. The lower the priority of the positioning parameter, the greater the influence of the positioning parameter on the accuracy of the positioning information of the terminal device. For example, the priority of the angle of arrival is higher than the priority of the received signal strength, that is, the degree of influence of the angle of arrival on the accuracy of the positioning information of the terminal device is less than the degree of influence of the received signal strength on the accuracy of the positioning information of the terminal device. It should be understood that due to the inaccurate estimation of the noise power and the interference signal power, the error of the received signal strength determined by the terminal device is relatively large, resulting in a greater influence of the received signal strength on the accuracy of the positioning information of the terminal device.

[0072] In this case, the terminal device determines that there are positioning parameters that meet the first condition and positioning parameters that do not meet the first condition in the first positioning parameter, and the positioning parameters that meet the first condition are one or more.

[0073] When the terminal device determines that there are positioning parameters that meet the first condition and the third positioning parameter that does not meet the first condition in the first positioning parameter, and the positioning parameter that meets the first condition is one (i.e., the second positioning parameter), the terminal device determines that the target positioning parameter includes the second positioning parameter and the third positioning parameter.

[0074] Exemplarily, assume that the first positioning parameter includes the angle of arrival and the received signal strength, the priority of the angle of arrival is higher than the priority of the received signal strength, the confidence level of the angle of arrival is less than the second confidence threshold corresponding to the angle of arrival, and the confidence level of the received signal strength is greater than the second confidence threshold corresponding to the received signal strength. The terminal device determines that the target positioning parameter includes the angle of arrival and the received signal strength.

[0075] When the terminal device determines that there are positioning parameters that meet the first condition and positioning parameters that do not meet the first condition among the first positioning parameters, and there are multiple positioning parameters that meet the first condition, the terminal device determines the positioning parameter with the highest priority among the multiple positioning parameters that meet the first condition as the second positioning parameter. The terminal device determines that the target positioning parameter includes the second positioning parameter with the highest priority among the multiple positioning parameters that meet the first condition and the third positioning parameter.

[0076] It should be understood that since the second positioning parameter is the positioning parameter with the highest priority among the multiple positioning parameters that meet the first condition, it indicates that the accuracy of this second positioning parameter is relatively high, and the influence of this second positioning parameter on the accuracy of the positioning information of the terminal device is relatively small. In addition, even if the third positioning parameter does not meet the first condition, but the priority of the third positioning parameter is higher than that of the second positioning parameter, the influence of the third positioning parameter on the accuracy of the positioning information of the terminal device is even smaller. The terminal device determines that the target positioning parameter includes the second positioning parameter and the third positioning parameter, which has a relatively small impact on the positioning accuracy of the terminal device. Exemplarily, it is assumed that the first positioning parameter includes the angle of arrival, the received signal strength, and the round-trip time, the priority of the angle of arrival is higher than the priority of the received signal strength, and the priority of the received signal strength is higher than the priority of the round-trip time. If the confidence level of the angle of arrival is less than the second confidence level threshold corresponding to the angle of arrival, the confidence level of the received signal strength is greater than the second confidence level threshold corresponding to the received signal strength, and the confidence level of the round-trip time is greater than the second confidence level threshold corresponding to the round-trip time, then the terminal device determines that the target positioning parameter includes the angle of arrival and the received signal strength.

[0077] Case 3: The target positioning parameter includes the positioning parameters that meet the second condition among the first positioning parameters except the received signal strength.

[0078] Among them, the second condition includes that the confidence level is less than the second confidence level threshold and greater than the first confidence level threshold.

[0079] In the embodiment of the present application, when there are positioning parameters in the first positioning parameters whose confidence levels are less than the second confidence level threshold and greater than the first confidence level threshold, it indicates that the accuracies of the positioning parameters in the first positioning parameters are all relatively low. In this case, the terminal device determines that the target positioning parameter includes the positioning parameters that meet the second condition among the first positioning parameters except the received signal strength.

[0080] It should be understood that when the accuracy of the received signal strength is relatively low, the received signal strength has a relatively large impact on the positioning accuracy of the terminal device. In order to avoid the situation where the accuracy of the positioning information of the terminal device determined by the terminal device is relatively low, the terminal device does not include the received signal strength when determining the target positioning parameter, so as to improve the positioning accuracy of the terminal device.

[0081] Exemplarily, assume that the multiple positioning parameters obtained by the terminal device include multiple first positioning parameters, and among the multiple first positioning parameters, there are positioning parameters that meet the second condition and positioning parameters that do not meet the second condition. If the positioning parameters that meet the second condition do not include the received signal strength, the terminal device determines that the target positioning parameters include the positioning parameters that meet the second condition among the multiple first positioning parameters. If the positioning parameters that meet the second condition include the received signal strength, the terminal device determines that the target positioning parameters include the positioning parameters that meet the second condition among the multiple first positioning parameters except for the received signal strength.

[0082] After the terminal device receives multiple positioning reference signals and measures each positioning reference signal to obtain corresponding multiple positioning parameters, the terminal device can determine a positioning parameter set based on the confidence levels of the multiple positioning parameters corresponding to each positioning reference signal among the multiple positioning reference signals. Exemplarily, assume that the terminal device receives 3 positioning reference messages, and the terminal device measures the 3 positioning reference signals to obtain the time of arrival and the angle of arrival corresponding to each positioning reference signal. In this case, the positioning parameter set includes 3 times of arrival at the same time.

[0083] S230, the terminal device obtains the positioning information of the terminal device based on the positioning parameter set.

[0084] In the embodiments of the present application, after the terminal device determines the positioning parameter set based on the confidence levels of the multiple positioning parameters, the terminal device can input the positioning parameters in the positioning parameter set into the first positioning model or the second positioning model to obtain the positioning information of the terminal device.

[0085] Optionally, the first positioning model is a trained neural network model. In the training phase, the terminal device combines the actual positioning information with the corresponding positioning parameters to construct a training data set, and uses the training data set to train the neural network model to obtain the trained first positioning model, so that the trained first positioning model compensates for certain information loss inherent in the positioning parameters, reduces the impact of information loss on the positioning accuracy, and the trained first positioning model learns the mapping relationship between the positioning parameters and the actual positioning information, which is beneficial to improving the positioning accuracy. The first positioning model may include a neural network. This neural network may be a deep neural network or other types of neural networks. In the embodiments of the present application, the type of the neural network is not limited.

[0086] Taking the first positioning model including a deep neural network as an example, Figure 4 is a schematic structural diagram of a first positioning model provided by an embodiment of the present application. As Figure 4 shown, the deep neural network includes an input layer, a hidden layer, and an output layer. The input layer is used to receive the positioning parameter set. For example, Figure 4The set of positioning parameters received by the input layer in [description] includes time of arrival, angle of arrival, and received signal strength. The hidden layer is located between the input layer and the output layer and is responsible for learning complex patterns and feature representations from the input set of positioning parameters. A deep neural network may include one or more hidden layers. For example, Figure 4 the deep neural network in [description] includes Hidden Layer 1 and Hidden Layer 2. Hidden Layer 1 includes 10 neurons, and Hidden Layer 2 includes 3 neurons. The output layer is used to generate and output the final output result of the network, that is, the output layer is used to output the positioning information of the terminal device.

[0087] The process in which the terminal device inputs the positioning parameters in the set of positioning parameters into the first positioning model to obtain the positioning information of the terminal device means that the terminal device directly uses at least one positioning parameter in the set of positioning parameters as the input of the first positioning model and sends it into the deep neural network included in the model for end-to-end feature extraction and prediction of the positioning information. The process of predicting the positioning information of the terminal device by this method can fully exploit the internal correlation between different positioning parameters, significantly reduce the impact of the error of a single positioning parameter on the overall positioning accuracy, and effectively improve the accuracy and robustness of the positioning system.

[0088] Optionally, the second positioning model includes a fusion network and a neural network corresponding to the positioning parameters in the set of positioning parameters. In this case, the input of the neural network is the positioning parameter, the output of the neural network is the input of the fusion network, and the output of the fusion network is the positioning information.

[0089] Exemplarily, Figure 5 is a schematic structural diagram of a second positioning model provided by an embodiment of the present application. As Figure 5 shown, assuming that the set of positioning parameters includes time of arrival, angle of arrival, and received signal strength, the second positioning model includes a fusion network and neural networks corresponding to time of arrival, angle of arrival, and received signal strength. The input of Neural Network 1 corresponding to time of arrival is time of arrival, the input of Neural Network 2 corresponding to angle of arrival is angle of arrival, and the input of Neural Network 3 corresponding to received signal strength is received signal strength. Before the time of arrival, angle of arrival, and received signal strength are input into the corresponding neural networks, preprocessing operations can be performed. For example, the preprocessing operations include operations such as noise removal and normalization. The outputs of these 3 neural networks are the inputs of the fusion network, and the output of the fusion network is the positioning information of the terminal device. Thus, each neural network corresponding to a positioning parameter processes the positioning parameter respectively, and the fusion network then fuses the outputs of each neural network, thereby achieving high-precision and low-latency positioning.

[0090] Figure 5Each neural network and fusion network therein only includes an input layer, a hidden layer, and an output layer. Exemplarily, as shown in Table 1 below, Neural Network 1, Neural Network 2, and Neural Network 3 all include an input layer, Hidden Layer 1, Hidden Layer 2, and an output layer. The input layer of each neural network is used to input the corresponding positioning parameters. The hidden layer is located between the input layer and the output layer and is responsible for learning complex patterns and feature representations from the input positioning parameters. The neural networks in Table 1 include Hidden Layer 1 and Hidden Layer 2. Hidden Layer 1 includes 8 neurons, and Hidden Layer 2 includes 3 neurons. The output layer of the neural network is used to output the characteristic information of the positioning parameters. For example, the output layer of Neural Network 1 is used to output Feature Information 1 of the time of arrival. The input layer of the fusion network is used to input the characteristic information of the positioning parameters output by the above 3 neural networks, namely, Characteristic Information 1, Feature Information 2, and Feature Information 3. The fusion network includes 2 hidden layers, namely Hidden Layer 1 and Hidden Layer 2. Among them, Hidden Layer 1 includes 8 neurons, and Hidden Layer 2 includes 3 neurons. The output layer of the fusion network is used to output the positioning information of the terminal device.

[0091] Table 1

[0092] It should be understood that since the model structures of the first positioning model and the second positioning model are not the same, when the same set of positioning parameters is input into the first positioning model and the second positioning model respectively, the accuracies of the positioning information output by the two positioning models are not the same, and there is also a difference in the computational amounts of the two positioning models.

[0093] Exemplarily, as can be seen from Table 2 below, when the same set of positioning parameters is input into the first positioning model and the second positioning model respectively, by comparison, it can be seen that compared with the second positioning model, the number of parameters and the computational amount of the first positioning model are both lower, which is more capable of saving computational resources and improving the positioning efficiency. In addition, although the computational amount of the second positioning model is high, the second positioning model can finely process different features and has the advantage of high positioning accuracy.

[0094] Table 2

[0095] As can be seen from Table 2 above, after the terminal device determines the set of positioning parameters, it can select to use the first positioning model or the second positioning model to predict the positioning information according to the positioning accuracy required by the service data of the terminal device.

[0096] Optionally, if the positioning accuracy required for the service data of the terminal device is less than the preset accuracy threshold, the terminal device inputs the positioning parameters in the positioning parameter set into the first positioning model to obtain positioning information. It can be seen that when the positioning accuracy required for the service data of the terminal device is low, the terminal device can use the first positioning model with low positioning accuracy and low computational complexity to predict the positioning information, which not only meets the positioning accuracy but also reduces the computational amount, thereby improving the computational efficiency and positioning efficiency.

[0097] Exemplarily, assume that the services running on the terminal device are services with relatively low requirements for positioning accuracy, such as ordinary navigation and logistics distribution. Then the terminal device can use the first positioning model to predict the positioning information of the terminal device, so as to reduce the computational amount and improve the positioning efficiency while meeting the positioning accuracy.

[0098] If the positioning accuracy required for the service data of the terminal device is greater than the preset accuracy threshold, the terminal device inputs the positioning parameters in the positioning parameter set into the second positioning model to obtain positioning information. It can be seen that when the positioning accuracy required for the service data of the terminal device is high, the terminal device can use the second positioning model with high positioning accuracy to predict the positioning information, so as to obtain a high-precision positioning result to meet the requirement of positioning accuracy.

[0099] Exemplarily, assume that the services running on the terminal device are services with relatively high requirements for positioning accuracy, such as autonomous driving and intelligent transportation. Then the terminal device can use the second positioning model to predict the positioning information of the terminal device, so as to obtain a positioning result with relatively high positioning accuracy.

[0100] In summary, in the positioning method of the embodiment of the present application, the terminal device obtains multiple positioning parameters of the terminal device, and does not directly use the obtained multiple positioning parameters to predict the positioning information, but determines the positioning parameter set based on the confidence levels of the multiple positioning parameters, and obtains the positioning information of the terminal device based on the positioning parameter set. Thus, the terminal device filters out the positioning parameters with low confidence levels and only uses the positioning parameters with high accuracy to predict the positioning information, avoiding the situation that the error of the positioning parameters estimated by the terminal device is large, resulting in low positioning accuracy of the terminal device, which is beneficial to improving the positioning accuracy of the terminal device.

[0101] The following will detail the specific implementation process of how the terminal device determines the confidence levels of the multiple positioning parameters.

[0102] In an embodiment of the present application, the terminal device calculates the confidence of the positioning parameter by weighted calculation of the reciprocal of the geometric dilution of precision and the reciprocal of the first value. Among them, the geometric dilution of precision (GDOP) is used to characterize the influence degree of the position of the access network device on the measurement accuracy of the positioning parameter. The larger the value of the geometric dilution of precision, the larger the measurement error of the positioning parameter. The first value is the product value of at least one of the resource utilization factor of the positioning reference signal, the antenna array gain factor or the multipath loss factor and the mean squared error (MSE) of the positioning parameter estimation. The mean squared error of the positioning parameter estimation is used to characterize the statistical noise error of the positioning parameter. The smaller the estimated mean squared error, the higher the measurement accuracy of the positioning parameter.

[0103] Exemplarily, the terminal device may determine the confidence of the positioning parameter by using the following formula (2).

[0104] Formula (2); Among them, , represents the confidence of the positioning parameter. For example, represents the confidence of the time of arrival; represents the weight value of the geometric dilution of precision; represents the weight value of the estimated mean squared error; represents the geometric dilution of precision corresponding to the positioning parameter; represents the estimated mean squared error of the positioning parameter under a preset system configuration (such as a preset bandwidth, a preset antenna or a preset multipath). This value is usually given by the Cramér-Rao lower bound (CRLB) or historical experience; , and are all dimensionless influence factors, representing the resource utilization factor of the positioning reference signal, the antenna array gain factor or the multipath loss factor respectively.

[0105] It should be understood that the influence degree of the same preset system configuration on the estimated mean squared errors of different positioning parameters is different. Taking the positioning parameters of the time of arrival, the angle of arrival and the received signal strength as examples respectively, the estimated mean squared errors of the time of arrival, the angle of arrival and the received signal strength and the dimensionless influence factors are determined below.

[0106] Exemplarily, the terminal device may determine the estimated mean squared error of the time of arrival by using the following formula (3), and determine the dimensionless influence factors of the time of arrival by using the following formulas (4) to (6).

[0107] Formula (3); Formula (4); Formula (5); Formula (6); where, represents the estimated mean square error of the arrival time; B represents the preset bandwidth; SNR represents the signal-to-noise ratio. It can be seen from Formula (3) that the larger the bandwidth B and the higher the signal-to-noise ratio, the smaller the estimated mean square error of the arrival time. represents the influence of the utilization rate of the bandwidth resource occupied by the positioning reference signal on the estimation accuracy of the arrival time; represents the maximum bandwidth of the preset bandwidth; represents the influence of the antenna array on the estimation accuracy of the arrival time; represents the influence of the multipath effect on the estimation accuracy of the arrival time, represents the root mean square delay spread.

[0108] Exemplarily, the terminal device can use the following Formula (7) to determine the estimated mean square error of the angle of arrival, and use the following Formulas (8) to (10) to determine the dimensionless influence factor of the angle of arrival.

[0109] Formula (7); Formula (8); Formula (9); Formula (10); where, represents the estimated mean square error of the angle of arrival; represents the length of the antenna array; SNR represents the signal-to-noise ratio. It can be seen from Formula (7) that the measurement accuracy of the angle of arrival is proportional to the length of the antenna array, and the smaller the signal-to-noise ratio SNR, the higher the measurement accuracy of the angle of arrival. represents 32 / 64 / 100 resource blocks (RB), and each resource block consists of 12 subcarriers; represents the influence of the utilization rate of the bandwidth resource occupied by the positioning reference signal on the estimation accuracy of the angle of arrival; represents the influence of the antenna array on the estimation accuracy of the angle of arrival; represents the influence of the multipath effect on the estimation accuracy of the angle of arrival.

[0110] Exemplarily, the terminal device can use the following Formula (11) to determine the estimated mean square error of the received signal strength, and use the following Formulas (12) to (14) to determine the dimensionless influence factor of the received signal strength.

[0111] Formula (11); Formula (12); Formula (13); Formula (14); wherein, represents the estimated mean square error of the received signal strength; represents the influence of the utilization rate of the bandwidth resource occupied by the positioning reference signal on the estimation accuracy of the received signal strength. represents the number of orthogonal frequency division multiplexing (OFDM) occupied by the positioning reference signal in the time domain; represents the influence of the antenna array on the estimation accuracy of the received signal strength; represents the influence of the multipath effect on the estimation accuracy of the received signal strength; represents 32 / 64 / 100 resource blocks, and each resource block consists of 12 subcarriers; is the root mean square delay spread.

[0112] In summary, the terminal device can use the following Formulas (15) to (17) to determine the confidence levels of the time of arrival, the angle of arrival, and the received signal strength.

[0113] Formula (15); Formula (16); Formula (17); For the meanings and values of the parameters in the above Formulas (15) to (17), reference can be made to the above embodiments, which will not be elaborated here.

[0114] In one example, taking the multiple positioning parameters obtained by the terminal device including the time of arrival, the angle of arrival, and the received signal strength as an example, the process of the terminal device determining the positioning parameter set based on the confidence levels of the multiple positioning parameters and obtaining the positioning information based on the positioning parameter set will be introduced by way of example.

[0115] Figure 6 is a schematic diagram of a positioning method provided by an embodiment of the present application. As Figure 6 shown, after the terminal device obtains multiple positioning parameters including the time of arrival, the angle of arrival, and the received signal strength, the terminal device calculates the confidence level of the time of arrival, the confidence level of the angle of arrival and the confidence level of the received signal strength respectively based on the above Formulas (15) to (17).

[0116] In this embodiment, the terminal device may compare the confidence levels of the positioning parameters with the first confidence threshold and the second confidence threshold corresponding to the positioning parameters in order from highest to lowest priority, so as to determine a set of positioning parameters based on the confidence levels of multiple positioning parameters, and then obtain positioning information based on the set of positioning parameters. Specifically, the following implementation manners are included: The first implementation manner is that when the confidence level of the time of arrival is greater than the second confidence threshold corresponding to the time of arrival the terminal device determines that the accuracy of the time of arrival is relatively high, and only uses the time of arrival as a positioning parameter to accurately determine the positioning information of the terminal device. In this case, the terminal device does not need to judge the magnitude relationship between the angle of arrival and the received signal strength and their corresponding confidence thresholds, thus saving calculation time and reducing the amount of calculation, which is beneficial to improving the positioning efficiency. The terminal device determines that the set of positioning parameters only includes the time of arrival, and the terminal device inputs the time of arrival into the first positioning model to obtain the positioning information of the terminal device.

[0117] The second implementation manner is that when the confidence level of the time of arrival is less than the second confidence threshold corresponding to the time of arrival and greater than the first confidence threshold corresponding to the time of arrival and when the confidence level of the angle of arrival is greater than the second confidence threshold corresponding to the angle of arrival the terminal device determines that the set of positioning parameters includes the time of arrival and the angle of arrival. In this case, the terminal device may determine to input the set of positioning parameters into the first positioning model or the second positioning model to obtain the positioning information of the terminal device based on the positioning accuracy required by the service data of the terminal device.

[0118] If the positioning accuracy required by the service data of the terminal device is less than the preset accuracy threshold, the terminal device may input the time of arrival and the angle of arrival into the first positioning model to obtain the positioning information of the terminal device. Thus, when the positioning accuracy required by the service data of the terminal device is relatively low, the terminal device may use the first positioning model with low positioning accuracy and low computational complexity to predict and obtain the positioning information, which not only meets the positioning accuracy but also reduces the amount of calculation, thereby improving the computational efficiency and the positioning efficiency.

[0119] If the positioning accuracy required by the service data of the terminal device is greater than the preset accuracy threshold, the terminal device may input the time of arrival and the angle of arrival into the second positioning model to obtain the positioning information of the terminal device. Thus, when the positioning accuracy required by the service data of the terminal device is relatively high, the terminal device may use the second positioning model with high positioning accuracy to predict and obtain the positioning information, so as to obtain a high-precision positioning result to meet the requirements of the positioning accuracy.

[0120] The third implementation method, when the confidence level of the arrival time is less than the second confidence threshold corresponding to the arrival time and greater than the first confidence threshold corresponding to the arrival time , and the confidence level of the angle of arrival is less than the second confidence threshold corresponding to the angle of arrival and greater than the first confidence threshold corresponding to the angle of arrival , in the case where the confidence level of the received signal strength is greater than the second confidence threshold corresponding to the received signal strength , the terminal device determines that the positioning parameter set includes the arrival time, the angle of arrival, and the received signal strength.

[0121] In this implementation method, if the positioning accuracy required by the service data of the terminal device is less than the preset accuracy threshold, the terminal device may input the arrival time, the angle of arrival, and the received signal strength into the first positioning model to obtain the positioning information of the terminal device. Thus, in the case where the positioning accuracy required by the service data of the terminal device is low, the terminal device can use the first positioning model with low positioning accuracy and low computational complexity to predict and obtain the positioning information, which not only meets the positioning accuracy but also improves the positioning efficiency.

[0122] If the positioning accuracy required by the service data of the terminal device is greater than the preset accuracy threshold, the terminal device may input the arrival time, the angle of arrival, and the received signal strength into the second positioning model to obtain the positioning information of the terminal device. Thus, in the case where the positioning accuracy required by the service data of the terminal device is high, the terminal device can use the second positioning model with high positioning accuracy to predict and obtain the positioning information, so as to obtain a high-precision positioning result to meet the requirements of the positioning accuracy.

[0123] The fourth implementation method, when the confidence level of the arrival time is less than the second confidence threshold corresponding to the arrival time and greater than the first confidence threshold corresponding to the arrival time , and the confidence level of the angle of arrival is less than the second confidence threshold corresponding to the angle of arrival and greater than the first confidence threshold corresponding to the angle of arrival , in the case where the confidence level of the received signal strength is less than the second confidence threshold corresponding to the received signal strength , the terminal device determines that the positioning parameter set includes the arrival time and the angle of arrival.

[0124] It should be understood that due to the influence of the noise power and the interference signal power, the confidence level corresponding to the received signal strength is less than the second confidence level threshold corresponding to the received signal strength. In this case, in order to avoid the influence of the received signal strength on the positioning accuracy, the terminal device can use the time of arrival and the angle of arrival to obtain the positioning information of the terminal device.

[0125] In this implementation manner, since the confidence level of the time of arrival is less than the second confidence level threshold corresponding to the time of arrival, and the confidence level of the angle of arrival is less than the second confidence level threshold corresponding to the angle of arrival, it indicates that although the time of arrival and the angle of arrival are credible, the accuracy is not high enough. In this case, in order to improve the positioning accuracy of the terminal device, the terminal device can input the time of arrival and the angle of arrival into the second positioning model to obtain the positioning information of the terminal device.

[0126] It should be noted that the positioning method introduced in the above embodiments is described by taking the terminal device as the execution entity as an example, that is, after the terminal device receives the positioning reference signal from the access network device, the terminal device determines multiple positioning parameters based on the positioning reference signal. Then, after the terminal device determines the positioning parameter set based on the confidence levels of the multiple positioning parameters, the terminal device determines the positioning information of the terminal device based on the positioning parameter set. When the LMF network element executes the positioning method of the embodiments of the present application as the execution entity, after the terminal device determines multiple positioning parameters based on the positioning reference signal, the terminal device sends the multiple positioning parameters to the LMF network element. The LMF network element determines the positioning parameter set based on the confidence levels of the multiple positioning parameters, determines the positioning information of the terminal device based on the positioning parameter set, and then sends the positioning information to the terminal device. The LMF network element determines the positioning information of the terminal device without the terminal device calculating the confidence levels of the multiple positioning parameters and determining the positioning information based on the positioning parameter set, reducing the calculation amount of the terminal device and being beneficial to improving the operation efficiency of the terminal device. The process of the LMF network element determining the positioning parameter set based on the confidence levels of the multiple positioning parameters and determining the positioning information of the terminal device based on the positioning parameter set can refer to S220 and S230 above, which will not be elaborated here.

[0127] Next, taking the terminal device determining the positioning information as an example, the process of the positioning method of the embodiments of the present application will be introduced. Figure 7 It is a signaling interaction schematic diagram of a positioning method provided by an embodiment of the present application. As Figure 7 shown, the communication devices involved may include a terminal device, a positioning base station, and a core network device. The positioning base station is a base station that sends a positioning reference signal to the terminal device. The positioning base station includes one or more base stations. The core network device includes an access and mobility management function (AMF) network element and an LMF network element. As Figure 7 shown, this method mainly includes the following processes: S701, the terminal device sends a positioning request to the AMF network element; correspondingly, the AMF network element receives the positioning request.

[0128] Among them, the positioning request carries the positioning service requirements and the identification information of the terminal device.

[0129] Optionally, the positioning service requirements may include the type of positioning request (such as single positioning or continuous positioning), the service type, the positioning accuracy requirements, etc. For example, in an emergency call scenario, the type of positioning request is single positioning, the service type is the emergency call type, and the positioning accuracy requirements are high; in an autonomous driving scenario, the type of positioning request is continuous positioning, the service type is the autonomous driving type, and the positioning accuracy requirements are low.

[0130] The identification information of the terminal device is the information uniquely used to identify the terminal device, so that the LMF network element can accurately lock the terminal device according to the identification information of the terminal device. The identification information of the terminal device may be a device identifier (identity, ID), and the device ID may be a device permanent identifier (device permanent identifier, DPI). For example, the international mobile equipment identity (IMEI) of the device, that is, the serial number of the device, the international mobile subscriber identity (IMSI) of the device. The device ID may also be a device temporary identifier (device temporary identifier, DTI). For example, a globally unique temporary identifier (globally unique temporary identifier, GUTI). The device ID may also be other identification information that uniquely identifies the device, which is not limited here.

[0131] S702, the AMF network element sends a positioning request to the LMF network element; correspondingly, the LMF network element receives the positioning request.

[0132] In some embodiments, when the terminal device needs to position itself, the AMF network element may, in response to receiving the positioning request sent by the terminal device, send a positioning request to the LMF network element. For example, the terminal device sends a positioning request to the AMF network element through an uplink non-access stratum transport message.

[0133] In some other embodiments, when a service provider that needs the location of the terminal device to provide a service needs to locate the terminal device, the AMF network element may respond to receiving a positioning request sent by the gateway mobile location center (GMLC) to the LMF network element through an interface that provides positioning information. For example, the interface that provides positioning information is Namf_Location_ProvidePositioningInfo.

[0134] Here, the GMLC may respond to a positioning request for the terminal device sent by the service provider and send a positioning request to the AMF network element. For example, the service provider includes a navigation service provider or an emergency service provider, etc. The service provider may interact with the GMLC through an application function (AF) network element or a location service (LCS) client.

[0135] S703, the LMF network element determines the configuration information of the positioning reference signal and the positioning base station.

[0136] In the embodiments of the present application, after receiving the positioning request, the LMF may configure the positioning reference signal to obtain the configuration information of the positioning reference signal. For example, the configuration information of the positioning reference signal may include time-domain resources, frequency-domain resources, transmission power, scheduling method, etc. The scheduling method refers to the method by which the positioning base station sends the positioning reference signal to the terminal device. For example, the LMF network element determines the ID of each PRS resource set (Resource Set), subcarrier spacing, bandwidth, starting physical resource block (physical resource block, PRB), reference point (Point A), number of frequency comb components, cyclic prefix type, period and time slot offset, repetition factor, time interval or number of symbols, etc.

[0137] When the LMF network element determines the positioning base station for sending the positioning reference signal, it mainly considers the signal quality, positioning ability, spatial distribution, and synchronization performance of the base station, etc. Optionally, the LMF network element first evaluates multiple base stations according to indicators such as reference signal received power and signal-to-noise ratio, and selects a base station with better signal quality (for example, a base station with a signal quality greater than a preset threshold). Secondly, the LMF network element screens out the base stations that support configuring and sending the positioning reference signal from the base stations with better signal quality. Here, in order to improve the positioning accuracy, the LMF network element may select base stations with good geographical distribution to avoid collinearity, so as to reduce the geometric dilution of precision. Finally, the LMF network element excludes base stations with high load or poor synchronization performance to obtain the positioning base station, thereby ensuring the accuracy and stability of the positioning base station.

[0138] S704, the LMF network element sends the configuration information of the positioning reference signal to the positioning base station; correspondingly, the positioning base station receives the configuration information.

[0139] Optionally, 5G introduces a new radio positioning protocol A (NRPPa) between the LMF network element and the positioning base station. The LMF network element sends the configuration information of the positioning reference signal to the positioning base station through NRPPa.

[0140] S705, the positioning base station sends the positioning reference signal to the terminal device; correspondingly, the terminal device receives the positioning reference signal.

[0141] Optionally, the positioning base station sends the positioning reference signal to the terminal device through radio resource control (RRC) or broadcasting according to the configuration information of the positioning reference signal.

[0142] S706, the terminal device determines multiple positioning parameters based on the positioning reference signal.

[0143] S707, the terminal device calculates the confidence level of each positioning parameter among the multiple positioning parameters.

[0144] S708, the terminal device determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters.

[0145] S709, the terminal device determines the positioning information of the terminal device based on the set of positioning parameters.

[0146] For the specific implementation processes of S706 to S709 above, refer to the implementation processes of S210 to S230 in the above embodiments, which will not be elaborated here.

[0147] In the positioning method of the embodiments of this application, after the terminal device sends a positioning request to the LMF network element through the AMF network element, the LMF network element sends the configuration information of the positioning reference signal to the positioning base station. After the positioning base station sends the positioning reference signal to the terminal device based on the configuration information, the terminal device determines multiple positioning parameters based on the positioning reference signal. Further, the terminal device determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters to obtain the positioning information of the terminal device based on the set of positioning parameters. Since the positioning parameters in the set of positioning parameters are positioning parameters that meet the confidence level threshold, it avoids the problem that there are positioning parameters with low accuracy among the multiple positioning parameters determined by the terminal device, which affects the positioning accuracy of the terminal device, and improves the positioning accuracy of the terminal device. In addition, for the scenario of continuous positioning, the terminal device does not need to send a positioning request to the LMF network element subsequently and does not need to interact frequently with the LMF network element, thereby reducing the positioning time delay.

[0148] Taking the determination of positioning information by the LMF network element as an example, the process of the positioning method according to the embodiments of the present application will be introduced below. Figure 8 It is a signaling interaction schematic diagram of another positioning method provided by the embodiments of the present application. As Figure 8 shown, the communication devices involved may include terminal devices, positioning base stations, and core network devices. The core network devices include AMF network elements and LMF network elements. As Figure 8 shown, the method mainly includes the following processes: S801, the terminal device sends a positioning request to the AMF network element; correspondingly, the AMF network element receives the positioning request.

[0149] S802, the AMF network element sends a positioning request to the LMF network element; correspondingly, the LMF network element receives the positioning request.

[0150] S803, the LMF network element determines the configuration information of the positioning reference signal and the positioning base station.

[0151] S804, the LMF network element sends the configuration information of the positioning reference signal to the positioning base station; correspondingly, the positioning base station receives the configuration information.

[0152] S805, the positioning base station sends a positioning reference signal to the terminal device; correspondingly, the terminal device receives the positioning reference signal.

[0153] S806, the terminal device determines multiple positioning parameters based on the positioning reference signal.

[0154] For the specific implementation processes of S801 to S806 above, please refer to the specific introductions of S701 to S706 in the above embodiments, which will not be elaborated here.

[0155] S807, the terminal device sends multiple positioning parameters to the AMF network element; correspondingly, the AMF network element receives the multiple positioning parameters.

[0156] S808, the AMF network element sends multiple positioning parameters to the LMF network element; correspondingly, the LMF network element receives the multiple positioning parameters.

[0157] S809, the LMF network element calculates the confidence level of each positioning parameter among the multiple positioning parameters.

[0158] S810, the LMF network element determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters.

[0159] S811, the LMF network element determines the positioning information of the terminal device based on the set of positioning parameters.

[0160] For the specific implementation processes of S809 to S811 above, reference may be made to the specific implementation processes of S707 to S709 in the foregoing embodiments, which will not be elaborated herein.

[0161] S812. The LMF network element sends the positioning information of the terminal device to the AMF network element; correspondingly, the AMF network element receives the positioning information of the terminal device.

[0162] S813. The AMF network element sends the positioning information of the terminal device to the terminal device; correspondingly, the terminal device receives the positioning information of the terminal device.

[0163] In the positioning method of the embodiments of the present application, after the terminal device sends a positioning request to the LMF network element through the AMF network element, the LMF network element sends the configuration information of the positioning reference signal to the positioning base station. After the positioning base station sends the positioning reference signal to the terminal device based on the configuration information, the terminal device determines multiple positioning parameters based on the positioning reference signal and then sends the multiple positioning parameters to the LMF network element. Further, the LMF network element determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters, determines the positioning information of the terminal device based on the set of positioning parameters, and then sends the positioning information of the terminal device to the terminal device through the AMF network element. Since the positioning parameters in the set of positioning parameters are the positioning parameters that meet the confidence threshold, the problem that the positioning accuracy of the terminal device is affected by the positioning parameters with relatively low accuracy among the multiple positioning parameters determined by the terminal device is avoided, and the positioning accuracy of the terminal device is improved.

[0164] In addition, for scenarios where continuous positioning is not required on the terminal device side, such as single positioning or positioning with a small number of times, the terminal device can directly obtain the positioning information sent by the LMF network element, without the terminal device calculating the confidence levels of multiple positioning parameters and determining the positioning information based on the set of positioning parameters, reducing the computational amount of the terminal device and being beneficial to improving the operating efficiency of the terminal device.

[0165] It should be understood that Figures 1 to 8 the flowchart or scenario diagram shown is only for easy understanding and is not intended to limit the embodiments of the present application to the examples shown in the diagram. In fact, those skilled in the art can perform equivalent transformations based on Figures 1 to 8 the examples therein to obtain more implementation manners.

[0166] As described above in combination with Figures 1 to 8 , the positioning method provided by the embodiments of the present application has been described in detail. Next, the device embodiments of the present application will be described in detail in combination with Figures 9 to 10 . It should be understood that the communication device in the embodiments of the present application can execute various communication methods in the foregoing embodiments of the present application, and for the specific working processes of the following various products, reference may be made to the corresponding processes in the foregoing method embodiments.

[0167] In the foregoing embodiments, the terminal device may execute some or all of the steps in the embodiments; the network device may execute some or all of the steps in the embodiments. These steps or operations are merely examples, and the embodiments of the present application may also execute other operations or various modifications of the operations. In addition, the various steps may be executed in different orders presented in the embodiments, and it is possible not to execute all the operations in the embodiments of the present application. Moreover, the magnitude of the serial numbers of the steps does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0168] Figure 9 It is a schematic block diagram of a communication device provided by an embodiment of the present application. As Figure 9 shown, the communication device may include a communication module 920. The communication module 920 may implement corresponding communication functions, which may be internal communication functions of the communication device or communication functions between the communication device and other devices. Optionally, the communication module 920 may also be referred to as a communication interface or a transceiver module. Optionally, the communication device further includes a processing module 910. The processing module 910 may implement corresponding processing functions.

[0169] Optionally, the communication device further includes a storage module, which may be used to store instructions and / or data; the processing module 910 may read the instructions and / or data in the storage module to enable the communication device to implement the foregoing method embodiments.

[0170] In a possible design, the communication device may correspond to the terminal device in the foregoing method embodiments, or a component (such as a circuit, a chip, or a chip system, etc.) configured in the terminal device. The communication device may be used to execute the steps or processes executed by the terminal device in any of the foregoing method embodiments.

[0171] Exemplarily, the processing module 910 is used to obtain a plurality of positioning parameters of the terminal device, determine a positioning parameter set based on the confidence levels of the plurality of positioning parameters, the positioning parameter set including at least one positioning parameter among the plurality of positioning parameters; and obtain the positioning information of the terminal device based on the positioning parameter set. The at least one positioning parameter includes a time-of-arrival parameter, and the time-of-arrival parameter is a time of arrival and / or a time difference of arrival.

[0172] In some embodiments, the plurality of positioning parameters include a first positioning parameter, and the first positioning parameter includes at least one of a received signal strength, an angle of arrival, or a round-trip time.

[0173] The processing module 910 is further used for any one of the plurality of positioning parameters, if the confidence level of the positioning parameter is greater than the confidence level threshold corresponding to the positioning parameter, then determine that the positioning parameter set includes the positioning parameter.

[0174] In some other embodiments, the confidence threshold corresponding to the positioning parameter includes a first confidence threshold and a second confidence threshold, and the second confidence threshold is greater than the first confidence threshold. The processing module 910 is further configured to determine that the positioning parameter set includes the time-of-arrival parameter if the confidence of the time-of-arrival parameter is greater than the second confidence threshold corresponding to the time-of-arrival parameter; and to determine that the positioning parameter set includes the time-of-arrival parameter and the target positioning parameter if the confidence of the time-of-arrival parameter is less than the second confidence threshold corresponding to the time-of-arrival parameter and greater than the first confidence threshold corresponding to the time-of-arrival parameter, where the target positioning parameter is included in the first positioning parameters.

[0175] In some other embodiments, the target positioning parameter includes the positioning parameter in the first positioning parameters that satisfies a first condition; satisfying the first condition means that the confidence of the positioning parameter is greater than the second confidence threshold corresponding to the positioning parameter; or, the target positioning parameter includes, in the first positioning parameters, the second positioning parameter with the highest priority among the positioning parameters that satisfy the first condition, and a third positioning parameter; the third positioning parameter is the parameter in the first positioning parameters that has a priority higher than the second positioning parameter and does not satisfy the first condition; or, the target positioning parameter includes the positioning parameter in the first positioning parameters other than the received signal strength that satisfies a second condition, where the second condition includes that the confidence is less than the second confidence threshold and greater than the first confidence threshold.

[0176] The processing module 910 is further configured to input the positioning parameters in the positioning parameter set into a first positioning model to obtain positioning information; where the first positioning model includes a neural network; or, to input the positioning parameters in the positioning parameter set into a second positioning model to obtain positioning information; where the second positioning model includes a fusion network and a neural network corresponding to the positioning parameters in the positioning parameter set; the input of the neural network is the positioning parameter, the output of the neural network is the input of the fusion network, and the output of the fusion network is the positioning information.

[0177] The processing module 910 is further configured to input the positioning parameters in the positioning parameter set into the first positioning model to obtain positioning information if the positioning accuracy required by the service data of the terminal device is less than a preset accuracy threshold; and to input the positioning parameters in the positioning parameter set into the second positioning model to obtain positioning information if the positioning accuracy required by the service data of the terminal device is greater than the preset accuracy threshold.

[0178] The processing module 910 is further configured to input the time-of-arrival parameter into the first positioning model for prediction to obtain positioning information.

[0179] In some other embodiments, the confidence is calculated by weighted calculation of the reciprocal of the geometric dilution of precision and the reciprocal of a first value; Among them, the geometric dilution of precision is used to characterize the influence degree of the position of the access network device on the measurement precision of the positioning parameters; the first value is the product value of at least one of the resource utilization factor of the positioning reference signal, the antenna array gain factor, or the multipath loss factor and the mean square error (MSE) of the estimation of the positioning parameters.

[0180] The above are only examples, and the detailed steps or processes can refer to the description of the foregoing embodiments.

[0181] In a possible design, the communication device may correspond to the positioning functional network element in the foregoing method embodiments, or be configured as a component (such as a circuit, a chip, or a chip system, etc.) in the positioning functional network element. The communication device can be used to execute the steps or processes performed by the positioning functional network element in any of the foregoing method embodiments.

[0182] Exemplarily, the communication module 920 is used to receive multiple positioning parameters from the terminal device.

[0183] The processing module 910 is used to determine a set of positioning parameters based on the confidence levels of the multiple positioning parameters, where the set of positioning parameters includes at least one positioning parameter among the multiple positioning parameters; and obtain the positioning information of the terminal device based on the set of positioning parameters.

[0184] The above are only examples, and the detailed steps or processes can refer to the description of the foregoing embodiments.

[0185] Figure 10 It is a schematic block diagram of another communication device provided in the embodiments of the present application. The communication device may be a chip, a chip system, or a processor, etc. of a terminal device or a network device for implementing the above method. The communication device can be used to implement the method described in the foregoing method embodiments, and specifically, reference can be made to the description in the foregoing method embodiments.

[0186] As Figure 10 shown, the communication device may include one or more processors 1010. The processor 1010 may also be referred to as a processing unit or a processing module, and can implement certain control functions. The processor 1010 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (such as a base station, a baseband chip, a user, a user chip), execute software programs, and process the data of the software programs.

[0187] In an alternative design, the processor 1010 may also store instructions and / or data, and the instructions and / or data can be run by the processor 1010, so that the communication device executes the method described in the foregoing method embodiments.

[0188] In another alternative design, the communication device may include a communication interface 1020 for implementing receiving and sending functions. For example, the communication interface 1020 may be a transceiver circuit, an interface, an interface circuit, or a transceiver, etc. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and sending functions may be separate or integrated together. The above-mentioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or the above-mentioned transceiver circuit, interface, interface circuit, or transceiver may be used for signal transmission or transfer.

[0189] Optionally, the communication device may include one or more memories 1030, on which instructions may be stored, and the instructions may be run on the processor 1010, so that the communication device executes the methods described in the above method embodiments. Optionally, data may also be stored in the memory 1030. Optionally, instructions and / or data may also be stored in the processor 1010. The processor 1010 and the memory 1030 may be provided separately or integrated together.

[0190] It should be understood that in a possible design, the steps in the method embodiments provided in this application may be completed by the integrated logic circuit in the hardware of the processor or the instructions in software form. The steps of the method disclosed in combination with the embodiments of this application may be directly embodied as being executed and completed by the hardware processor, or executed and completed by a combination of the hardware and software modules in the processor. The software module may be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0191] In one implementation, the communication device may correspond to the terminal device in the above method embodiment and may be used to execute each step and / or process executed by the terminal device in the above method embodiment. The processor 1010 may be used to execute the instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute each step and / or process of the above method embodiment corresponding to the terminal device.

[0192] In another implementation, the communication device may correspond to the network device in the above method embodiment and may be used to execute each step and / or process executed by the network device in the above method embodiment. The processor 1010 may be used to execute the instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute each step and / or process of the above method embodiment corresponding to the network device.

[0193] It should be understood that the above processing device can be one or more chips. For example, the processing device can be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0194] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include but not be limited to these and any other suitable types of memory.

[0195] According to the method provided by the embodiments of the present application, the present application further provides a chip system, which includes one or more processors for calling and running instructions stored in a memory from the memory, so that the method of the embodiments of the present application is executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0196] Among them, the chip system may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.

[0197] According to the method provided by the embodiments of the present application, the present application further provides a communication system, which includes the foregoing access network device, terminal device, and core network device.

[0198] According to the method provided by the embodiments of the present application, the present application further provides a computer program product, which includes: computer program code. When the computer program code runs on a computer, the computer executes each step or process executed by any of the foregoing method embodiments.

[0199] According to the method provided by the embodiments of the present application, the present application further provides a computer-readable storage medium, which stores program code. When the program code runs on a computer, the computer executes each step or process executed by any of the foregoing method embodiments.

[0200] The computer-readable storage medium may be the foregoing volatile memory or non-volatile memory, or may include both volatile memory and non-volatile memory.

[0201] In the embodiments of the present application, the terms and English abbreviations are all exemplary examples given for convenience of description and should not constitute any limitation to the present application. The present application does not exclude the possibility of defining other terms that can achieve the same or similar functions in existing or future protocols.

[0202] In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.

[0203] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0204] It should be understood that in various embodiments of the present application, the magnitude of the sequence numbers of the various processes does not mean the order of execution. The order of execution of the various processes should be determined by their functions and internal logics, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0205] In summary, the above description is only a preferred embodiment of the technical solution of the present application and is not used to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning method, characterized in that, The method includes: Obtaining a plurality of positioning parameters of a terminal device; Determining a positioning parameter set based on the confidence levels of the plurality of positioning parameters, the positioning parameter set including at least one of the plurality of positioning parameters; the at least one positioning parameter includes a time of arrival parameter, and the time of arrival parameter is a time of arrival and / or a time difference of arrival; Obtaining the positioning information of the terminal device based on the positioning parameter set.

2. The method according to claim 1, wherein The plurality of positioning parameters further includes a first positioning parameter; The first positioning parameter includes at least one of a received signal strength, an angle of arrival, or a round-trip time.

3. The method according to claim 2, characterized in that, The determining the positioning parameter set based on the confidence levels of the plurality of positioning parameters includes: For any one of the plurality of positioning parameters, if the confidence level of the positioning parameter is greater than the confidence level threshold corresponding to the positioning parameter, then it is determined that the positioning parameter set includes the positioning parameter.

4. The method according to claim 3, wherein The confidence level threshold corresponding to the positioning parameter includes a first confidence level threshold and a second confidence level threshold, and the second confidence level threshold is greater than the first confidence level threshold. The determining that the positioning parameter set includes the positioning parameter includes: If the confidence level of the time of arrival parameter is greater than the second confidence level threshold corresponding to the time of arrival parameter, then it is determined that the positioning parameter set includes the time of arrival parameter; If the confidence level of the time of arrival parameter is less than the second confidence level threshold corresponding to the time of arrival parameter and greater than the first confidence level threshold corresponding to the time of arrival parameter, then it is determined that the positioning parameter set includes the time of arrival parameter and a target positioning parameter, and the target positioning parameter is included in the first positioning parameter.

5. The method according to claim 4, wherein The target positioning parameter includes a positioning parameter in the first positioning parameter that satisfies a first condition; the satisfying the first condition means that the confidence level of the positioning parameter is greater than the second confidence level threshold corresponding to the positioning parameter; or, The target positioning parameter includes a second positioning parameter with the highest priority among the positioning parameters in the first positioning parameter that satisfy the first condition, and a third positioning parameter; the third positioning parameter is a parameter in the first positioning parameter with a priority higher than that of the second positioning parameter and that does not satisfy the first condition; or, The target positioning parameter includes a positioning parameter in the first positioning parameter other than the received signal strength that satisfies a second condition, and the second condition includes that the confidence level is less than the second confidence level threshold and greater than the first confidence level threshold.

6. The method according to any one of claims 1 to 5, characterized in that, The obtaining the positioning information of the terminal device based on the positioning parameter set includes: Inputting the positioning parameters in the positioning parameter set into a first positioning model to obtain the positioning information; wherein, the first positioning model includes a neural network; or, Input the positioning parameters in the positioning parameter set into the second positioning model to obtain the positioning information; wherein, the second positioning model includes a fusion network and a neural network corresponding to the positioning parameters in the positioning parameter set; the input of the neural network is the positioning parameter, the output of the neural network is the input of the fusion network, and the output of the fusion network is the positioning information.

7. The method according to any one of claims 2 to 5, characterized in that, When the positioning parameter set includes the time of arrival parameter and the first positioning parameter, obtaining the positioning information of the terminal device based on the positioning parameter set includes: If the positioning accuracy required by the service data of the terminal device is less than the preset accuracy threshold, input the positioning parameters in the positioning parameter set into the first positioning model to obtain the positioning information; If the positioning accuracy required by the service data of the terminal device is greater than the preset accuracy threshold, input the positioning parameters in the positioning parameter set into the second positioning model to obtain the positioning information.

8. The method according to any one of claims 2 to 5, characterized in that When the positioning parameter set includes the time of arrival parameter, obtaining the positioning information of the terminal device based on the positioning parameter set includes: Input the time of arrival parameter into the first positioning model for prediction to obtain the positioning information.

9. The method according to any one of claims 1 to 5, wherein The confidence level is obtained by weighted calculation of the reciprocal of the geometric dilution of precision and the reciprocal of the first value; Wherein, the geometric dilution of precision is used to characterize the influence degree of the position of the access network device on the measurement accuracy of the positioning parameter; the first value is the product value of at least one of the resource utilization factor of the positioning reference signal, the antenna array gain factor or the multipath loss factor and the mean square error MSE of the estimation of the positioning parameter.

10. The method according to any one of claims 1 to 5, wherein The positioning information is determined by the terminal device or the location management function network element.

11. A communication device, comprising one or more processors, a memory, and a computer program stored on the memory, characterized in that, The processor executes the computer program to implement the method according to any one of claims 1 to 10.

12. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, the method according to any one of claims 1 to 10 is implemented.

13. A chip system, comprising a memory and a processor, characterized in that, When the program / instructions stored in the memory are executed by the processor, the method according to any one of claims 1 to 10 is implemented.

14. A computer program product, characterized in that, The computer program product includes: a computer program or instructions, when the computer program or instructions run on a computer, causing the computer to execute the method according to any one of claims 1 to 10.

Images