Positioning method and device and storage medium

Abstract

The invention provides a positioning method and device and a storage medium, and belongs to the field of communication. In the method, at least one group of TRP configuration is determined according to a plurality of TRP, each group of TRP configuration comprises a first reference TRP and a second reference TRP, the first reference TRP in each group of TRP configuration is the same, and the second reference TRP in each group of TRP configuration is different; aiming at any group of TRP configuration, determining a search area according to a received signal power measurement value and a coordinate of a first reference TRP in the TRP configuration and a received signal power measurement value and a coordinate of a second reference TRP; determining a first candidate position according to the search area; and determining the position of the to-be-measured point according to the at least one first candidate position. According to the method, the position of the to-be-measured point is determined by using the geometric features based on the received signal power measurement value of the TRP, a resolving blind area does not exist in a 4TRP scene, the positioning performance can be ensured on the premise that the number of the TRP is not increased, and reliable positioning is realized.

Description

Technical Field

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

[0002] A positioning system in a Line of Sight (LOS) environment can use a positioning algorithm based on received signal power to calculate the position of a user equipment (UE) to be located.

[0003] In positioning algorithms based on received signal power, a ranging positioning algorithm based on received signal power can be used to calculate the UE's position. When using four transmit / receive points (TRPs), the ranging positioning algorithm based on received signal power has a large calculation blind spot, resulting in low overall positioning accuracy. Six or more TRPs are required to ensure positioning performance. Summary of the Invention

[0004] The present application provides a positioning method, device and storage medium, which solve the technical problem that the current ranging positioning algorithm based on received signal power has a large solution blind spot and needs to increase the number of TRPs to ensure positioning performance.

[0005] In a first aspect, an embodiment of the present application provides a positioning method, including:

[0006] Determine at least one group of TRP configurations based on the plurality of transmitting and receiving nodes TRPs, each group of TRP configurations including a first reference TRP and a second reference TRP, wherein the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different;

[0007] For any set of TRP configurations, determine a search area based on the received signal power measurement value and coordinates of a first reference TRP and the received signal power measurement value and coordinates of a second reference TRP in the TRP configuration;

[0008] Determining a first candidate location based on the search area;

[0009] The position of the point to be measured is determined according to at least one first candidate position.

[0010] In one embodiment, determining the search area based on the received signal power measurement value and coordinates of the first reference TRP and the received signal power measurement value and coordinates of the second reference TRP in the TRP configuration includes:

[0011] determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP;

[0012] The search area is determined based on the first received signal power ratio, the coordinates of the first reference TRP and the coordinates of the second reference TRP.

[0013] In one embodiment, determining the search area according to the first received signal power ratio, the coordinates of the first reference TRP, and the coordinates of the second reference TRP includes:

[0014] Transforming the original coordinate system into an estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system;

[0015] The search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

[0016] In one embodiment, determining the search area according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation includes:

[0017] The search area is determined by the following formula:

[0018]

[0019] Among them, P ba represents the first received signal power ratio, x′ represents the coordinate of the second reference TRP on the x-axis of the estimated coordinate system, and z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

[0020] In one embodiment, determining the first candidate location according to the search area includes:

[0021] determining a plurality of search points in the search area;

[0022] determining, for any search point, at least one second received signal power ratio, the second received signal power ratio being determined based on received signal powers of the search point, the first reference TRP, and a first TRP, where the first TRP is any TRP among the multiple TRPs other than the first reference TRP and the second reference TRP;

[0023] Determine at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP;

[0024] The first candidate position is determined according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio.

[0025] In one embodiment, determining the first candidate position according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio includes:

[0026] determining a cost function according to at least one second received signal power ratio value corresponding to each search point and the at least one third received signal power ratio value;

[0027] The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

[0028] In one embodiment, determining the cost function based on the at least one second received signal power ratio value and the at least one third received signal power ratio value corresponding to each search point includes:

[0029] The cost function is determined by the following formula:

[0030]

[0031] Wherein, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of the first TRPs, and N is a positive integer.

[0032] In one embodiment, determining the position of the point to be measured based on at least one first candidate position includes:

[0033] Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system;

[0034] The center position of a figure formed by at least one of the second candidate positions is determined as the position of the point to be measured.

[0035] In a second aspect, an embodiment of the present application provides a positioning device, including a memory, a transceiver, and a processor:

[0036] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0037] Determine at least one group of TRP configurations based on the plurality of transmitting and receiving nodes TRPs, each group of TRP configurations including a first reference TRP and a second reference TRP, wherein the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different;

[0038] For any set of TRP configurations, determine a search area based on the received signal power measurement value and coordinates of a first reference TRP and the received signal power measurement value and coordinates of a second reference TRP in the TRP configuration;

[0039] Determining a first candidate location based on the search area;

[0040] The position of the point to be measured is determined according to at least one first candidate position.

[0041] In one embodiment, the processor is specifically configured to perform the following operations:

[0042] determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP;

[0043] The search area is determined based on the first received signal power ratio, the coordinates of the first reference TRP and the coordinates of the second reference TRP.

[0044] In one embodiment, the processor is specifically configured to perform the following operations:

[0045] Transforming the original coordinate system into an estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system;

[0046] The search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

[0047] In one embodiment, the processor is specifically configured to perform the following operations:

[0048] The search area is determined by the following formula:

[0049]

[0050] Among them, P barepresents the first received signal power ratio, x′ represents the coordinate of the second reference TRP on the x-axis of the estimated coordinate system, and z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

[0051] In one embodiment, the processor is specifically configured to perform the following operations:

[0052] determining a plurality of search points in the search area;

[0053] Determining, for any search point, at least one second received signal power ratio, where the second received signal power ratio is determined based on received signal powers of the search point, the first reference TRP, and a first TRP, where the first TRP is any TRP among the multiple TRPs other than the first reference TRP and the second reference TRP;

[0054] Determine at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP;

[0055] The first candidate position is determined according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio.

[0056] In one embodiment, the processor is specifically configured to perform the following operations:

[0057] determining a cost function according to at least one second received signal power ratio value corresponding to each search point and the at least one third received signal power ratio value;

[0058] The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

[0059] In one embodiment, the processor is specifically configured to perform the following operations:

[0060] The cost function is determined by the following formula:

[0061]

[0062] Wherein, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of the first TRPs, and N is a positive integer.

[0063] In one embodiment, the processor is specifically configured to perform the following operations:

[0064] Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system;

[0065] The center position of a figure formed by at least one of the second candidate positions is determined as the position of the point to be measured.

[0066] In a third aspect, an embodiment of the present application provides a positioning device, including:

[0067] a first determining unit, configured to determine at least one group of TRP configurations based on a plurality of transmitting and receiving node TRPs, wherein each group of TRP configurations includes a first reference TRP and a second reference TRP, and the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different;

[0068] a second determining unit configured to determine, for any set of TRP configurations, a search area based on a received signal power measurement value and coordinates of a first reference TRP and a received signal power measurement value and coordinates of a second reference TRP in the TRP configuration;

[0069] a third determining unit, configured to determine a first candidate position according to the search area;

[0070] The fourth determining unit determines the position of the point to be measured according to at least one first candidate position.

[0071] In one embodiment, the second determining unit is specifically configured to:

[0072] determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP;

[0073] The search area is determined based on the first received signal power ratio, the coordinates of the first reference TRP and the coordinates of the second reference TRP.

[0074] In one embodiment, the second determining unit is specifically configured to:

[0075] Transforming the original coordinate system into an estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system;

[0076] The search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

[0077] In one embodiment, the second determining unit is specifically configured to:

[0078] The search area is determined by the following formula:

[0079]

[0080] Among them, P ba represents the first received signal power ratio, x′ represents the coordinate of the second reference TRP on the x-axis of the estimated coordinate system, and z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

[0081] In one embodiment, the third determining unit is specifically configured to:

[0082] determining a plurality of search points in the search area;

[0083] Determining, for any search point, at least one second received signal power ratio, where the second received signal power ratio is determined based on received signal powers of the search point, the first reference TRP, and a first TRP, where the first TRP is any TRP among the multiple TRPs other than the first reference TRP and the second reference TRP;

[0084] Determine at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP;

[0085] The first candidate position is determined according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio.

[0086] In one embodiment, the third determining unit is specifically configured to:

[0087] determining a cost function according to at least one second received signal power ratio value corresponding to each search point and the at least one third received signal power ratio value;

[0088] The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

[0089] In one embodiment, the third determining unit is specifically configured to:

[0090] The cost function is determined by the following formula:

[0091]

[0092] Wherein, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of the first TRPs, and N is a positive integer.

[0093] In one embodiment, the fourth determining unit is specifically configured to:

[0094] Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system;

[0095] The center position of a figure formed by at least one of the second candidate positions is determined as the position of the point to be measured.

[0096] In a fourth aspect, an embodiment of the present application provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the method of the first aspect.

[0097] The present application provides a positioning method, device and storage medium. In this method, at least one group of TRP configurations is determined based on multiple TRPs, each group of TRP configurations includes a first reference TRP and a second reference TRP, the first reference TRPs in each group of TRP configurations are the same, and the second reference TRPs are different; for any group of TRP configurations, a search area is determined based on the received signal power measurement value and coordinates of the first reference TRP in the TRP configuration, and the received signal power measurement value and coordinates of the second reference TRP; based on the search area, a first candidate position is determined; based on at least one first candidate position, the position of the point to be measured is determined. Based on the received signal power measurement value of the TRP, the position of the point to be measured is determined using geometric features. In the 4TRP scenario, there is no solution blind spot, and positioning performance can be guaranteed without increasing the number of TRPs, achieving reliable positioning.

[0098] It should be understood that the contents described in the above summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] In order to more clearly illustrate the technical solutions in this application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0100] Figure 1 Schematic diagram of the 4TRP positioning area of ​​the CHAN algorithm in the related art;

[0101] Figure 2 A flowchart of a positioning method provided in an embodiment of the present application;

[0102] Figure 3 A flowchart of another positioning method provided in an embodiment of the present application;

[0103] Figure 4A The original coordinates provided in this application and the schematic diagram of the position of 4TRP in the original coordinates;

[0104] Figure 4B Estimated coordinates provided for this application and a schematic diagram of the location of 4TRP in the estimated coordinates;

[0105] Figure 5 A schematic diagram of the locations of multiple search points provided in an embodiment of the present application;

[0106] Figure 6 Schematic diagram of the 4TRP positioning area provided in the embodiment of the present application;

[0107] Figure 7 Schematic diagram of the 3TRP positioning area provided in the embodiment of the present application;

[0108] Figure 8 Schematic diagram of the 6TRP positioning area provided in the embodiment of this application;

[0109] Figure 9 A schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0110] Figure 10 A schematic structural diagram of another positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0111] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0112] The descriptions such as "first" and "second" that appear in the embodiments of this application are only used for illustration and distinction of the described objects. There is no order, nor does it indicate a special limit on the number of objects in the embodiments of this application, and it cannot constitute any limitation on the embodiments of this application. For example, the first reference TRP is a constant reference TRP among multiple TRPs, and the second reference TRP is a variable reference TRP among multiple TRPs. The descriptions such as "first" and "second" are only used to distinguish different TRPs, and do not indicate the difference in size, priority, or importance of the two elements.

[0113] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0114] The embodiments of the present application provide a positioning method, device, and storage medium to ensure positioning performance.

[0115] Among them, the method and the device are based on the same application concept. Since the principles of solving problems by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0116] For ease of understanding, the relevant technologies involved in this application are explained below.

[0117] 1. Time Difference of Arrival (TDOA) positioning algorithm based on ranging

[0118] The TDOA positioning algorithm is a classic positioning solution. In a positioning system, the distances between the UE to be located and different TRPs vary. When the UE to be located transmits a signal to different TRPs, the time at which the signals are received by each TRP varies due to the distance differences, resulting in a time difference. The distance difference can be calculated based on the time difference and the propagation speed of electromagnetic waves. According to the definition of a hyperbola, the locus of points whose absolute difference in distance from two fixed points on a plane is a constant is a hyperbola. Therefore, the distance difference between the UE to be located and the two TRPs meets the conditions of the hyperbola equation. Selecting different TRPs will result in different hyperbola equations, and the UE to be located will inevitably be located at the common intersection of these hyperbolas.

[0119] From an algebraic perspective, finding the intersection of hyperbolas requires solving a system of multiple hyperbolic equations simultaneously. However, since hyperbolic equations are nonlinear, direct solution is extremely difficult. The key lies in linearizing the equations. The CHAN algorithm is a widely used TDOA positioning algorithm. This algorithm achieves linearization through variable substitution and uses weighted least squares (WLS) estimation of multiple hyperbolic equations to obtain an optimal fit solution.

[0120] The CHAN algorithm works as follows:

[0121] by Figure 1 Taking this as an example, some variables and parameters are described as follows:

[0122] TRP i The coordinates are marked as (x i ,y i ), the coordinates of the UE to be located are (x, y). TRP i The measured distance between the UE to be located is r i , the UE to be located and two different TRPs: TRP i and TRP j The distance difference measurement value is r ij =r i -r j , corresponding to the TDOA measurement value (Note: TDOA actually represents the arrival time difference, and its product with the electromagnetic wave propagation speed represents the distance difference, but they are essentially the same. For the sake of convenience, subsequent TDOA represents the distance difference), i=1,2,3,4, j=1,2,3,4, i≠j.

[0123] First, TRP1 is used as the reference TRP, (x1, y1) is the coordinate of TRP1, r1 is the measured distance between TRP1 and the UE to be located, r i1 UE to be located and TRP i The distance difference measurement value from TRP1, i=2,3,4.

[0124] According to the distance formula, list r i The expression:

[0125] r i 2 =(xx i ) 2 +(yy i ) 2 i=1,2,3,4 (1)

[0126] According to the definition of distance difference, list r i The expression:

[0127]

[0128] Combining equations (1) and (2), we can get:

[0129]

[0130] To eliminate the square term in formula (3), r1 can be expressed using formula (1):

[0131]

[0132]

[0133]

[0134] Arrange formula (4) and let x i1 =x i -x1,y i1 =y i -y1 can be obtained:

[0135]

[0136] Since i=2, 3, 4, formula (5) is rewritten as a matrix representation:

[0137]

[0138] Arrange formula (6) and let We can get:

[0139] GX=H (7)

[0140] ε represents the difference between H and GX. The first least squares solution is obtained below:

[0141] ||ε|| 2 =(H-GX)(H-GX) T

[0142] =HH T -HX T G T -GXH T -GXX T G T (8)

[0143] Let the first-order derivative of formula (8) be zero, we can get:

[0144] G T H=G T GX

[0145] X=(G T G) -1 (G T H) (9)

[0146] In order to obtain a more accurate positioning result, it is necessary to continue the second least squares estimation. The result of formula (9) shows that there is still an error:

[0147]

[0148] In the formula, z1, z2, z3 are the solutions of formula (9), where z1 is the solution of x, z2 is the solution of y, z3 is the solution of r1, and x 0 ,y 0 , are the true values ​​of the three variables to be determined, and e1, e2, and e3 are errors.

[0149] Since r1 and (x, y) need to satisfy the constraints Construct the following equation:

[0150]

[0151] Arrange formula (11) and let We can get:

[0152] G1X1=H1 (12)

[0153] As shown in formula (7), the second least squares solution can be obtained similarly, which is the final estimation result of the CHAN algorithm.

[0154] 2. Ranging and positioning algorithm based on received signal strength indication (RSSI)

[0155] The RSSI-based ranging positioning algorithm is similar to the TDOA positioning algorithm. Essentially, both use the distance relationship between the UE to be located and each TRP to find an analytical solution. The functional relationship between RSSI and distance can be expressed using the logarithmic distance path loss model:

[0156]

[0157] Where d represents the distance between the UE to be located and the TRP; P L (d) represents the RSSI value at TRP, which can be simplified to R; P L (d0) represents the RSSI value when the reference point d = d0, which can be simplified to R0 = P L (d0); n represents the path loss proportional coefficient, which indicates the degree of signal loss as the distance increases and is related to the positioning environment; ε represents Gaussian white noise.

[0158] According to formula (13), the d value can be calculated:

[0159]

[0160] Where,

[0161] Select TRP1 as the reference TRP, let the distance between the UE to be located and TRP1 be d1, and the distance between the UE to be located and TRP i The distance is d i :

[0162] d1=d0(P0 / P1) 1 / n (15)

[0163] d i =d0(P0 / P i )1 / n i=2,3,…,m (16)

[0164] in, R1 represents the RSSI value obtained at TRP1 of the signal sent by the UE to be located; R i Indicates the signal sent by the UE to be located, in TRP i The RSSI value obtained at , m represents the number of TRPs.

[0165] According to formula (15) and formula (16), we can get:

[0166]

[0167] According to the distance formula:

[0168]

[0169] Among them, x i Indicates TRP i The coordinate on the x-axis, y i Indicates TRP i In the coordinate on the y-axis, x represents the upper coordinate of the UE to be located on the x-axis, and y represents the coordinate of the UE to be located on the y-axis.

[0170] Substituting formula (18) into formula (17) yields:

[0171]

[0172] Let S = x 2 +y 2 , by arranging formula (19) into a matrix form, we can get:

[0173] Aθ=b (20)

[0174] Where,

[0175]

[0176] Among them, x1 represents the coordinate of TRP1 on the x-axis, y1 represents the coordinate of TRP1 on the y-axis; x2 represents the coordinate of TRP2 on the x-axis, y2 represents the coordinate of TRP2 on the y-axis; x3 represents the coordinate of TRP3 on the x-axis, y3 represents the coordinate of TRP3 on the y-axis; x m Indicates TRP m The coordinate on the x-axis, y m Indicates TRP m Coordinate on the y-axis; R2 represents the RSSI value obtained at TRP2 of the signal sent by the UE to be located; R3 represents the RSSI value obtained at TRP3 of the signal sent by the UE to be located; R m Indicates the signal sent by the UE to be located, in TRP m The RSSI value obtained at .

[0177] Formula (20) is similar to Formula (7). Similarly, the coordinates of the UE to be located can also be obtained by the least squares method.

[0178] 3. RSSI-based fingerprint positioning algorithm

[0179] The basic idea of ​​the RSSI-based fingerprint positioning algorithm is to match the current location measurement with all previously observed location measurements (a fingerprint library), and then perform positioning based on this comparison. This is a learning-based algorithm that uses pattern recognition to account for signal uncertainty. The algorithm first requires an offline sampling phase, in which a large number of grid points are defined in a specific layout within the positioning area. RSSI data values ​​for wireless signals are collected at each grid point. The grid point coordinates and corresponding RSSI data are then stored as fingerprint information to construct an RSSI fingerprint library. After the offline sampling phase, the official online positioning phase begins. At this stage, the RSSI value of the UE to be located is collected. The positioning system then matches this RSSI value with the fingerprint library data. Typically, matching algorithms such as nearest neighbor, K-nearest neighbor, and weighted K-nearest neighbor are used to find the most similar fingerprint information, and the fingerprint point coordinates are used as the positioning coordinates.

[0180] The problems in existing positioning algorithms are as follows:

[0181] The TDOA positioning algorithm places high demands on TRP-side clock synchronization. Currently, adding beacon UEs is commonly used to eliminate synchronization errors on the TRP side, but this incurs significant overhead in actual deployment. Furthermore, TDOA and RSSI-based ranging algorithms experience blind spots during the solution process, typically requiring six or more TRPs to ensure overall positioning performance. This results in significant overhead, hindering deployment. RSSI-based fingerprint positioning algorithms often require extensive and precise mapping to collect fingerprints and build a fingerprint database, which also incurs additional human and material costs, hindering deployment.

[0182] Based on the problems in the existing technology, this application proposes the following technical concept: based on the measurement value of the received signal power of TRP, the position of the measured point is determined by using geometric features. There is no solution blind spot in the 4TRP scenario, and the positioning performance can be guaranteed without increasing the number of TRPs, so as to achieve reliable positioning.

[0183] The positioning method provided by this application is introduced below with reference to specific embodiments.

[0184] It should be noted that the received signal power in the embodiment of the present application can be represented by RSSI or by Reference Signal Receiving Power (RSRP).

[0185] Figure 2 This is a flow chart of a positioning method provided in an embodiment of the present application. Figure 2 As shown, the method includes:

[0186] S201. Determine at least one group of TRP configurations based on multiple TRPs, where each group of TRP configurations includes a first reference TRP and a second reference TRP.

[0187] The execution subject of the embodiment of the present application can be an electronic device with data processing function such as a server, or a positioning device set in an electronic device. The positioning device can be implemented by software or a combination of software and hardware.

[0188] The number of TRPs can be 3 or more.

[0189] When there are multiple groups of TRP configurations, the first reference TRP in each group of TRP configurations is the same, and the second reference TRP is different.

[0190] In one possible implementation, at least one set of TRP configurations can be determined based on multiple TRPs in the following manner: multiple TRPs are obtained, any one of the multiple TRPs is determined as the first reference TRP, the remaining TRPs are used as the second reference TRPs in turn, and the remaining non-reference TRPs are recorded as the first TRP.

[0191] For example, in a 4TRP scenario, the following TRP configurations may be determined:

[0192]

[0193] In the above TRP configuration, 1, 2, 3, and 4 represent the original TRP indexes respectively. Each row represents a set of TRP configurations. The first column is the index of the first reference TRP, the second column is the index of the second reference TRP, and the remaining columns are the indexes of the first TRP.

[0194] In the process of determining the TRP configuration, the number of received signal power curves can be determined according to the number of TRPs, the number of intersections can be determined according to the number of received signal power curves, and the number of TRP configurations can be determined according to the number of intersections.

[0195] For example, in a 4TRP scenario, at most three received signal power curves can be obtained. The three curves can be the received signal power curves formed between TRP1 and TRP2, denoted as l 12 The received signal power curve formed between TRP1 and TRP3 is denoted as l 13 The received signal power curve formed between TRP1 and TRP4 is denoted as l 14 . The three curves intersect each other, and at most three groups of intersection points can be obtained. When the TRP configuration of the first row in the above example is used, the intersection point (l 12 ,l 13 ), intersection(l 12 ,l 14 When the TRP configuration of the second row in the above example is adopted, the intersection point (l 13 ,l 12 ), intersection(l 13 ,l 14 ). At this point, all intersection points have been found and no other TRP configuration is needed.

[0196] At least one set of TRP configurations may also be referred to as a TRP configuration table.

[0197] S202. For any set of TRP configurations, determine the search area based on the received signal power measurement value and coordinates of the first reference TRP in the TRP configuration, and the received signal power measurement value and coordinates of the second reference TRP.

[0198] The received signal power measurement value of the first reference TRP is a power measurement value of a signal sent from the test point and received by the first reference TRP.

[0199] The received signal power measurement value of the second reference TRP is a power measurement value of the signal sent from the test point and received by the second reference TRP.

[0200] Based on the received signal power measurement value and coordinates of the first reference TRP, and the received signal power measurement value and coordinates of the second reference TRP, the RSSI curve can be determined, and the RSSI curve can be used as the search area.

[0201] S203: Determine a first candidate position according to the search area.

[0202] The geometric features of the search area may be analyzed to determine the first candidate location.

[0203] The first candidate position may be a position on the RSSI curve.

[0204] S204: Determine the position of the point to be measured according to at least one first candidate position.

[0205] If there is only one first candidate position, the first candidate position can be directly determined as the position of the point to be measured.

[0206] If there are multiple first candidate positions, the center position of the graph formed by the multiple first candidate positions may be determined as the position of the point to be measured.

[0207] For example, if there are two first candidate positions, the center position of the line segment formed by the two first candidate positions can be determined as the position of the point to be measured; if there are three first candidate positions, the center position of the triangle formed by the three first candidate positions can be determined as the position of the point to be measured; and so on, the center position of the N-sided polygon formed by N first candidate positions can be determined as the position of the point to be measured.

[0208] exist Figure 2 In the illustrated embodiment, at least one group of TRP configurations is determined based on multiple TRPs, each group of TRP configurations includes a first reference TRP and a second reference TRP, the first reference TRPs in each group of TRP configurations are the same, and the second reference TRPs are different; for any group of TRP configurations, a search area is determined based on the received signal power measurement value and coordinates of the first reference TRP in the TRP configuration, as well as the received signal power measurement value and coordinates of the second reference TRP; based on the search area, a first candidate position is determined; and based on at least one first candidate position, the position of the point to be measured is determined. Based on the received signal power measurement value of the TRP, the position of the point to be measured is determined using geometric features. In a 4TRP scenario, there is no solution blind spot, and positioning performance can be guaranteed without increasing the number of TRPs, achieving reliable positioning.

[0209] Based on the above embodiments, Figure 3 The positioning method of this application is described in detail.

[0210] Figure 3 This is a flow chart of another positioning method provided in an embodiment of the present application. Figure 3 As shown, the method includes:

[0211] S301. Determine at least one set of TRP configurations based on multiple TRPs, where each TRP configuration includes a first reference TRP and a second reference TRP.

[0212] It should be noted that the execution process of S301 can refer to the execution process of S201 and will not be repeated here.

[0213] S302. For any TRP configuration, determine a first received signal power ratio according to the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP in the TRP configuration.

[0214] In a possible implementation, the first received signal power ratio may be determined in the following manner:

[0215]

[0216] P ba Represents the first received signal power ratio, R b is the received signal power measurement value of the signal sent by the test point at the second reference TRP, R a is the received signal power measurement value of the signal sent by the test point at the first reference TRP, and n is the path loss proportional coefficient.

[0217] S303: Determine a search area according to the first received signal power ratio, the coordinates of the first reference TRP, and the coordinates of the second reference TRP.

[0218] In one possible implementation, the search area may be determined as follows:

[0219] The original coordinate system is transformed into an estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located at the x-axis of the estimated coordinate system; the search area is determined according to the first received signal power ratio, the coordinates after the transformation of the first reference TRP and the coordinates after the transformation of the second reference TRP.

[0220] The original coordinate system is a plane rectangular coordinate system.

[0221] The estimated coordinate system is a plane rectangular coordinate system.

[0222] The original coordinate system and the estimated coordinate system are different coordinate systems belonging to the same plane, and the origin, x-axis, and y-axis of the two coordinate systems are not exactly the same.

[0223] For example, Figure 4A Shown are the original coordinate system and the coordinates of each TRP in the original coordinate system. Figure 4B is the estimated coordinate system and the coordinates of each TRP in the estimated coordinate system.

[0224] By transforming the coordinate system and ensuring that the first and second reference TRPs are located on the x-axis, the positioning algorithm of this application is no longer limited by the TRP station topology and can be flexibly applied to various scenarios. If the original coordinates of the first and second reference TRPs are located on the x-axis, no coordinate system transformation is required.

[0225] In one possible implementation, the search area can be determined by the following formula:

[0226]

[0227] Among them, P baRepresents the first received signal power ratio, x ′ represents the coordinate of the second reference TRP on the x-axis of the estimated coordinate system, z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

[0228] The search area is the trajectory of all points that satisfy the above formula, which can also be called the received signal power curve

[0229] S304: Determine multiple search points in the search area.

[0230] The search point can be determined in the search area through a variety of search methods, such as direct traversal, binary search, variable-length search, etc. Among them, direct traversal is the simplest search method. In practical applications, in order to reduce complexity and improve search efficiency, efficient search methods such as binary search and variable-length search can be used. This application does not limit the specific search method.

[0231] For example, if the search point in the search area is determined by direct traversal search, the following operations can be performed: a given step size is set, and the y-axis is traversed according to the given step size to determine the search point in the target curve, and the result is as follows: Figure 5 The multiple search points shown. The smaller the preset step size, the more search points are determined. The size of the preset step size can be determined according to actual conditions and is not limited in this application.

[0232] S305: Determine at least one second received signal power ratio for any search point.

[0233] The second received signal power ratio is determined based on the search point and the first reference TRP and the received signal power of the first TRP.

[0234] The first TRP is any one of the multiple TRPs except the first reference TRP and the second reference TRP.

[0235] In a possible implementation, the second received signal power ratio may be determined by the following formula:

[0236]

[0237] in, represents a second received signal power ratio; Indicates the received signal power of the signal sent from the search point at the first TRP; The received signal power of the signal sent from the search point is obtained at the first reference TRP; Indicates the distance between the search point and the first TPR; represents the distance between the search point and the first reference TRP; is the coordinate of the search point, (x a ,y a ,z a ) is the coordinate of the first reference TRP; (x i ,y i ,z i ) are the coordinates of the first TRP.

[0238] S306: Determine at least one third received signal power ratio.

[0239] The third received signal power ratio is determined based on the received signal power of the test point, the first reference TRP, and the first TRP. That is, the third received signal power ratio can be determined based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the first TRP.

[0240] The received signal power measurement value of the first TRP is a power measurement value of a signal sent from the test point and received by the first TRP.

[0241] The third received signal power ratio may be determined with reference to the formula in S302.

[0242] S307: Determine a first candidate position according to at least one second received signal power ratio and at least one third received signal power ratio corresponding to each search point.

[0243] In a possible implementation, the first candidate position may be determined in the following manner:

[0244] A cost function is determined according to at least one second received signal power ratio and at least one third received signal power ratio corresponding to each search point; and a position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

[0245] In one possible implementation, the cost function can be determined by the following formula:

[0246]

[0247] Among them, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of first TRPs, and N is a positive integer.

[0248] Ideally, the cost function reaches infinity only when the search point is the intersection of multiple received signal power curves. This means the current search point can be used as the location of the point to be measured. In practice, due to errors in received signal power measurement and systematic errors caused by search resolution, multiple received signal power curves often do not intersect at the same point. Therefore, it is necessary to search for the maximum value of the cost function and select the corresponding search point as the first candidate location.

[0249] S308: Determine the position of the point to be measured according to at least one first candidate position.

[0250] If the coordinate transformation is performed in the previous process, the position of the point to be measured can be determined in the following way:

[0251] The estimated coordinate system is transformed into the original coordinate system to obtain at least one second candidate position, where the second candidate position is the position corresponding to the first candidate position in the original coordinate system; the center position of the figure formed by the at least one second candidate position is determined as the position of the point to be measured.

[0252] If there is only one second candidate position, the second candidate position can be directly determined as the position of the point to be measured.

[0253] If there are multiple second candidate positions, the center position of the figure formed by the multiple second candidate positions may be determined as the position of the point to be measured.

[0254] If the coordinate transformation is not performed in the previous process, the position of the point to be measured can be determined directly by referring to the execution process of S204, which will not be described in detail here.

[0255] exist Figure 3In the embodiment shown, at least one group of TRP configurations is determined based on multiple TRPs, and each group of TRP configurations includes a first reference TRP and a second reference TRP; for any group of TRP configurations, a first received signal power ratio is determined based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP in the TRP configuration; a search area is determined based on the first received signal power ratio, the coordinates of the first reference TRP and the coordinates of the second reference TRP; multiple search points are determined in the search area; for any search point, at least one second received signal power ratio is determined; at least one third received signal power ratio is determined; a first candidate position is determined based on at least one second received signal power ratio and at least one third received signal power ratio corresponding to each search point; and the position of the point to be measured is determined based on at least one first candidate position. Based on the received signal power measurement value of the TRP, the position of the point to be measured is determined using geometric features. In the 4TRP scenario, there is no solution blind spot, and positioning performance can be guaranteed without increasing the number of TRPs, thereby achieving reliable positioning; and the positioning method shown in the embodiment of the present application is easy to expand and applicable to a variety of scenarios.

[0256] Based on any of the above embodiments, if there are 5 or more TRPs in the positioning scenario, all TRPs can be used for positioning solution; or all TRPs can be screened, 4 TRPs can be selected, and 4 TRPs can be used for positioning solution. When screening TRPs, TRPs can be screened according to channel quality, or TRPs can be screened by other methods. This application does not limit the screening method.

[0257] Based on any of the above embodiments, the embodiment of the present application uses the path loss proportional coefficient n in the positioning process. Since n is related to the environment, it can be assumed to be a constant in a specific environment. Therefore, n can be determined for the positioning process in the following way:

[0258] Let any two TRPs among multiple TRPs send initial measurement signals to each other, use TRP to receive and measure the initial measurement signals, obtain RSSI, and calculate the n value according to formula (14).

[0259] In order to improve the reliability of n, the above method can be repeated periodically.

[0260] For ease of understanding, several specific examples are given below to illustrate the positioning method of the present application in detail. In the following examples, the received signal power is represented by RSSI.

[0261] Example 1: Taking 4TRP positioning scenario as an example

[0262] by Figure 6 Taking this as an example, some variables and parameters are explained as follows:

[0263] TRP i The coordinates are marked as (x i ,y i ,z i ), the specific value is as follows Figure 6 As shown, all TRPs are placed at the same height, denoted as z t The coordinates of the UE to be located are (x, y, z), where the UE height z is considered to be known and is recorded as z UE .TRP i The measured distance value between the UE and the i , corresponding to the RSSI measurement value.

[0264] The positioning process is as follows:

[0265] (1) Initial positioning stage. Figure 6 Taking the middle arrow as an example, TRPs send initial measurement signals to each other. The RSSI of the measurement signal received by the TRP is used to calculate the path loss proportional coefficient n according to formula (14).

[0266] (2) Generate a TRP configuration table. Select a first reference TRP, and the remaining TRPs are used as second reference TRPs in turn. The remaining non-reference TRPs are recorded as first TRPs for calculating the cost function. In the 4TRP scenario, the generated TRP configuration table can be:

[0267]

[0268] In the above formula, 1, 2, 3, and 4 represent the original TRP indexes. Each row represents a TRP configuration method. The first column is the index of the first reference TRP, the second column is the index of the second reference TRP, and the remaining columns are the indexes of the first TRP.

[0269] (3) Coordinate system transformation. According to the TRP configuration table, select a set of TRP configurations. First, according to the coordinates of the first reference TRP, calculate the translation transformation matrix move_matrix and the inverse translation transformation matrix inv_move_matrix, and translate the coordinate system to ensure that the first reference TRP is located at the origin of the estimated coordinate system; then, according to the coordinates of the first reference TRP and the second reference TRP, calculate the rotation transformation matrix rotate_matrix and the inverse rotation transformation matrix inv_rotate_matrix, and rotate the coordinate system to ensure that the second reference TRP is located on the x-axis of the estimated coordinate system. Taking the first TRP configuration as an example, the transformed coordinate system is as follows: Figure 4B shown.

[0270] (4) Determine the search area. Substitute the RSSI measurements of the UE to be located and the first reference TRP (TRP1) and the second reference TRP (TRP2) as well as the transformed reference TRP coordinate information into formula (17), and we can obtain:

[0271]

[0272] make P 21 is a known quantity calculated from the RSSI measurement value, corresponding to the RSSI measurement value (first received signal power ratio); R1 represents the RSSI value obtained at the first reference TRP (TRP1) of the signal sent by the UE to be located; R2 represents the RSSI value obtained at the second reference TRP (TRP2) of the signal sent by the UE to be located; w1 is the coordinate of the second reference TRP (TRP2) on the x-axis, z t is the coordinate of the first reference TRP (TRP1) and the second reference TRP (TRP2) on the z-axis. According to formula (22), we can get:

[0273]

[0274] Find the trajectory of all points that meet the requirements in space, which is the search area (TRP i and TRP j The constrained trajectory is denoted as l ij , as shown in formula (23), the corresponding trajectory is l 12 ).

[0275] (5) Determine the search point set. Traverse the y-axis within the entire search area at a given step size, that is:

[0276] y=[-l1:step:0] (24)

[0277] Where -l1 is the coordinate of TRP3 and TRP4 on the y-axis, and step represents the given search step size.

[0278] Substituting formula (24) into formula (23), we can get a set of search points:

[0279]

[0280] (6) Calculate the cost function. For each point to be searched All can be calculated based on the coordinate values ​​and formula (22) and Corresponding RSSI calculated value (second received signal power ratio), where: is determined based on the RSSI of the search point and the first reference TRP (TRP1) and the first TRP (TRP3), It is determined based on the RSSI of the search point and the first reference TRP (TRP1) and the first TRP (TRP4).

[0281] The cost function is calculated based on the RSSI calculated value (the second received signal power ratio) and the RSSI measured value (the third received signal power ratio):

[0282]

[0283] Ideally, if and only if the search point is l 12 , l 13 , l 14 When the cost function reaches the intersection point, the value of the cost function is infinite, that is, the current search point is the coordinate of the UE to be located. In practice, due to the influence of RSSI measurement error and system error caused by search resolution, multiple sets of trajectories often cannot intersect at the same point at the same time. Therefore, it is necessary to search for the maximum value of the cost function and use the corresponding search point as the estimated coordinate (First candidate position).

[0284] (7) Inverse transformation of the coordinate system: Using the inverse translation transformation matrix and the inverse rotation transformation matrix calculated in step (3), the estimated coordinates obtained in step (6) are transformed to the original coordinate system.

[0285] (8) (Optional step) Traverse the TRP configuration table and repeat steps (3) to (7) to obtain multiple estimated coordinate points (second candidate positions).

[0286] Changing the TRP configuration can fully utilize the intersection information, thereby improving the overall positioning performance. However, this process will also increase the computational complexity accordingly, so it needs to be handled according to the actual situation.

[0287] (9) If multiple sets of estimated coordinate points (second candidate positions) are found, the center of the multiple sets of estimated coordinate points is selected as the final estimated coordinates; if only one set of estimated coordinate points is found, the estimated coordinate point is directly used as the final estimated coordinates.

[0288] Example 2: Taking 3TRP positioning scenario as an example

[0289] In some relatively harsh scenarios, it is difficult to ensure that there is a LOS path between the UE and 4 TRPs. At this time, this application can use at least 3 TRPs for positioning.

[0290] by Figure 7 For example, place TRP1 and TRP2 on the x-axis. The parameter and variable descriptions are similar to those in Example 1.

[0291] The positioning process is as follows:

[0292] (1) Initial positioning stage. Figure 7 Taking the middle arrow as an example, TRPs send initial measurement signals to each other. The path loss proportional coefficient n is calculated according to formula (14) using the RSSI of the measurement signal received by the TRP.

[0293] (2) Generate a TRP configuration table. Select a first reference TRP, and use the remaining TRPs as the second reference TRPs in turn. The remaining non-reference TRPs are recorded as the first TRPs for calculating the cost function. In the 3TRP scenario, the generated TRP configuration table can be:

[0294] TRP config = [1 2 3] (27)

[0295] In the above formula, 1, 2, and 3 represent the original TRP indexes. Each row represents a TRP configuration method. The first column is the index of the first reference TRP, the second column is the index of the second reference TRP, and the remaining columns are the indexes of the first TRP.

[0296] When using three TRPs for positioning, TRP1 is also used as the first reference TRP, and only two sets of trajectories can be obtained, corresponding to l 12 ,l 13 , at most one set of intersection points can be obtained, so there is only one case of TRP configuration.

[0297] (3) Coordinate system transformation. According to the TRP configuration table, a set of TRP configurations is selected. First, based on the coordinates of the first reference TRP, the translation transformation matrix move_matrix and the inverse translation transformation matrix inv_move_matrix are calculated, and the coordinate system is translated to ensure that the first reference TRP is located at the origin of the coordinate system; then, based on the coordinates of the first reference TRP and the second reference TRP, the rotation transformation matrix rotate_matrix and the inverse rotation transformation matrix inv_rotate_matrix are calculated, and the coordinate system is rotated to ensure that the second reference TRP is located on the x-axis.

[0298] (4) Determine the search area. Substitute the RSSI measurements of the UE to be located and the first reference TRP (TRP1) and the second reference TRP (TRP2) as well as the coordinate information of the reference TRP into formula (17), and we can get:

[0299]

[0300] make P 21is a known quantity calculated from the RSSI measurement value, corresponding to the RSSI measurement value (first received signal power ratio); R1 represents the RSSI value obtained at the first reference TRP (TRP1) of the signal sent by the UE to be located; R2 represents the RSSI value obtained at the second reference TRP (TRP2) of the signal sent by the UE to be located; l is the coordinate of the second reference TRP (TRP2) on the x-axis, z t is the coordinate of the first reference TRP (TRP1) and the second reference TRP (TRP2) on the z-axis. According to formula (28), we can get:

[0301]

[0302] Find the trajectory of all points in space that meet the requirements. This trajectory is the search area.

[0303] (5) Determine the search point set. Traverse the y-axis within the entire search area at a given step size, that is:

[0304] y=[0:step:w2] (30)

[0305] Where w2 is the coordinate of TRP3 on the y-axis, and step represents the given search step size.

[0306] Substituting formula (30) into formula (29), we can obtain a set of search points:

[0307]

[0308] (6) Calculate the cost function. For each point to be searched All can be calculated based on the coordinate values ​​and formula (22) Corresponding RSSI calculated value (second received signal power ratio), where: It is determined based on the RSSI of the search point and the first reference TRP (TRP1) and the first TRP (TRP3).

[0309] The cost function is calculated based on the RSSI calculated value (the second received signal power ratio) and the RSSI measured value (the third received signal power ratio):

[0310]

[0311] Similarly, it is necessary to search for the maximum value of the cost function and use the corresponding search point as the coordinate of the UE to be located.

[0312] Example 3: Taking 6TRP positioning scenario as an example

[0313] This application can also be flexibly applied to positioning scenarios with more than 4 TRPs, and can be expanded in the following two ways: one is to pre-screen the measurement values ​​of all TRPs and select 4 TRPs for positioning solution; the other is to directly use the measurement values ​​of all TRPs for positioning solution. Except for the first reference TRP and the second reference TRP, the remaining TRPs all participate in the positioning process as the first TRP.

[0314] by Figure 8 For example, the parameter and variable descriptions are similar to those in Example 1.

[0315] The positioning process is as follows:

[0316] (1) Initial positioning stage. Figure 8 Taking the middle arrow as an example, TRPs send initial measurement signals to each other. The path loss proportional coefficient n is calculated according to formula (14) using the RSSI of the measurement signal received by the TRP.

[0317] (2) (Optional step) TRP pre-screening: All TRPs are screened according to certain criteria and 4 TRPs are selected to participate in the subsequent positioning process.

[0318] (3) Generate a TRP configuration table. Select a first reference TRP, and use the remaining TRPs as the second reference TRPs in turn. The remaining non-reference TRPs are recorded as the first TRPs for calculating the cost function. In the 6TRP scenario, the generated TRP configuration table can be:

[0319]

[0320] In the above formula, 1, 2, 3, 4, 5, and 6 represent the original TRP indexes. Each row represents a TRP configuration method. The first column is the index of the first reference TRP, the second column is the index of the second reference TRP, and the remaining columns are the indexes of the first TRP.

[0321] (4) Coordinate system transformation. (Same as step (3) in Example 1)

[0322] (5) Determine the search area. (Same as step (4) in Example 1)

[0323] (6) Determine the search point set. (Same as step (5) in Example 1)

[0324] (7) Calculate the cost function. If the TRP screening method is used, the cost function is the same as in Example 1. If all TRPs are used directly, the cost function becomes as follows:

[0325]

[0326] in, is the second received signal power ratio, which is based on the search point and the first reference TRP (TRP1) and the first TRP (TRP i ) is determined by the RSSI; P i1 is the third received signal power ratio, which is based on the UE to be positioned and the first reference TRP (TRP1) and the first TRP (TRP i ) is determined by the RSSI; i represents the index of the first TRP.

[0327] Similarly, it is necessary to search for the maximum value of the cost function and use the corresponding search point as the estimated coordinate (

[0328] first candidate position).

[0329] (8) Inverse transformation of the coordinate system. (Same as step (7) in Example 1)

[0330] (9) (Optional step) Traverse the TRP configuration table and repeat steps (3) to (8) to obtain multiple estimated coordinate points (second candidate positions).

[0331] (10) If multiple sets of estimated coordinate points (second candidate positions) are found, the center of the multiple sets of estimated coordinate points is selected as the final estimated coordinates; if only one set of estimated coordinate points is found, the estimated coordinate point is directly used as the final estimated coordinates.

[0332] Compared with the TDOA-based positioning algorithm, the positioning method of this application does not require clock synchronization between the transceiver and the transmitter; compared with the RSSI-based ranging positioning algorithm, this application does not have a solution blind spot and has higher positioning performance. Compared with the RSSI-based fingerprint positioning algorithm, this application does not require a large amount of calibration and builds a fingerprint library by collecting fingerprint information. The method of this application is easy to expand and applicable to a variety of scenarios. In some extremely harsh scenarios, reliable positioning within the area can be achieved using only 3 TRPs; conversely, in better scenarios, 4 or more TRPs can be used to further improve positioning performance.

[0333] Figure 9 This is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. Figure 9 As shown, the device includes: a memory 910, a transceiver 920, and a processor 930:

[0334] Memory 910, for storing computer programs;

[0335] a transceiver 920 for transmitting and receiving data under the control of the processor;

[0336] The processor 930 is configured to read the computer program in the memory and perform the following operations:

[0337] Determine at least one group of TRP configurations based on the plurality of transmitting and receiving nodes TRPs, each group of TRP configurations including a first reference TRP and a second reference TRP, wherein the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different;

[0338] For any set of TRP configurations, determine a search area based on the received signal power measurement value and coordinates of a first reference TRP in the TRP configuration and the received signal power measurement value and coordinates of a second reference TRP;

[0339] Determine a first candidate location based on the search area;

[0340] The position of the point to be measured is determined according to at least one first candidate position.

[0341] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0342] determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP;

[0343] A search area is determined according to the first received signal power ratio, the coordinates of the first reference TRP, and the coordinates of the second reference TRP.

[0344] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0345] Transform the original coordinate system into the estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system;

[0346] A search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

[0347] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0348] The search area is determined by the following formula:

[0349]

[0350] Among them, P ba represents the first received signal power ratio, x′ represents the coordinate of the second reference TRP on the x-axis of the estimation coordinate system, and z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

[0351] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0352] determining a plurality of search points in the search area;

[0353] Determining, for any search point, at least one second received signal power ratio, where the second received signal power ratio is determined based on received signal powers of the search point, a first reference TRP, and a first TRP, where the first TRP is any TRP among the plurality of TRPs other than the first reference TRP and the second reference TRP;

[0354] Determine at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP;

[0355] A first candidate position is determined according to at least one second received signal power ratio value and at least one third received signal power ratio value corresponding to each search point.

[0356] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0357] determining a cost function according to at least one second received signal power ratio and at least one third received signal power ratio corresponding to each search point;

[0358] The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

[0359] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0360] The cost function is determined by the following formula:

[0361]

[0362] Among them, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of first TRPs, and N is a positive integer.

[0363] In one embodiment, the processor 930 is specifically configured to perform the following operations:

[0364] Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system;

[0365] The center position of the figure formed by at least one second candidate position is determined as the position of the point to be measured.

[0366] Among them, Figure 9 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 930 and memory represented by memory 910. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 920 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 930 is responsible for managing the bus architecture and general processing, and the memory 910 may store data used by the processor 930 when performing operations.

[0367] The processor 930 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0368] It should be noted here that the above-mentioned positioning device provided in this application can implement all the method steps in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0369] Figure 10 This is a schematic diagram of the structure of another positioning device provided in an embodiment of the present application. Figure 10 As shown, the device includes:

[0370] A first determining unit 1010 is configured to determine at least one set of TRP configurations based on a plurality of transmitting and receiving node TRPs, wherein each set of TRP configurations includes a first reference TRP and a second reference TRP, and the first reference TRPs in each set of TRP configurations are the same and the second reference TRPs are different;

[0371] a second determining unit 1020 configured to determine, for any set of TRP configurations, a search area based on the received signal power measurement value and coordinates of a first reference TRP in the TRP configuration and the received signal power measurement value and coordinates of a second reference TRP;

[0372] A third determining unit 1030 is configured to determine a first candidate position according to the search area;

[0373] The fourth determining unit 1040 determines the position of the point to be measured according to at least one first candidate position.

[0374] In one embodiment, the second determining unit 1020 is specifically configured to:

[0375] determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP;

[0376] A search area is determined according to the first received signal power ratio, the coordinates of the first reference TRP, and the coordinates of the second reference TRP.

[0377] In one embodiment, the second determining unit 1020 is specifically configured to:

[0378] Transform the original coordinate system into the estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system;

[0379] A search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

[0380] In one embodiment, the second determining unit 1020 is specifically configured to:

[0381] The search area is determined by the following formula:

[0382]

[0383] Among them, P ba represents the first received signal power ratio, x′ represents the coordinate of the second reference TRP on the x-axis of the estimation coordinate system, and z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

[0384] In one implementation, the third determining unit 1030 is specifically configured to:

[0385] determining a plurality of search points in the search area;

[0386] Determining, for any search point, at least one second received signal power ratio, where the second received signal power ratio is determined based on received signal powers of the search point, a first reference TRP, and a first TRP, where the first TRP is any TRP among the plurality of TRPs other than the first reference TRP and the second reference TRP;

[0387] Determine at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP;

[0388] A first candidate position is determined according to at least one second received signal power ratio value and at least one third received signal power ratio value corresponding to each search point.

[0389] In one implementation, the third determining unit 1030 is specifically configured to:

[0390] determining a cost function according to at least one second received signal power ratio and at least one third received signal power ratio corresponding to each search point;

[0391] The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

[0392] In one implementation, the third determining unit 1030 is specifically configured to:

[0393] The cost function is determined by the following formula:

[0394]

[0395] Among them, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of first TRPs, and N is a positive integer.

[0396] In one implementation, the fourth determining unit 1040 is specifically configured to:

[0397] Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system;

[0398] The center position of the figure formed by at least one second candidate position is determined as the position of the point to be measured.

[0399] It should be noted here that the above-mentioned positioning device provided in this application can implement all the method steps in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0400] It should be noted that the division of units in the embodiments of the present application is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0401] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of each method embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0402] An embodiment of the present application further provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable a processor to execute all the method steps in the above method embodiment.

[0403] The processor-readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid-state drives (SSDs)), etc.

[0404] An embodiment of the present application also provides a computer program product, including a computer program, which implements some or all of the steps of the above method embodiment when executed by a processor.

[0405] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[0406] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0407] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce an article of manufacture comprising an instruction device that implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0408] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0409] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A positioning method, characterized in that: include: Determine at least one group of TRP configurations based on the plurality of transmitting and receiving nodes TRPs, each group of TRP configurations including a first reference TRP and a second reference TRP, wherein the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different; For any set of TRP configurations, determine a search area based on the received signal power measurement value and coordinates of a first reference TRP and the received signal power measurement value and coordinates of a second reference TRP in the TRP configuration; Determining a first candidate location based on the search area; The position of the point to be measured is determined according to at least one first candidate position.

2. The method according to claim 1, characterized in that The determining of a search area according to a received signal power measurement value and coordinates of a first reference TRP and a received signal power measurement value and coordinates of a second reference TRP in the TRP configuration includes: determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP; The search area is determined based on the first received signal power ratio, the coordinates of the first reference TRP and the coordinates of the second reference TRP.

3. The method according to claim 2, characterized in that The determining the search area according to the first received signal power ratio, the coordinates of the first reference TRP, and the coordinates of the second reference TRP includes: Transforming the original coordinate system into an estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system; The search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

4. The method according to claim 3, characterized in that The determining the search area according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation includes: The search area is determined by the following formula: Among them, P ba represents the first received signal power ratio, x ′ represents the coordinate of the second reference TRP on the x-axis of the estimated coordinate system, z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

5. The method according to any one of claims 1 to 4, characterized in that The determining of a first candidate position according to the search area includes: determining a plurality of search points in the search area; Determining, for any search point, at least one second received signal power ratio, where the second received signal power ratio is determined based on received signal powers of the search point, the first reference TRP, and a first TRP, where the first TRP is any TRP among the multiple TRPs other than the first reference TRP and the second reference TRP; determining at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP; The first candidate position is determined according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio.

6. The method according to claim 5, characterized in that The determining the first candidate position according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio includes: determining a cost function according to at least one second received signal power ratio value corresponding to each search point and the at least one third received signal power ratio value; The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

7. The method according to claim 6, characterized in that The determining of the cost function according to the at least one second received signal power ratio value and the at least one third received signal power ratio value corresponding to each search point includes: The cost function is determined by the following formula: Wherein, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of the first TRPs, and N is a positive integer.

8. The method according to any one of claims 1 to 7, characterized in that The step of determining the position of the point to be measured based on at least one first candidate position includes: Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system; The center position of a figure formed by at least one of the second candidate positions is determined as the position of the point to be measured.

9. A positioning device, characterized in that: Including memory, transceiver, processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine at least one group of TRP configurations based on the plurality of transmitting and receiving nodes TRPs, each group of TRP configurations including a first reference TRP and a second reference TRP, wherein the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different; For any set of TRP configurations, determine a search area based on the received signal power measurement value and coordinates of a first reference TRP and the received signal power measurement value and coordinates of a second reference TRP in the TRP configuration; Determining a first candidate location based on the search area; The position of the point to be measured is determined according to at least one first candidate position.

10. The device according to claim 9, characterized in that The processor is specifically configured to perform the following operations: determining a first received signal power ratio based on the received signal power measurement value of the first reference TRP and the received signal power measurement value of the second reference TRP; The search area is determined based on the first received signal power ratio, the coordinates of the first reference TRP and the coordinates of the second reference TRP.

11. The device according to claim 10, characterized in that The processor is specifically configured to perform the following operations: Transforming the original coordinate system into an estimated coordinate system so that the first reference TRP is located at the origin of the estimated coordinate system and the second reference TRP is located on the x-axis of the estimated coordinate system; The search area is determined according to the first received signal power ratio, the coordinates after the first reference TRP transformation, and the coordinates after the second reference TRP transformation.

12. The device according to claim 11, characterized in that The processor is specifically configured to perform the following operations: The search area is determined by the following formula: Among them, P ba represents the first received signal power ratio, x ′ represents the coordinate of the second reference TRP on the x-axis of the estimated coordinate system, z t represents the coordinates of the first reference TRP and the second reference TRP on the z-axis, x represents the coordinate of the point to be measured on the x-axis, and y represents the coordinate of the point to be measured on the y-axis.

13. The device according to any one of claims 9 to 12, characterized in that The processor is specifically configured to perform the following operations: determining a plurality of search points in the search area; Determining, for any search point, at least one second received signal power ratio, where the second received signal power ratio is determined based on received signal powers of the search point, the first reference TRP, and a first TRP, where the first TRP is any TRP among the multiple TRPs other than the first reference TRP and the second reference TRP; determining at least one third received signal power ratio, where the third received signal power ratio is determined based on received signal powers of the measured point, the first reference TRP, and the first TRP; The first candidate position is determined according to the at least one second received signal power ratio corresponding to each search point and the at least one third received signal power ratio.

14. The device according to claim 13, characterized in that The processor is specifically configured to perform the following operations: determining a cost function according to at least one second received signal power ratio value corresponding to each search point and the at least one third received signal power ratio value; The position of the search point corresponding to the maximum value of the cost function is determined as the first candidate position.

15. The device according to claim 14, characterized in that The processor is specifically configured to perform the following operations: The cost function is determined by the following formula: Wherein, cost represents the cost function, P ca represents the third received signal power ratio, represents the second received signal power ratio, c represents the first TRP, a represents the first reference TRP, N represents the number of the first TRPs, and N is a positive integer.

16. The device according to any one of claims 9 to 15, characterized in that The processor is specifically configured to perform the following operations: Transforming the estimated coordinate system into the original coordinate system to obtain at least one second candidate position, where the second candidate position is a position corresponding to the first candidate position in the original coordinate system; The center position of a figure formed by at least one of the second candidate positions is determined as the position of the point to be measured.

17. A positioning device, characterized in that: include: a first determining unit, configured to determine at least one group of TRP configurations based on a plurality of transmitting and receiving node TRPs, wherein each group of TRP configurations includes a first reference TRP and a second reference TRP, and the first reference TRPs in each group of TRP configurations are the same and the second reference TRPs are different; a second determining unit configured to determine, for any set of TRP configurations, a search area based on a received signal power measurement value and coordinates of a first reference TRP and a received signal power measurement value and coordinates of a second reference TRP in the TRP configuration; a third determining unit, configured to determine a first candidate position according to the search area; The fourth determining unit determines the position of the point to be measured according to at least one first candidate position.

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

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