Terminal positioning method and device, communication equipment, storage medium and computer program product

Abstract

The invention discloses a terminal positioning method and device, communication equipment, a storage medium and a computer program product, and the method comprises the steps: obtaining first information and second information; performing TDOA positioning on the terminal based on the first information to obtain a first positioning result; performing fingerprint positioning on the terminal based on the second information to obtain a second positioning result; outputting third information based on the first positioning result and the second positioning result; the first information at least comprises first time and the position of the first TRP; the first time represents the time when the first TRP receives the positioning reference signal sent by the terminal, or a difference value of the time when the terminal receives different positioning reference signals sent by the first TRP; the second information comprises an identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal; the third information indicates the positioning coordinate of the terminal or indicates the terminal positioning failure. The terminal positioning method can be universally applied to different indoor scenes, has universality, and is low in deployment cost and deployment difficulty.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a terminal positioning method, apparatus, communication equipment, storage medium, and computer program product. Background Art

[0002] The current fifth-generation mobile communication technology (5G) indoor positioning algorithm is in the engineering deployment stage. Due to the complexity of indoor scenarios, different wireless deployment solutions need to be customized for different scenarios. The deployment complexity and cost are high and it is not universal. Summary of the Invention

[0003] To solve related technical problems, embodiments of the present application provide a terminal positioning method, apparatus, communication device, storage medium, and computer program product.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] An embodiment of the present application provides a terminal positioning method, the method comprising:

[0006] Obtaining first information and second information; the first information includes at least a first time and a location of a first transmission-reception point (TRP); the first time represents the time when the first TRP receives a positioning reference signal sent by the terminal, or represents the difference between the times when the terminal receives positioning reference signals sent by different first TRPs; the second information includes an identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal;

[0007] Performing time difference of arrival (TDOA) positioning on the terminal based on the first information to obtain a first positioning result;

[0008] Performing fingerprint positioning on the terminal based on the second information to obtain a second positioning result;

[0009] Based on the first positioning result and the second positioning result, third information is output, where the third information indicates the positioning information of the terminal, or indicates that the positioning of the terminal has failed.

[0010] In the above solution, outputting third information based on the first positioning result and the second positioning result includes:

[0011] Verifying the third positioning result to obtain a verification result; the third positioning result includes the first positioning result indicating successful positioning of the terminal, and / or the second positioning result indicating successful positioning of the terminal;

[0012] The third information is output based on the inspection result.

[0013] In the above solution, the third positioning result is tested to obtain a test result, including:

[0014] Verifying the third positioning result based on the moving speed of the terminal to obtain a first verification result; and / or

[0015] Based on the set error of the TDOA positioning, the set error of the fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

[0016] In the above solution, the method further includes:

[0017] The moving speed of the terminal is calculated based on the third positioning result and the historical positioning results of the terminal.

[0018] In the above solution, outputting the third information based on the inspection result includes one or more of the following:

[0019] If the first inspection result corresponding to the first positioning result indicates that the inspection has passed, outputting the first positioning result;

[0020] If the first inspection result corresponding to the second positioning result indicates that the inspection has passed, outputting the second positioning result;

[0021] If the second verification result indicates that the inspection has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection has passed, outputting the first positioning result;

[0022] If the second verification result indicates that the inspection fails, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection passes, outputting the first positioning result or the second positioning result;

[0023] If the second verification result indicates that the verification has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the verification has failed, outputting the third information indicating that positioning of the terminal has failed;

[0024] When the second test result indicates that the test fails, and the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test fails, the third information indicating that the terminal positioning has failed is output.

[0025] In the above solution, performing TDOA positioning on the terminal based on the first information to obtain a first positioning result includes:

[0026] Determine a TRP set, wherein the TRP set includes at least three second TRPs; the second TRPs are determined from the first TRPs;

[0027] Based on the position of the second TRP and the first time corresponding to the second TRP, TDOA positioning solution is performed on the terminal to obtain the first positioning result.

[0028] In the above solution, performing TDOA positioning solution on the terminal to obtain the first positioning result includes:

[0029] When the number of second TRPs in the TRP set is equal to a first threshold, performing TDOA positioning solution on the terminal using a first algorithm to obtain the first positioning result; or

[0030] When the number of second TRPs in the TRP set is greater than the first threshold, performing TDOA positioning solution on the terminal using a second algorithm to obtain the first positioning result; wherein,

[0031] When the number of second TRPs in the TRP set is equal to the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the first algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the second algorithm; when the number of second TRPs in the TRP set is greater than the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the second algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the first algorithm.

[0032] In the above solution, performing TDOA positioning calculation on the terminal using a first algorithm to obtain the first positioning result includes:

[0033] Performing TDOA positioning calculation on the terminal using a first algorithm to obtain two calculation results;

[0034] When the two solution results are unequal positive numbers, determining a final solution result from the two solution results based on the historical positioning results of the terminal;

[0035] Perform residual analysis on the final solution result to determine the first positioning result.

[0036] In the above solution, determining the TRP set includes:

[0037] Determine, based on a first time corresponding to each two first TRPs, a first difference corresponding to the two first TRPs, where the first difference represents a difference in distance between the two first TRPs and the terminal;

[0038] Eliminate all first differences that are greater than or equal to a second threshold;

[0039] Based on the remaining first difference, the TRP set is determined in the first TRP corresponding to the remaining first difference.

[0040] In the above solution, when the moving speed of the terminal is greater than or equal to the third threshold, the first test result indicates that the test fails; or

[0041] In a case where the moving speed of the terminal is less than the third threshold, the first inspection result indicates that the inspection is passed.

[0042] In the above solution, if the distance between different positioning results in the third positioning result is greater than the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second verification result indicates that the verification fails;

[0043] When the distance between different positioning results in the third positioning result is less than or equal to the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second inspection result indicates that the inspection is passed.

[0044] The present application also provides a terminal positioning device, including:

[0045] An acquisition unit, configured to acquire first information and second information; the first information includes at least a first time and a position of a first transmitting and receiving point TRP; the first time represents a time when the first TRP receives a positioning reference signal sent by a terminal, or represents a difference in time when the terminal receives positioning reference signals sent by different first TRPs; the second information includes an identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal;

[0046] A first positioning unit, configured to perform TDOA positioning on the terminal based on the first information to obtain a first positioning result;

[0047] A second positioning unit, configured to perform fingerprint positioning on the terminal based on the second information to obtain a second positioning result;

[0048] An output unit is configured to output third information based on the first positioning result and the second positioning result, where the third information indicates the positioning information of the terminal or indicates that the positioning of the terminal has failed.

[0049] The embodiment of the present application further provides a communication device, comprising a processor and a memory for storing a computer program that can be run on the processor.

[0050] The processor is configured to execute the steps of any of the above methods when running the computer program.

[0051] An embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0052] An embodiment of the present application further provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0053] In the terminal positioning method, apparatus, communication device, storage medium, and computer program product provided in the embodiments of the present application, first information and second information are obtained; TDOA positioning is performed on the terminal based on the first information to obtain a first positioning result; fingerprint positioning is performed on the terminal based on the second information to obtain a second positioning result; and third information is output based on the first positioning result and the second positioning result; the first information includes at least a first time and a position of a first TRP; the first time represents the time when the first TRP receives a positioning reference signal sent by the terminal, or represents the difference in time when the terminal receives positioning reference signals sent by different first TRPs; the second information includes the identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal; the third information indicates the positioning information of the terminal, or indicates that the terminal positioning has failed. The above solution, by combining the complementary TDOA positioning and fingerprint positioning methods, obtains a terminal positioning result, which is generally applicable to different indoor scenarios. There is no need to deploy positioning algorithms separately for different complex indoor scenarios, which increases the versatility and robustness of the positioning solution, does not require additional network sensing equipment, and reduces deployment cost and difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a flow chart of a terminal positioning method according to an embodiment of the present application;

[0055] Figure 2 A schematic diagram of a TDOA positioning process according to an embodiment of the present application;

[0056] Figure 3This is a schematic diagram of the planar relationship between a terminal and two first TRPs according to an embodiment of the present application;

[0057] Figure 4 This is a schematic diagram of the planar relationship between the positioning results and the actual results of a terminal at a historical positioning time and a current positioning time according to an embodiment of the present application;

[0058] Figure 5 This is a schematic diagram of a speed test process according to an embodiment of the present application;

[0059] Figure 6 This is a schematic diagram of the planar relationship between the actual position of a terminal and the first positioning result and the second positioning result according to an embodiment of the present application;

[0060] Figure 7 This is a schematic diagram of a secondary inspection process according to an embodiment of the present application;

[0061] Figure 8 This is a flow chart of a terminal positioning method according to an embodiment of the present application;

[0062] Figure 9 This is a schematic diagram of a positioning area according to an embodiment of the present application;

[0063] Figure 10 This is a schematic diagram of the structure of a terminal positioning method and device according to an embodiment of the present application;

[0064] Figure 11 This is a schematic diagram of the structure of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] 5G precise positioning has become a focus of attention across various industries due to its advantages, such as key technologies (such as large bandwidth, large-scale antenna arrays, ultra-dense networking (UDN), millimeter wave (MMW), device-to-device (D2D)), strong support and continuous evolution of international standards, integrated communication and positioning, and indoor and outdoor coverage. It can serve as an effective supplement to scenarios denied by the Global Navigation Satellite System (GNSS), such as urban canyons, indoors, and underground.

[0066] The application scenarios of 5G precise positioning are mainly indoor two-dimensional scenarios. The relevant 5G positioning technology methods include a combined positioning scheme based on arrival angle and arrival delay and a 5G indoor positioning method based on the uplink signal of user equipment (UE). Among them, in the combined positioning scheme based on arrival angle and arrival delay, the 5G positioning signal provided by the user terminal is received by the base station, and the 5G positioning signal received by the base station is decomposed and calculated by the feature space decomposition method to obtain the signal arrival angle ray starting from the current base station and passing through the user terminal. The channel estimation is performed on the 5G positioning signal received by the base station to determine the signal arrival delay of the 5G positioning signal from the user terminal to different base stations. The server obtains the positioning coordinates of the user terminal based on the signal arrival delay and the signal arrival angle ray. The 5G indoor positioning method based on UE uplink signal is to add 5G network sensing equipment and position solution server to the 5G network to form an indoor positioning system. The indoor positioning system includes 5G base station, terminal, 5G network sensing equipment and position solution server. The 5G base station includes baseband processing unit, radio frequency remote unit and antenna.

[0067] 5G positioning technology methods also include UE positioning methods based on New Radio (NR) signals, such as NR enhanced cell identification (NR E-CID, NR Enhanced Cell-ID), uplink arrival time difference (UL-TDOA, Uplink Time Difference of Arrival), downlink arrival time difference (DL-TDOA, Downlink Time Difference of Arrival), multi-round trip time (Multi-RRT, Multi-Round Trip Time), downlink departure angle (DL-AoD, Downlink Angle-of-Departure) and uplink arrival angle (UL-AoA, Uplink Angle of Arrival). The single UL-TDOA and DL-TDOA hyperbolic positioning solution methods can enhance positioning accuracy by calibrating the delay error of the uplink relative arrival time (UL-RTOA) and the downlink reference signal time (DL-RSTD). Among them, the UL-TDOA positioning method has higher accuracy and lower requirements for the number of antenna channels and 5G terminal support. It is the mainstream UE positioning method currently used for 5G indoor precise positioning.

[0068] 5G indoor UL-TDOA positioning is based on the uplink relative time of arrival (UL-RTOA) measurements reported by the 5G base station (gNB, the next generation Node B), uplink-sounding reference signal-reference signal received power (UL-SRS-RSRP) measurements, and other auxiliary information such as the transmission-reception point (TRP) coordinates. It can be achieved using 5G UL-TDOA hyperbolic positioning and 5G fingerprint positioning based on UL-SRS-RSRP measurements. The 5G UL-TDOA hyperbolic positioning method has the advantages of high theoretical accuracy and can reach the sub-meter level, but it also has the following defects: (1) Indoor channels are more complex due to factors such as obstruction, multipath and electromagnetic interference, which have a great impact on the measurement of time of arrival (TOA). When the number of normal TOAs is insufficient or the number of abnormal TOAs accounts for a large proportion, the quality of 5G UL-TDOA hyperbolic positioning will be affected; (2) The requirements are high, such as high requirements for wireless clock synchronization, the need for time delay calibration between base station RF receiving channels, the need for precise calibration of TRP positions, and the need for 5G positioning network design. If the requirements are not met, the robustness is poor. Compared with the 5G UL-TDOA hyperbolic positioning method, the 5G fingerprint positioning method based on UL-SRS-RSRP measurement values ​​has stronger applicability and lower requirements for line-of-sight channels, time delay calibration between TRP coordinates and base station RF receiving channels, precise TRP clock synchronization, and 5G positioning network design. However, its theoretical accuracy is lower than that of the 5G UL-TDOA hyperbolic positioning method, at the meter level, and fingerprint collection, as well as fingerprint database establishment and maintenance, are required.

[0069] To sum up, the current 5G indoor positioning algorithm still has problems with complex indoor scenarios and differentiated wireless deployment in the engineering deployment stage; and for general indoor positioning scenarios, there is a certain complementarity between the 5G UL-TDOA hyperbolic positioning method and the 5G fingerprint positioning method based on UL-SRS-RSRP measurement values, but the current 5G positioning algorithm does not take into account the complementarity between hyperbolic positioning and fingerprint positioning, and is not universal and robust, and its practicality is still insufficient; in addition, the current 5G positioning algorithm has high requirements on the number of antenna channels of indoor positioning base stations and requires the addition of 5G network sensing equipment, so the cost is relatively high.

[0070] Based on this, in various embodiments of the present application, first information and second information are obtained; TDOA positioning is performed on the terminal based on the first information to obtain a first positioning result; fingerprint positioning is performed on the terminal based on the second information to obtain a second positioning result; and third information is output based on the first positioning result and the second positioning result; the first information includes at least a first time and a position of a first TRP; the first time represents the time when the first TRP receives the positioning reference signal sent by the terminal, or represents the difference in time when the terminal receives the positioning reference signal sent by different first TRPs; the second information includes the identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal; the third information indicates the positioning information of the terminal, or indicates that the positioning of the terminal has failed. The above scheme, by combining the two complementary positioning methods of TDOA positioning and fingerprint positioning, obtains a terminal positioning result, which is generally applicable to different indoor scenarios. There is no need to deploy positioning algorithms separately for different complex indoor scenarios, which increases the versatility and robustness of the positioning scheme, and does not require additional network sensing equipment, thereby reducing deployment costs and deployment difficulties.

[0071] The present application will be described in further detail below with reference to the accompanying drawings and embodiments.

[0072] The embodiment of the present application provides a terminal positioning method, which is applied to a communication device, wherein the communication device includes a terminal and / or a network device, and the network device includes a location management function (LMF). Specifically, for the uplink terminal positioning method, the communication device may be a network device, and the positioning reference signal includes a channel sounding reference signal (SRS). For the downlink terminal positioning method, the communication device may be a terminal, and the positioning reference signal includes a positioning reference signal (PRS). Figure 1 As shown, the method includes:

[0073] Step 101: Obtain first information and second information.

[0074] Among them, the first information includes at least the first time and the position of the first sending and receiving point TRP; the first time represents the time when the first TRP receives the positioning reference signal sent by the terminal, or represents the difference in time when the terminal receives the positioning reference signals sent by different first TRPs; the second information includes the identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal.

[0075] Here, the first information and the second information can be obtained from a message sent from the base station to which the first TRP belongs to the network device or a message sent from the base station to which the first TRP belongs to the terminal, or can be obtained from a database, or can be directly measured. The database can be a key-value storage database, for example, a Remote Dictionary Server (Redis) database, etc. There can be multiple first TRPs, for example, there can be three or more first TRPs. There can also be multiple first times, for example, one or more, and for example, two or more. The location of the first TRP can include the identification (ID), coordinates, and hanging height of the first TRP; wherein the coordinates of the first TRP can be in the form of geodetic longitude and latitude or in the form of local two-dimensional plane coordinates, and the hanging height of the TRP can be understood as the antenna installation height of the TRP.

[0076] Specifically, for the uplink terminal positioning method: the first time and the position of the first TRP, as well as the measurement data related to the identifier of the first TRP and the signal strength of the positioning reference signal can be obtained by parsing the message sent by the base station to which the first TRP belongs to the network device or by reading the database; for example, the position of the first TRP can be obtained by parsing the first message (such as NRPPATRP Configuration InformationExchange) sent by the base station to which the first TRP belongs to the network device or by reading the database, and the measurement data related to the signal strength of the first time and the positioning reference signal can be obtained by parsing the second message (such as NRPPAMEASUREMENTRESPONSE or NRPPA MEASUREMENT REPORT) sent by the base station to which the first TRP belongs to the network device. For the downlink terminal positioning method: the first time and the position of the first TRP, as well as the measurement data related to the identifier of the first TRP and the signal strength of the positioning reference signal can be obtained by parsing the message sent by the base station to which the first TRP belongs to the terminal or by reading the database; for example, the position of the first TRP can be obtained by parsing the message sent by the base station to which the first TRP belongs to the terminal, and the measurement data related to the signal strength of the first time and the positioning reference signal can be directly measured by the terminal.

[0077] The first information and the second information can be obtained at the same time, that is, the acquisition path of the first information and the acquisition path of the second information can be the same, thereby saving signaling overhead and reducing deployment costs; for example, the first information and the second information are both obtained through the positioning information acquisition path of TDOA positioning; or the second information can be obtained from the first information, that is, the first information can also include the identification of the first TRP and the measurement data related to the signal strength of the positioning reference signal; that is, before performing TDOA positioning of the terminal based on the first information and fingerprint positioning of the terminal based on the second information, auxiliary positioning information can be obtained first. The terminal positioning auxiliary information can include the first information and the second information, and there is no need to deploy additional network perception equipment to obtain information.

[0078] For the uplink terminal positioning method: the first TRP represents the TRP at which the positioning reference signal sent by the terminal is received. The first time represents the time at which the first TRP receives the positioning reference signal sent by the terminal, and is measured by the base station to which the first TRP belongs. For example, the first time can be the uplink relative time of arrival (UL-RTOA). The measurement data related to the signal strength of the positioning reference signal is: the measurement data related to the signal strength of the positioning reference signal received by the first TRP, and is measured by the base station to which the first TRP belongs; for example, the measurement data related to the signal strength of the positioning reference signal can include: uplink-sounding reference signal-reference signal received power (UL-SRS-RSRP), and / or uplink-sounding reference signal-reference signal received strength indicator (UL-SRS-RSSI), and / or uplink-pilot channel signal strength (UL-RSCP).

[0079] For the downlink terminal positioning method: the first TRP represents the TRP of the positioning reference signal sent to the terminal. The first time represents the difference in time when the terminal receives the positioning reference signals sent by different first TRPs, which is measured by the terminal. Specifically, the first time represents the difference in time when the terminal receives the positioning reference signals sent by any two first TRPs. For example, the first time can be the downlink reference signal time difference (DL-RSTD, Downlink Reference Signal Time Difference). The measurement data related to the signal strength of the positioning reference signal is: the measurement data related to the signal strength of the positioning reference signal received by the terminal, which is measured by the terminal; for example, the measurement data related to the signal strength of the positioning reference signal may include: downlink-positioning reference signal-reference signal received power (DL-PRS-RSRP, Downlink-Receive Signal Channel Power-Reference Signal Received Power), and / or downlink-positioning reference signal-received signal strength indicator (DL-PRS-RSRP, Downlink-Receive Signal Channel Power-Received Signal Strength Indicator), and / or downlink-pilot channel signal strength (DL-RSCPD, Downlink-Receive Signal Channel Power).

[0080] The first information may also include one or more of the measurement data related to the second time, the approximate height of the terminal and the signal strength of the positioning reference signal. Among them, the second time represents the estimation of the delay between the radio frequency receiving channels of any two first TRPs, and is associated with the corresponding two first TRPs. There can be multiple second times for delay correction; the second time can also be a separate fourth information, which can be in the form of a matrix, including the second time of any two first TRPs among all the first TRPs. The first time and the second time of any two first TRPs are measured at the same time. The second time and the approximate height of the terminal can both be obtained by reading the database.

[0081] It should be noted that when the coordinates of the first TRP included in the first information obtained are in the form of geodetic longitude and latitude, it is necessary to convert the coordinates of the first TRP from geodetic longitude and latitude to Gaussian plane coordinates through Gaussian calculation in order to perform TDOA positioning solution, where the central meridian can be obtained by calculating the average value of the longitude of the first TRP and rounding it.

[0082] Step 102: Perform TDOA positioning on the terminal based on the first information to obtain a first positioning result.

[0083] Here, performing TDOA positioning of the terminal based on the first information can be understood as using the TDOA positioning method to locate the terminal based on the first information. The first positioning result can be understood as the TDOA positioning result; the first positioning result can indicate successful positioning of the terminal or failed positioning of the terminal; when the first positioning result indicates successful positioning of the terminal, the first positioning result can include TDOA positioning information of the terminal, such as the coordinates of the terminal.

[0084] It should be noted that when the first positioning result indicates that the terminal positioning is successful, it is necessary to convert the positioning coordinates of the terminal included in the first positioning result from Gaussian plane coordinates to geodetic longitude and latitude through Gaussian inverse calculation, so that the coordinate form of the first TRP included in the first information and the positioning coordinate form of the terminal included in the first positioning result can be unified, wherein the calculation method of the central meridian is the same as the calculation method of the central meridian in Gaussian forward calculation; for three-dimensional positioning, the first positioning result also includes the height of the terminal.

[0085] In the process of performing TDOA positioning of the terminal based on the first information, TDOA positioning solution is required. TDOA positioning solution includes TDOA two-dimensional positioning solution and TDOA three-dimensional positioning solution. TDOA two-dimensional positioning solution requires the positions of at least three first TRPs and the corresponding first times, and TDOA three-dimensional positioning solution requires the positions of at least four first TRPs and the corresponding first times. Based on this, when the positions of all first TRPs and the corresponding first times (i.e., the first information) are obtained, preprocessing can be performed based on the positions of all first TRPs and the corresponding first times. Specifically, the number and integrity of the obtained first information can be checked. Taking TDOA two-dimensional positioning solution as an example, the number and integrity of the obtained first information can be checked according to the following steps:

[0086] Step 1: Check the number of the first information, that is, check the number of the first TRP. If the number of the first TRP is less than 3, TDOA positioning cannot be solved, TDOA positioning ends, TDOA positioning fails, and the first positioning result indicates that terminal positioning has failed. If the number of the first TRP is greater than or equal to 3, the next step of preprocessing is carried out, and step 2 is executed.

[0087] Step 2: Perform an integrity check on the first time in the first information. Check whether the first time included in the first information is missing. In the case that the first time is missing, remove the relevant information of the first TRP corresponding to the missing first time in the first information; in the case that the first information includes measurement data related to the signal strength of the positioning reference signal, it is also possible to check whether the measurement data related to the first time and the signal strength of the positioning reference signal included in the first information is missing. In the case that the measurement data related to the signal strength of the first time and / or the positioning reference signal is missing, remove the relevant information of the first TRP corresponding to the missing measurement data related to the signal strength of the first time and / or the positioning reference signal.

[0088] Step 3: Perform an integrity check on the other information included in the first information. Perform an existence check on the coordinates of the first TRP and the second time included in the first information remaining after executing step 2, and remove the missing coordinates of the first TRP and / or the relevant information of the first TRP corresponding to the second time.

[0089] Step 4: Check the number of the remaining first information. If the number of first TRPs in the remaining first information is less than 3, terminate TDOA positioning, TDOA positioning fails, and the first positioning result indicates that terminal positioning has failed. If the number of first TRPs in the remaining first information is greater than or equal to 3, proceed to step 5.

[0090] Step 5: When the first information includes measurement data related to the signal strength of the positioning reference signal, the validity of the measurement data related to the signal strength of each positioning reference signal is checked. When the measurement data related to the signal strength of the positioning reference signal is less than the fourth threshold, the relevant information of the first TRP corresponding to the measurement data related to the signal strength of the positioning reference signal is considered unreliable, and the relevant information of the first TRP corresponding to the measurement data related to the signal strength of the positioning reference signal is discarded; the fourth threshold can be set according to the statistical analysis results of the measurement data values ​​related to the signal strength of the positioning reference signal measured in the direct (LOS, Line of Sight) and indirect (NLOS, Non Line of Sight) scenarios.

[0091] Step 6: Check the number of first information remaining after executing step 5. If the number of first TRPs in the remaining first information is less than 3, TDOA positioning is terminated, TDOA positioning fails, and the first positioning result indicates that terminal positioning has failed. If the number of first TRPs in the remaining first information is greater than or equal to 3, first information preprocessing is completed, and TDOA positioning continues based on the remaining first information.

[0092] It should be noted that step 2 and step 3 can be performed simultaneously, that is, the integrity check of the first information can be performed directly to check whether the content included in the first information is missing. The number check of the first information can be performed only at the end, that is, steps 1 and 4 can be omitted. There is a difference between the data preprocessing of TDOA two-dimensional positioning solution and the data preprocessing of TDOA three-dimensional positioning solution in the step of checking the number of first information. Specifically, the number check of the first information in TDOA three-dimensional positioning solution includes: when the number of the first TRP is less than 4, the TDOA positioning solution cannot be performed, the TDOA positioning is terminated, the TDOA positioning fails, and the first positioning result indicates that the terminal positioning has failed; when the number of the first TRP is greater than or equal to 4, the next preprocessing step is performed or the preprocessing process is completed.

[0093] To improve the accuracy of the TDOA positioning result, in one embodiment, performing TDOA positioning on the terminal based on the first information to obtain the first positioning result includes:

[0094] Determine a TRP set, wherein the TRP set includes at least three second TRPs; the second TRPs are determined from the first TRPs;

[0095] Based on the position of the second TRP and the first time corresponding to the second TRP, TDOA positioning solution is performed on the terminal to obtain the first positioning result.

[0096] Here, the TDOA relative ranging value can be calculated based on the first time included in the first information, or the TDOA relative ranging value after delay correction can be calculated based on the first time and the second time included in the first information; a reference TRP is determined from the first TRP based on the TDOA relative ranging value or the TDOA relative ranging value after delay correction; a TRP set group is determined based on the first TRP other than the reference TRP; a TRP set is determined from the TRP set group based on the number of TRPs included in each set in the TRP set group; TDO is performed on the terminal based on the position of the second TRP included in the TRP set and the first time corresponding to the second TRP A. Positioning solution; when TDOA positioning solution fails and there is a TRP set in the TRP set group that is not used for TDOA positioning solution, the TRP set is re-determined from the TRP set group, and TDOA positioning solution is performed on the terminal based on the position of the second TRP included in the re-determined TRP set and the first time corresponding to the second TRP, and so on, until the TDOA positioning coordinates of the terminal are obtained. The first positioning result indicates that the terminal positioning is successful, or all TRP sets in the TRP set group are used for TDOA positioning solution, that is, all TRP sets in the TRP set group fail in positioning solution, and the first positioning result indicates that the terminal positioning fails. The TDOA relative ranging value can be understood as the difference in distance between the terminal and the two first TRPs. For example, TRP i and TRP j The TDOA relative ranging value can be understood as the terminal and TRP i The distance between the terminal and the TRP j The difference in distance between them.

[0097] It should be noted that, when the TDOA positioning solution is successful and a positioning result is obtained, the positioning result can also be subjected to a precision dilution factor test and / or a chi-square test; when the TDOA positioning solution is performed on the terminal using the first algorithm, the positioning result obtained is subjected to a precision dilution factor test; when the TDOA positioning solution is performed on the terminal using the second algorithm, the positioning result obtained is subjected to a precision dilution factor test and a chi-square test. In the case where the precision dilution factor test fails or the chi-square test fails, the TRP set is re-determined, and the TDOA positioning solution is re-performed based on the position of the second TRP in the re-determined TRP set and the first time corresponding to the second TRP; in the case where the precision dilution factor test and / or the chi-square test are passed, the positioning result is determined to be the first positioning result, and the first positioning result indicates that the terminal positioning is successful. For TDOA two-dimensional positioning solutions, the dilution of precision factor test may include a horizontal dilution of precision (HDOP) test; for TDOA three-dimensional positioning solutions, the dilution of precision factor test may include one or more of the HDOP test, vertical dilution of precision (VDOP) and position dilution of precision (PDOP); the HDOP test is used to test the influence of positioning geometry on planar error, the VDOP test is used to test the influence of positioning geometry on height error, and the PDOP test is used to test the influence of positioning geometry on three-dimensional error. The positioning results of the TDOA positioning solution are quality controlled through the dilution of precision factor test and / or the chi-square test, that is, abnormal positioning results are detected and eliminated to improve the robustness of the positioning method.

[0098] For easier understanding, the overall process of TDOA positioning is further explained, such as Figure 2 As shown, the process of performing TDOA positioning on the terminal based on the first information to obtain the first positioning result includes:

[0099] Step 201: Calculate the TDOA relative ranging value based on the first information.

[0100] Here, the TDOA relative ranging value can be calculated based on the first time included in the first information, or the delay-corrected TDOA relative ranging value can be calculated based on the first time and the second time included in the first information. The first time and the second time included in the first information are measured at the same time. For example, the delay-corrected TDOA relative ranging value between any two first TRPs can be calculated using the following formula:

[0101]

[0102] in, Characterize TRP at time k i and TRP j The TDOA relative distance value after time delay correction; c represents the speed of light in vacuum, which is 299792458 meters per second (m / s); T i k Characterization of TRP i The first time at time k, in seconds (s), such as the UL-RTOA measurement value; Characterization of TRP j At the first moment of time k; Characterized as TRP i and TRP j The second time can be understood as TRP i Relative TRP j The delay estimation between the RF receiving channels is: the number of the first TRP is n. Correspondingly, without considering the delay correction, the calculation formula of the TDOA relative ranging value can be expressed as The TDOA relative ranging value of every two first TRPs in all first TRPs or the TDOA relative ranging value after delay correction can be expressed in matrix form. For example, it can be expressed as the following TDOA relative ranging value matrix after delay correction:

[0103]

[0104] Among them, the diagonal elements of the TDOA relative ranging value matrix after delay correction are meaningless and are nan. The elements in the matrix satisfy

[0105] Step 202: Determine a reference TRP from the first TRP based on the TDOA relative ranging value.

[0106] Here, all first TRPs can be put into a set of alternative reference TRPs, and a reference TRP can be selected from the set of alternative reference TRPs based on the TDOA relative ranging values ​​of each first TRP and other first TRPs. Specifically, the cumulative sum of the TDOA relative ranging values ​​less than 0 among the TDOA relative ranging values ​​of the first TRP and all other first TRPs can be calculated to obtain the cumulative sum of the TDOA relative ranging values ​​corresponding to each first TRP. When the TDOA relative ranging values ​​of the first TRP and all other first TRPs are greater than or equal to 0, the cumulative sum of the TDOA relative ranging values ​​corresponding to the first TRP is assigned to 0; the first TRP corresponding to the largest cumulative sum of the TDOA relative ranging values ​​is determined as the reference TRP; when the reference TRP needs to be replaced, a new reference TRP is determined from the set of alternative reference TRPs based on the cumulative sums of the TDOA relative ranging values ​​in descending order.

[0107] Before determining the reference TRP, the first TRP that has little effect on terminal positioning in the alternative reference TRP set can also be eliminated based on the number of valid values ​​of the TDOA relative ranging values ​​of the first TRP and other first TRPs; when the alternative reference TRP set is empty, TDOA positioning is abnormal, TDOA positioning fails, and the first positioning result indicates that terminal positioning has failed, and step 214 is executed. The alternative reference TRP set is empty, which can be understood as the inability to determine the reference TRP; when the alternative reference TRP set is not empty, the reference TRP is determined from the remaining first TRPs in the alternative reference TRP set.

[0108] For example, when the TDOA relative ranging value matrix is ​​calculated, each column of the TDOA relative ranging value matrix can be traversed to eliminate the first TRP corresponding to the column whose non-nan elements are less than the quantity threshold. The quantity threshold can be set according to the actual application (such as set to 2) or calculated according to the set quantity threshold calculation formula; the elements of the corresponding column of the eliminated first TRP in the TDOA relative ranging value matrix are updated to nan; the cumulative sum of all elements less than 0 in each column of the updated TDOA relative ranging value matrix is ​​calculated to obtain the cumulative sum of each column. When all elements in a column are greater than or equal to 0, the cumulative sum of the corresponding column is assigned to 0; the first TRP corresponding to the column with the largest cumulative sum is determined as the reference TRP.

[0109] Step 203: Determine a TRP set group based on a first TRP other than the reference TRP.

[0110] Here, the first TRP other than the reference TRP can be understood as all first TRPs other than the reference TRP, or can be understood as all first TRPs other than the reference TRP in the set of alternative reference TRPs, which can also be called non-reference TRPs. For TDOA two-dimensional positioning solution, two, three, ..., all permutations and combinations of the first TRPs equal to the number of non-reference TRPs can be selected from the non-reference TRPs, and the first TRPs are added to all permutations and combinations of the non-reference TRPs to form a TRP set; for example, if the number of non-reference TRPs is m, it can be expressed as The number of sets included in the TRP set obtained based on the non-reference TRP is For TDOA three-dimensional positioning solution, three, four,..., all permutations and combinations of the first TRP with the same number of non-reference TRPs can be selected from the non-reference TRPs, and the first TRP can be added to all permutations and combinations of the non-reference TRPs to form a TRP set group.

[0111] Step 204: Determine a TRP set from the TRP set group.

[0112] Here, a TRP set can be randomly determined from the TRP set group for TDOA positioning solution; or a TRP set can be determined from the TRP set group in order from most to least according to the number of first TRPs contained in the TRP set group, for TDOA positioning solution; or the TRP set group can be directly traversed, that is, the TRP sets in the TRP set group are used one by one for TDOA positioning solution until the positioning solution is successful or the traversal is completed; or the sets in the TRP set group can be arranged in order from most to least according to the number of first TRPs contained in the TRP set group, and the arranged TRP set groups can be traversed.

[0113] Step 205: Based on the position of the second TRP and the first time corresponding to the second TRP, perform TDOA positioning solution on the terminal to obtain a fourth positioning result.

[0114] Here, based on the position of the second TRP in the determined TRP set and the first time corresponding to the second TRP, the TDOA positioning solution algorithm is used to perform TDOA positioning solution on the terminal to obtain a fourth positioning result.

[0115] Step 206: Determine whether the fourth positioning result indicates that the terminal is successfully positioned.

[0116] Here, when the fourth positioning result indicates that the terminal positioning is successful, the fourth positioning result is verified and step 208 is executed; when the fourth positioning result indicates that the terminal positioning is unsuccessful, step 207 is executed.

[0117] Step 207: Determine whether there is a TRP set in the TRP set group that has not been used for TDOA positioning solution.

[0118] Here, when the fourth positioning result indicates that the terminal positioning has failed, that is, the current TRP set cannot be used to perform TDOA positioning solution, and the positioning coordinates of the terminal are obtained, it is necessary to replace the TRP set used for TDOA positioning solution. Based on this, it is determined whether there is a TRP set in the TRP set group that has not been used for TDOA positioning solution; when there is a TRP set in the TRP set group that has not been used for TDOA positioning solution, the TRP set used for TDOA positioning solution is re-determined from the TRP set group, and step 204 is executed; when there is no TRP set in the TRP set group that has not been used for TDOA positioning solution, it indicates that all TRP sets in the TRP set group cannot successfully perform TDOA positioning solution, and the positioning coordinates of the terminal are obtained, and the TDOA positioning fails, and step 214 is executed.

[0119] Step 208: Perform a dilution of precision factor test on the fourth positioning result.

[0120] Here, taking the TDOA two-dimensional positioning solution as an example, the precision dilution factor test for the fourth positioning result can be based on the fourth positioning result, calculating the HDOP value, which can reflect the influence of the TRP and the terminal's geometric figures on the planar positioning error; comparing the HDOP value with the HDOP threshold; when the HDOP value is greater than or equal to the HDOP threshold, the fourth positioning result is considered unreliable and the HDOP test fails; when the HDOP value is less than the HDOP threshold, the HDOP test passes.

[0121] For example, the HDOP value can be calculated using the following formula:

[0122]

[0123] Among them, x1 represents the coordinate of TRP1 in the X-axis direction, y1 represents the coordinate of TRP1 in the Y-axis direction; x2 represents the coordinate of TRP2 in the X-axis direction, y2 represents the coordinate of TRP2 in the Y-axis direction; x n Characterization of TRP n The coordinate in the X-axis direction, y n Characterization of TRP n Coordinate in the Y-axis direction; x u Characterizes the coordinate of the terminal in the X-axis direction included in the fourth positioning result, y u Characterizes the coordinate of the terminal in the Y-axis direction included in the fourth positioning result; J n Characterizing Terminals and TRP nThe geometric distance between them; H(1,1) represents the element in the first row and first column of the matrix H, and H(2,2) represents the element in the second row and second column of the matrix H.

[0124] For TDOA three-dimensional positioning solution, performing a precision dilution factor test on the fourth positioning result may include calculating one or more of the HDOP value, VDOP value and PDOP value based on the fourth positioning result, and comparing the calculated value with the corresponding threshold; when there is a calculated value greater than or equal to the corresponding threshold, the fourth positioning result is considered unreliable and the precision dilution factor test fails; when all the calculated values ​​are less than the corresponding threshold, the precision dilution factor test passes.

[0125] Step 209: Determine whether the precision dilution factor test passes.

[0126] Here, if the precision dilution factor test passes, it is also necessary to determine whether the fourth positioning result is obtained by performing TDOA positioning solution through the second algorithm, or to determine whether there are redundant TDOA relative ranging values ​​in the TDOA positioning solution process to determine whether a chi-square test is required, that is, execute step 210; if the precision dilution factor test fails, execute step 207.

[0127] Step 210: Determine whether the fourth positioning result is obtained by performing TDOA positioning solution using the second algorithm.

[0128] Here, when the fourth positioning result is obtained by performing TDOA positioning solution through the second algorithm, that is, in the TDOA positioning solution process, there are redundant TDOA relative ranging values, and a chi-square test is required for the fourth positioning result, and step 211 is executed; when the fourth positioning result is not obtained by performing TDOA positioning solution through the second algorithm, that is, the fourth positioning result is obtained by performing TDOA positioning solution through the first algorithm, there is no need to perform a chi-square test on the fourth positioning result, and step 213 is executed.

[0129] Step 211: Perform a chi-square test on the fourth positioning result.

[0130] Here, when the fourth positioning result is obtained by performing TDOA positioning solution through the second algorithm, a chi-square test is performed on the fourth positioning result, and the weighted residual square sum can be calculated based on the fitness function value of the fourth positioning result; for example, the formula The weighted residual sum of squares, i.e., the chi-square value, is calculated, where P represents the fourth positioning result and fitness represents the fitness function. Since n obeys the normal distribution and S obeys the chi-square distribution with m-2 degrees of freedom, the false alarm probability is given as P. FA , the chi-square test critical value can be obtained by looking up the table, that is, based on the formula Look up the table to get the chi-square test critical value t LS ; By comparing the chi-square value and the chi-square test critical value, determine whether to accept or reject the null hypothesis; when the chi-square value is greater than the chi-square test critical value, accept the null hypothesis and the chi-square test fails; when the chi-square value is less than or equal to the chi-square test critical value, reject the null hypothesis and the chi-square test succeeds.

[0131] Step 212: Determine whether the chi-square test is successful.

[0132] Here, if the chi-square test succeeds, the fourth positioning result is considered reliable, the fourth positioning result is determined to be the first positioning result, and step 212 is executed; if the chi-square test fails, step 207 is executed.

[0133] Step 213: Obtain a first positioning result, where the first positioning result indicates that the terminal is successfully positioned.

[0134] Here, when the TDOA positioning solution is successfully performed based on the determined TRP set, the positioning coordinates of a terminal are obtained, and the precision dilution factor test of the positioning coordinates of the terminal passes, or both the precision dilution factor test and the chi-square test pass, the first positioning result indicates that the terminal positioning is successful, and the first positioning result includes the obtained positioning coordinates of the terminal.

[0135] Step 214: Obtain a first positioning result, where the first positioning result indicates that positioning of the terminal has failed.

[0136] Here, when the reference TRP cannot be determined, or all TRP sets cannot successfully perform TDOA positioning solution, or the precision dilution factor test of the fourth positioning result obtained fails, or the chi-square test of the fourth positioning result obtained fails, TDOA positioning fails, and the first positioning result indicates a failure in terminal positioning.

[0137] To improve positioning accuracy, in one embodiment, performing TDOA positioning solution on the terminal to obtain the first positioning result includes:

[0138] When the number of second TRPs in the TRP set is equal to a first threshold, performing TDOA positioning solution on the terminal using a first algorithm to obtain the first positioning result; or

[0139] When the number of second TRPs in the TRP set is greater than the first threshold, performing TDOA positioning solution on the terminal using a second algorithm to obtain the first positioning result; wherein,

[0140] When the number of second TRPs in the TRP set is equal to the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the first algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the second algorithm; when the number of second TRPs in the TRP set is greater than the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the second algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the first algorithm.

[0141] Here, when performing TDOA positioning solution for a TRP of a first threshold, the time complexity of the first algorithm is lower than that of the second algorithm; when performing TDOA positioning solution for a TRP greater than the first threshold, the time complexity of the second algorithm is lower than that of the first algorithm; based on this, for different numbers of TRPs contained in different TRP sets, a more appropriate algorithm can be used to perform TDOA positioning solution to reduce time complexity. The first algorithm can be a Chan algorithm with no redundant measurement, and the second algorithm can be a particle swarm algorithm. The first threshold is determined according to the positioning dimension, as well as the first and second algorithms. For example, for TDOA two-dimensional positioning solution, the first algorithm is the Chan algorithm and the second algorithm is the particle swarm algorithm, the first threshold can be 3; for TDOA three-dimensional positioning solution, the first algorithm is the Chan algorithm and the second algorithm is the particle swarm algorithm, the first threshold can be 4.

[0142] In order to eliminate ambiguity and suppress abnormal solutions caused by ill-conditioned equations, in one embodiment, performing TDOA positioning calculation on the terminal using a first algorithm to obtain the first positioning result includes:

[0143] Performing TDOA positioning calculation on the terminal using a first algorithm to obtain two calculation results;

[0144] When the two solution results are unequal positive numbers, determining a final solution result from the two solution results based on the historical positioning results of the terminal;

[0145] Perform residual analysis on the final solution result to determine the first positioning result.

[0146] Here, the first algorithm can be a Chan algorithm, which is similar to solving a two-variable linear equation. By using the first algorithm to perform TDOA positioning solution on the terminal, two solution results can be obtained; when the two solution results are the same and positive, the final solution result is any one of the two solution results; when both solution results are less than or equal to 0, it is considered that there is an abnormality in the solution, and the current TDOA positioning solution fails; when one of the two solution results is a positive number and the other is less than or equal to 0, the positive solution result is the final solution result; when the two solution results are unequal positive numbers and the terminal's historical positioning result does not exist, it is impossible to eliminate the ambiguity based on the terminal's historical positioning result, and the current TDOA positioning solution fails; when the two solution results are unequal positive numbers and the terminal's historical positioning result exists, both solution results can obtain a positioning result, and the TDOA final positioning result needs to be determined from the two positioning results. Based on this, a final solution result can be determined from the two solution results according to the terminal's historical positioning result. The historical positioning results of the terminal include the last positioning result of the terminal and may also include the two most recent positioning results of the terminal. The last positioning result of the terminal can be understood as the last epoch positioning result of the terminal.

[0147] Specifically, the distances between the two positioning results corresponding to the two solution results and the historical positioning results of the terminal are calculated respectively. When the distances are equal, the ambiguity cannot be eliminated and the TDOA positioning solution fails. When the distances are unequal, the solution result corresponding to the smaller distance is determined as the final solution result, thereby obtaining a final solution result and eliminating the ambiguity. When the final solution result is obtained, the final solution result can be subjected to residual analysis to suppress abnormal solutions caused by ill-conditioned equations. Specifically, the positioning result residual can be calculated based on the positioning result corresponding to the final solution result. When the positioning result residual is less than the residual threshold, it is considered that the residual is normal and the TDOA positioning is successful, thereby determining the first positioning result.

[0148] For example, using TDOA two-dimensional positioning solution, the determined TRP set includes TRP1, Taking the TDOA relative ranging value matrix after delay correction as an example, the TDOA positioning of the terminal can be solved using the following formula:

[0149]

[0150]

[0151] in, Characterize the coordinates of TRP1, Characterize the coordinate of TRP1 on the X-axis, Represents the coordinate of TRP1 on the Y axis, Characterize the hanging height of TRP1; Characterization The coordinates of Characterization The coordinate on the X axis, Characterization The coordinate on the Y axis, Characterization Hanging height; Characterization The coordinates of Characterization The coordinate on the X axis, Characterization The coordinate on the Y axis, Characterization Hanging height; Characterization of TRP1 and TDOA relative ranging value after time delay correction; Characterization of TRP1 and The TDOA relative ranging value after delay correction; h0 represents the approximate height of the terminal.

[0152] The two solution results obtained, namely the first solution result R 1,1 and the second solution result R 1,2 Among them, in b 2 When -4ac<0 or a=0, there is an abnormality in the TDOA positioning solution, and the TDOA positioning solution fails. When both solution results are less than or equal to 0, that is, R 1,1 ≤0 and R 1,2 When R is less than or equal to 0, the TDOA positioning solution is abnormal and the TDOA positioning solution fails. When the first solution result is greater than 0 and the second solution result is less than or equal to 0, the final solution result is the first solution result, that is, in R 1,1 >0 and R 1,2 ≤0, R1=R 1,1 , where R1 represents the final solution result; when the second solution result is greater than 0 and the first solution result is less than or equal to 0, the final solution result is the second solution result, that is, in R 1,2 >0 and R 1,1 =0, R1 = R 1,2 ; When both solution results are greater than 0, that is, R 1,1 >0 and R 1,2 >0, and if the terminal's historical positioning results do not exist, the final solution result cannot be determined and the TDOA positioning solution fails.

[0153] When the two solution results are unequal positive numbers and there are historical positioning results of the terminal, the corresponding positioning result is calculated based on the two solution results, that is, by the formula X1=[a1+b1R 1,1 a2+b2R 1,1 ] calculates the positioning result corresponding to the first solution result, wherein X1 represents the positioning result corresponding to the first solution result, and the formula X2=[a1+b1R 1,2 a2+b2R 1,2 ] calculates the positioning result corresponding to the second solution result, where X2 represents the positioning result corresponding to the second solution result. The historical positioning result of the terminal, such as the positioning result of the last epoch, can be expressed as X l =[x l y l ], calculate the first distance between the positioning result corresponding to the first solution result and the historical positioning result of the terminal, that is, D1=||X1-X l ||; Calculate the second distance between the positioning result corresponding to the second solution result and the historical positioning result of the terminal, that is, D2=||X2-X l ||; When the first distance is equal to the second distance, that is, D1=D2, the ambiguity cannot be eliminated and TDOA positioning fails; when the first distance is less than the second distance, the final solution result is the first solution result, that is, when d1<d2, R1=R 1,1 ; When the first distance is greater than the second distance, the final solution result is the second solution result, that is, when d1>d2, R1=R 1,2 Taking the positioning result corresponding to the final solution as the positioning result corresponding to the first solution as an example, that is, the positioning result corresponding to the final solution is X = [a1 + b1R1 a2 + b2R1]. After introducing h0, the positioning result is X' = [a1 + b1R1 a2 + b2R1 h0]. The residual of the positioning result is calculated using the following formula to perform abnormal solution detection:

[0154]

[0155] Among them, V1 and V2 represent the two calculated residuals. When both V1 and V2 are less than the residual threshold, the residual is considered normal, the abnormal solution caused by the ill-conditioned equation is excluded, and the TDOA positioning solution is successful. Otherwise, the residual is considered abnormal and the TDOA positioning solution fails. The residual threshold can be set according to the actual application or positioning test results. For example, it can be set to 10 -8 .

[0156] It should be noted that this embodiment can be executed in the above steps 205-213, that is, in step 205, based on the first information of the second TRP, the TDOA positioning solution of the terminal is performed through the first algorithm to obtain two solution results; when the two solution results are unequal positive numbers, based on the historical positioning results of the terminal, a final solution result is determined from the two solution results; the final solution result is subjected to residual analysis to obtain a fourth positioning result; and then steps 206-213 are executed to obtain the first positioning result.

[0157] In order to eliminate abnormal TDOA relative ranging values ​​in advance, reduce the computational complexity of TDOA positioning solution, and lower the difficulty of quality control of positioning results, in one embodiment, determining the TRP set includes:

[0158] Determine, based on a first time corresponding to each two first TRPs, a first difference corresponding to the two first TRPs, where the first difference represents a difference in distance between the two first TRPs and the terminal;

[0159] Eliminate all first differences that are greater than or equal to a second threshold;

[0160] Based on the remaining first difference, the TRP set is determined in the first TRP corresponding to the remaining first difference.

[0161] Here, the first difference can be understood as the TDOA relative ranging value of the two TRPs or the relative ranging value after delay correction. Determining the first difference corresponding to the two first TRPs based on the first time corresponding to each pair of first TRPs is equivalent to step 201 above. The second threshold corresponds to the first difference one-to-one. The second threshold and the relationship between the second threshold and the first difference can be determined based on the planar relationship between the terminal and the two TRPs corresponding to the first difference, as well as the first information of the two TRPs corresponding to the first difference.

[0162] For example, Figure 3 shows the terminal and TRP i and TRP j Planar relationship, where d i Characterizing Terminals and TRP i The true value of the spatial distance, d j Characterizing Terminals and TRP j The true value of the spatial distance between the terminal and TRP i and TRP j The spatial distance difference reference value can be recorded as d i,j ;TRP i and TRP j The TDOA relative ranging value is TRP i and TRP j The spatial distance difference reference value is different from TRPi and TRP j The sum of the true errors of the relative distance values ​​can be expressed as r i,j =d i,j +ε i,j , where ε i,j Indicates TRP i and TRP j The relative distance measurement value true error. According to the mean drift model of abnormal error, we can get the value of i and TRP j When there is no abnormality in the relative distance measurement value, TRP i and TRP j The true error of the relative distance measurement value has a mean of 0 and a variance of σ i,j 2 The normal distribution of σ i,j Indicates TRP i and TRP j The relative distance value (σ i,j ) before the test; in TRP i and TRP j When the relative distance measurement value is abnormal, TRP i and TRP j The true error of the relative distance measurement value follows the mean value μ i,j The variance is σ i,j 2 The normal distribution of μ i,j Indicates TRP i and TRP j The relative distance value (r i,j ) abnormal error. Figure 3 The plane relationship shown and the relationship between the three sides of a triangle (the difference between any two sides of a triangle is less than the third side) give the inequality Based on r i,j =d i,j +ε i,j , and the absolute value relationship inequality, simplifying the inequality, we get the inequality 3σ based on measurement gross error detection i,j criterion, we get |ε i,j |With 3σ i,j The relationship between |ε i,j |<3σ i,j In the case of |ε i,j |≥3σ i,j In the case of , it is considered that there is an abnormal error; thus, the relationship between the second threshold and the first difference is obtained, that is, In the case of , it is believed that there must be abnormal errors, among which, Indicates the second threshold; in practical applications, 2σ can also be used i,j , no specific limitation is given here.

[0163] in, TRP i The three-dimensional coordinates of and It is TRP i The plane coordinates of It is TRP i Hanging height; TRP j The three-dimensional coordinates of and It is TRP j The plane coordinates of It is TRP j The hanging height, for The pre-test mean error can be set according to the positioning test results.

[0164] Eliminate all first differences that are greater than or equal to the second threshold, that is, when the first difference is greater than or equal to the corresponding second threshold, eliminate the first difference; that is, In the case of In the case where the first difference is expressed as a TDOA relative ranging value matrix, eliminating the first difference may be updating the first difference in the TDOA relative ranging value to nan.

[0165] It should be noted that this embodiment can be performed after the above step 201, that is, after eliminating all first differences greater than or equal to the second threshold, a reference TRP is determined from the first TRP based on the remaining first differences, thereby determining the TRP set.

[0166] Step 103: Perform fingerprint positioning on the terminal based on the second information to obtain a second positioning result.

[0167] Here, performing fingerprint positioning of the terminal based on the second information can be understood as using a fingerprint positioning method to position the terminal based on the second information. The second positioning result can be understood as a fingerprint positioning result. Fingerprint positioning can include two-dimensional fingerprint positioning and three-dimensional fingerprint positioning.

[0168] Fingerprint positioning of the terminal is performed based on the second information. Specifically, the first fingerprint feature value and the unit area center point coordinates corresponding to the identifier of the first TRP are obtained from the fingerprint library; the measurement data related to the signal strength of the positioning reference signal in the second information are matched with the obtained first fingerprint feature value for similarity, and the unit area center point coordinates corresponding to the second fingerprint feature value are determined. The second fingerprint feature value is the first fingerprint feature value whose similarity with the measurement data related to the signal strength of the positioning reference signal in the second information is greater than the fifth threshold; based on the unit area center point coordinates corresponding to the second fingerprint feature value, the positioning result of the terminal, i.e., the second positioning result, is determined. Fingerprint positioning requires the second information of at least two first TRPs. The fifth threshold is set according to the actual application. The unit area center point can also be called a fingerprint point.

[0169] The fingerprint library, also known as the fingerprint database, can be a fingerprint library established in advance for the positioning area in the offline stage. Specifically, the positioning area is divided into unit area sizes, which can be unit grids. A test terminal is placed at the center point of each unit area, and the fingerprint characteristic value of the TRP corresponding to each grid center point is obtained through the positioning information acquisition method of TDOA positioning. The TRP corresponding to the grid center point represents the TRP that can effectively receive the reference signal sent by the test terminal at the grid center point. The fingerprint characteristic value of a TRP corresponding to a grid center point can be the median or average of the continuous received power measurement values ​​of the TRP for the reference signal sent by the test terminal at the network center point. The fingerprint library is established based on the position information of the grid center point, the identifier of the TRP corresponding to the grid center point, and the fingerprint characteristic value of the TRP corresponding to the grid center point. The identifier of the TRP corresponding to the grid center point and the fingerprint characteristic value of the TRP corresponding to the grid center point can both be in the form of vectors. The position information of the grid center point includes the coordinates or longitude and latitude of the grid center point. For three-dimensional fingerprint positioning, the position information of the grid center point can also include the height of the grid center point.

[0170] Taking two-dimensional fingerprint positioning, the measurement data related to the signal strength of the positioning reference signal is UL-SRS-RSRP, and the positioning area is divided into N grids as an example, the established fingerprint library is shown in Table 1.

[0171] Table 1 Fingerprint database

[0172]

[0173] In Table 1, the coordinates of the center point of grid 1 are (x1, y1) or the longitude and latitude are (lat1, lon1). There are n1 TRPs corresponding to the center point of grid 1. The identification vector of the TRP corresponding to the center point of grid 1 can be expressed as The fingerprint eigenvalue vector of TRP corresponding to the center point of grid 1 can be expressed as The coordinates of the center point of the grid N are (x N ,y N ) or longitude and latitude (lat N ,lon N ), the TRP corresponding to the center point of grid N is n N The identity vector of the TRP corresponding to the center point of the grid N can be expressed as The fingerprint eigenvalue vector of TRP corresponding to the center point of grid N can be expressed as

[0174] Taking two-dimensional fingerprint positioning as an example, the process of performing two-dimensional fingerprint positioning on the terminal based on the second information to obtain a second positioning result may include the following steps:

[0175] Step 1: Check the number of the second information. If the number of the second information, that is, the number of the first TRP, is less than 2, fingerprint positioning cannot be performed, fingerprint positioning fails, and the second positioning result indicates that the terminal positioning has failed. If the number of the second information is greater than or equal to 2, execute step 2.

[0176] Step 2: Based on the identifier of the first TRP in the second information, search the fingerprint library for the first TRP identification vector, where the first TRP identification vector contains the identifiers of all first TRPs in the second information. For example, m first TRP identification vectors are searched. If the number of the first TRP identification vectors searched is greater than a sixth threshold (e.g., the sixth threshold can be set to 3), perform the next step of fingerprint positioning based on the searched first TRP identification vector. If the number of the first TRP identification vectors searched is less than or equal to the sixth threshold, eliminate the second information corresponding to the measurement data values ​​related to the signal strength of the positioning reference signal one by one in descending order of the measurement data values ​​related to the signal strength of the positioning reference signal. Each time the second information is eliminated, the first TRP identification vector is searched based on the remaining second information after the elimination, until the number of the first TRP identification vectors searched is greater than the sixth threshold. After eliminating the second information corresponding to the measurement data values ​​related to the signal strength of the positioning reference signal, the number of the remaining second information still needs to be checked. If the number of the remaining second information is less than 2, the fingerprint positioning fails, and the second positioning result indicates that the terminal positioning has failed. If the number of the remaining second information is greater than or equal to 2, execute step 3.

[0177] Step 3: Based on the first TRP identification vector, determine the first fingerprint feature vector corresponding to the first TRP identification vector from the fingerprint library, the fingerprint feature value included in the first fingerprint feature vector is the fingerprint feature value of the TRP identifier in the first TRP identification vector that is the same as the identifier of the first TRP in the remaining second information, that is, the above-mentioned first fingerprint feature value, and the number of first fingerprint feature vectors is the same as that of the first TRP identification vector, which is m; perform similarity matching on the m first fingerprint feature vectors and the measurement data vector composed of measurement data related to the signal strength of all positioning reference signals in the remaining second information, and eliminate the first fingerprint feature vectors with unmatched similarity. For example, calculate the Euclidean distance between each first fingerprint feature vector and the measurement data vector respectively, and eliminate the first fingerprint feature vectors corresponding to the Euclidean distance greater than the fifth threshold.

[0178] Step 4: Calculate the difference between each Euclidean distance and the minimum Euclidean distance in step 3, as well as the average value of the difference, and eliminate the first fingerprint feature vector corresponding to the Euclidean distance corresponding to the difference greater than the average value of the difference.

[0179] Step 5: Calculate the fingerprint positioning result based on the coordinates of the unit area center point corresponding to the remaining first fingerprint feature vector. Specifically, the fingerprint positioning result, i.e., the second positioning result, can be calculated using the following inverse distance weighted mean calculation formula:

[0180]

[0181] in, represents the plane positioning coordinates of the terminal in the second positioning result; K represents the number of Euclidean distances corresponding to the remaining first fingerprint feature vectors, F k Characterizes the Euclidean distance corresponding to the remaining k-th first fingerprint feature vector; (x k ,y k ) represents the coordinates of the center point of the unit area corresponding to the remaining k-th first fingerprint feature vector.

[0182] It should be noted that the three-dimensional fingerprint positioning method is similar to the above-mentioned two-dimensional fingerprint positioning method. Taking steps 1-5 of the above-mentioned two-dimensional fingerprint positioning method as an example, for the three-dimensional fingerprint positioning method, when calculating the fingerprint positioning result in the above-mentioned step 5 based on the coordinates of the unit area center point corresponding to the remaining first fingerprint feature vector, the three-dimensional fingerprint positioning result, i.e., the second positioning result, can be calculated by the following formula:

[0183]

[0184] in, represents the three-dimensional positioning coordinates of the terminal in the second positioning result; (x k ,y k ,zk ) represents the coordinates of the center point of the unit area corresponding to the remaining k-th first fingerprint feature vector.

[0185] Step 104: Output third information based on the first positioning result and the second positioning result.

[0186] The third information indicates the positioning information of the terminal, or indicates that the positioning of the terminal fails.

[0187] Here, using a single TDOA positioning or a single fingerprint positioning for terminal positioning requires regional division and customized positioning algorithm configuration in a project, which is highly complex and not universal. Based on the first positioning result and the second positioning result, the terminal positioning information is determined or the terminal positioning failure is determined. That is, the terminal positioning is performed according to the positioning results obtained by using TDOA positioning and the positioning results obtained by using fingerprint positioning in different environments. This can obtain a more accurate terminal positioning result in the current environment and can be applied to terminal positioning in different environments. It is a universal positioning method that reduces the difficulty of deploying the positioning algorithm.

[0188] It should be noted that if one of the first and second positioning results indicates a successful terminal positioning result, the third information indicates the terminal's positioning information, which is determined from the successful terminal positioning result. If both the first and second positioning results indicate a terminal positioning failure, the third information indicates a terminal positioning failure. For two-dimensional positioning, the terminal's positioning information may include the terminal's coordinates or longitude and latitude; for three-dimensional positioning, the terminal's positioning information may include the terminal's coordinates or longitude and latitude, as well as the terminal's altitude.

[0189] In order to improve the robustness of the terminal positioning method and the accuracy of the terminal positioning result, in one embodiment, outputting the third information based on the first positioning result and the second positioning result includes:

[0190] Verifying the third positioning result to obtain a verification result; the third positioning result includes the first positioning result indicating successful positioning of the terminal, and / or the second positioning result indicating successful positioning of the terminal;

[0191] The third information is output based on the inspection result.

[0192] Here, the third positioning result includes the first positioning result indicating successful terminal positioning and / or the second positioning result indicating successful terminal positioning; specifically, when the first positioning result indicates successful terminal positioning and the second positioning result indicates failed terminal positioning, the third positioning result includes the first positioning result, and the first positioning result is verified to obtain a verification result; when the first positioning result indicates failed terminal positioning and the second positioning result indicates successful terminal positioning, the third positioning result includes the second positioning result, and the second positioning result is verified to obtain a verification result; when both the first positioning result and the second positioning result indicate successful terminal positioning, the third positioning result includes the first positioning result and the second positioning result, and the first positioning result and the second positioning result are verified to obtain a verification result; and then, based on the obtained verification result, the third information is output.

[0193] In order to improve the robustness of the terminal positioning method and the reliability and accuracy of the terminal positioning result, in one embodiment, the third positioning result is tested to obtain the test result, including:

[0194] Verifying the third positioning result based on the moving speed of the terminal to obtain a first verification result; and / or

[0195] Based on the set error of the TDOA positioning, the set error of the fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

[0196] Here, when the first positioning result indicates successful positioning of the terminal or the second positioning result indicates successful positioning of the terminal, the third positioning result (the first positioning result or the second positioning result) is verified based on the terminal's moving speed, which can be understood as performing a speed test on the third positioning result to obtain a first test result; based on the first test result of the first positioning result or the first test result of the second positioning result, the third information is output. When both the first positioning result and the second positioning result indicate successful positioning of the terminal, the third positioning results (the first positioning result and the second positioning result) are verified based on the error of TDOA positioning, the setting error of fingerprint positioning, and the distance between different positioning results in the third positioning result, which can be understood as performing a mutual test on the first positioning result and the second positioning result to obtain a second test result; and the third information is output based on the second test result. After the mutual test, the first positioning result and the second positioning result can also be verified based on the terminal's moving speed, which can be understood as performing a speed test on the first positioning result and the second positioning result respectively to obtain a first test result of the first positioning result and a first test result of the second positioning result; based on the second test result, the first test result of the first positioning result and the first test result of the second positioning result, the third information is output.

[0197] Verifying the third positioning result based on the terminal's moving speed is a further quality control of the positioning result. It converts the verification of abnormal positioning results into the verification of abnormal speed results, thereby checking and eliminating abnormal positioning results and improving the robustness of positioning. Specifically, by reading the stored historical speed verification data, it is determined whether the current speed verification is the first speed verification of the terminal or whether the current speed verification can be performed. If the stored historical speed verification data is empty, the current speed verification is the first speed verification of the terminal, or the current speed verification cannot be performed. The current speed verification data is stored for the next speed verification, and the first verification result indicates that the verification has passed. If the stored historical speed verification data is not empty, the first verification result is determined based on the terminal's moving speed and speed threshold. The speed verification method is applicable to the first positioning result and the second positioning result, that is, it is applicable to TDOA positioning and fingerprint positioning, which increases the versatility of the terminal positioning algorithm and reduces the deployment difficulty. The historical speed verification data includes the last speed verification data and can also include the two most recent speed verification data. The last speed verification data can be understood as the speed verification data of the previous epoch.

[0198] Based on the setting error of TDOA positioning, the setting error of fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to further enhance the positioning reliability. The setting error of TDOA positioning can be understood as the error obtained by using the test terminal for TDOA positioning during the test phase, that is, the error obtained by statistics based on the TDOA positioning results of the training sample, such as the 90% value of the circular error probability (CEP), which can be pre-set by a technician; the setting error of fingerprint positioning can be understood as the error obtained by using the test terminal for fingerprint positioning during the test phase, that is, the error obtained by statistics based on the fingerprint positioning results of the training sample, which can be pre-set by a technician; the distance between different positioning results in the third positioning result can be the Euclidean distance, vector distance, absolute value distance or plane distance between the first positioning result and the second positioning result. The second verification result is determined by comparing the setting error of TDOA positioning, the setting error of fingerprint positioning and the distance between different positioning results in the third positioning result.

[0199] To facilitate speed verification, in one embodiment, the method further includes:

[0200] The moving speed of the terminal is calculated based on the third positioning result and the historical positioning results of the terminal.

[0201] Here, the terminal's historical positioning result can be the positioning result obtained by successfully positioning the terminal in the previous epoch, or can include the two most recent terminal positioning results. A first value is obtained based on the distance between the third positioning result and the terminal's historical positioning result. The terminal's movement speed is determined based on the quotient of the first value and the positioning time interval. The positioning time interval is the difference between the current positioning time and the historical positioning time, and the historical positioning time represents the positioning time of the terminal's historical positioning results. The positioning time interval can be understood as the time interval between two positionings, for example, the time difference between time t-1 and time t.

[0202] In order to implement speed verification and increase the robustness of the positioning algorithm, in one embodiment, when the moving speed of the terminal is greater than or equal to a third threshold, the first verification result indicates that the verification has failed; or

[0203] In a case where the moving speed of the terminal is less than the third threshold, the first inspection result indicates that the inspection is passed.

[0204] Here, the third threshold value may be a priori motion speed threshold value, that is, the terminal's moving speed may be directly compared with the prior motion speed threshold value to determine the first test result. The prior motion speed threshold value may be pre-set by a technician based on the motion characteristics of the terminal. In order to further increase the accuracy of the speed test, the third threshold value may also be determined based on the prior motion speed threshold value and the prior positioning accuracy. The prior positioning accuracy may be pre-set by a technician based on the motion characteristics of the terminal. The prior positioning accuracy corresponding to different types of positioning results may be different. For example, the prior positioning accuracy corresponding to the TDOA positioning result and the fingerprint positioning result may be the same or different.

[0205] Specifically, the calculation method of the third threshold value can be determined based on the geometric relationship between the positioning result of the terminal at the historical positioning time, the positioning result of the terminal at the current positioning time, the real position of the terminal at the historical positioning time, and the real position of the terminal at the current positioning time. For example, for two-dimensional positioning, the relationship between the third distance and the fourth distance can be determined based on the planar relationship between the positioning result of the terminal at the historical positioning time, the positioning result of the terminal at the current positioning time, the real position of the terminal at the historical positioning time, and the real position of the terminal at the current positioning time. The third distance represents the real moving distance of the terminal from the historical positioning time to the current positioning time, and the fourth distance represents the distance between the historical positioning result of the terminal and the third positioning result; the third threshold value is determined based on the relationship between the third distance and the fourth distance. The planar relationship between the positioning result and the real result of the terminal at the historical positioning time and the current positioning time is as follows: Figure 4 As shown, t represents the current positioning time, t-1 represents the historical positioning time, and X t-1 Represents the real location of the terminal at the historical positioning time, X t Indicates the actual position of the terminal at the current positioning time, d1 represents the third distance, X t-1 'Represents the positioning result of the terminal at the historical positioning time, X t ' represents the positioning result of the terminal at the current positioning time, d2 represents the fourth distance, E1 represents the plane positioning error of the terminal at the historical positioning time, E2 represents the plane positioning error of the terminal at the current positioning time, θ1 is the angle between E1 and the vertical direction, and θ2 is the angle between E2 and the vertical direction; according to Figure 4 The relationship between the terminal positioning result and the actual result is shown in the plane. The relationship between the third distance and the fourth distance can be expressed as d1=d2+E1sinθ1+E2sinθ2. Since the actual moving speed of the terminal should be less than the prior motion speed threshold, it can be expressed by the inequality as follows: Where τ represents the positioning time interval; substituting the relationship between the third distance and the fourth distance into the inequality, the following inequality is obtained:

[0206]

[0207] Then, replace E1 with the priori positioning accuracy of the terminal at the historical positioning time, such as the value of CEP90%, and replace E2 with the priori positioning accuracy of the terminal at the current positioning time, thereby obtaining the third threshold; the calculation formula of the third threshold can be expressed as Among them, E1' represents the priori positioning accuracy of the terminal at the historical positioning time, which can be understood as the priori positioning accuracy used by the terminal when performing speed verification at the historical positioning time. E2' represents the priori positioning accuracy of the terminal at the current positioning time, which can be understood as the priori positioning accuracy used by the terminal according to the positioning result of the speed verification when performing speed verification at the current positioning time.

[0208] When the third threshold is determined, the moving speed of the terminal is compared with the third threshold; when the moving speed of the terminal is greater than or equal to the third threshold, it is considered that the moving speed of the terminal calculated based on the positioning result of the terminal is abnormal, the positioning result of the terminal is unreliable, and the first test result indicates that the test has failed; when the moving speed of the terminal is less than the third threshold, it is considered that the positioning result of the terminal is reliable, and the first test result indicates that the test has passed.

[0209] In practical applications, we can follow Figure 5 The speed test process shown in FIG. 1 performs a speed test on the third positioning result (the first positioning result or the second positioning result), such as Figure 5 As shown, the speed inspection process includes the following steps:

[0210] Step 501: Read historical speed test data.

[0211] Here, the read historical speed verification data may include the terminal positioning result at the historical positioning time, the timestamp of the historical positioning time, and the priori positioning accuracy at the historical positioning time.

[0212] Step 502: Determine whether the historical speed test data is empty.

[0213] Here, when the historical speed test data is empty, step 503 is executed; when the historical speed test data is not empty, step 504 is executed.

[0214] Step 503: Store the speed test data of this time.

[0215] Here, the stored speed test data may include the terminal positioning result at the current positioning time, the timestamp of the current positioning time, and the priori positioning accuracy at the current positioning time.

[0216] Step 504: Calculate the moving speed of the terminal based on the third positioning result and the historical positioning results of the terminal.

[0217] Step 505: Calculate the third threshold.

[0218] Step 506: Determine whether the moving speed of the terminal is less than a third threshold.

[0219] Here, when the moving speed of the terminal is greater than or equal to the third threshold, step 507 is executed; when the moving speed of the terminal is less than the third threshold, step 508 is executed.

[0220] Step 507: The speed check data is empty.

[0221] Step 508: Store the speed test data.

[0222] To further enhance positioning reliability, in one embodiment, if the distance between different positioning results in the third positioning result is greater than the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second verification result indicates that the verification has failed.

[0223] When the distance between different positioning results in the third positioning result is less than or equal to the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second inspection result indicates that the inspection is passed.

[0224] Here, when the third positioning result includes the first positioning result and the second positioning result, that is, when the first positioning result and the second positioning result both indicate that the positioning of the terminal is successful, the distance between the first positioning result and the second positioning result is calculated; based on the setting error of TDOA positioning, the setting error of fingerprint positioning, and the distances between different positioning results in the third positioning result, the third positioning result is verified. Specifically, the relationship between the setting error of TDOA positioning, the setting error of fingerprint positioning, and the distances between different positioning results in the third positioning result can be determined based on the planar relationship between the actual position of the terminal and the first positioning result and the second positioning result; based on the relationship between the setting error of TDOA positioning, the setting error of fingerprint positioning, and the distances between different positioning results in the third positioning result, the third positioning result is verified.

[0225] For example, the plane relationship between the actual position of the terminal and the first positioning result and the second positioning result is as follows: Figure 6 As shown, where X t,1 Characterizes the first positioning result, X t,2Characterize the second positioning result, A represents the actual position of the terminal, S1 represents the planar error of the first positioning result compared to the actual position of the terminal, S2 represents the planar error of the second positioning result compared to the actual position of the terminal, and S3 represents the distance between the first positioning result and the second positioning result. According to the three-side relationship that the sum of any two sides of a triangle is greater than the third side, the relationship between the planar error of the first positioning result compared to the actual position of the terminal, the planar error of the second positioning result compared to the actual position of the terminal, and the distance between different positioning results in the third positioning result is determined. The sum of the planar error of the first positioning result compared to the actual position of the terminal and the planar error of the second positioning result compared to the actual position of the terminal is greater than the distance between different positioning results in the third positioning result, which can be expressed as S3<S1+S2.

[0226] Since the actual position of the terminal is unknown in actual applications, the planar error of the first positioning result compared to the actual position of the terminal can be replaced by the setting error of TDOA positioning, and the planar error of the second positioning result compared to the actual position of the terminal can be replaced by the setting error of fingerprint positioning. The relationship between the setting error of TDOA positioning, the setting error of fingerprint positioning and the distance between different positioning results in the third positioning result is obtained, which is the distance between different positioning results in the third positioning result, which is greater than the sum of the setting error of TDOA positioning and the setting error of fingerprint positioning, and can be expressed as S3<U1+U2; where U1 represents the setting error of TDOA positioning, and U2 represents the setting error of fingerprint positioning.

[0227] When the distance between different positioning results in the third positioning result is greater than the sum of the set error of TDOA positioning and the set error of fingerprint positioning, it means that the error of the first positioning result is large or the error of the second positioning result is large, that is, the first positioning result is unreliable or the second positioning result is unreliable, and the second verification result indicates that the inspection has failed; when the distance between different positioning results in the third positioning result is less than or equal to the sum of the set error of TDOA positioning and the set error of fingerprint positioning, the second verification result indicates that the inspection has passed. In the former case, it is impossible to accurately determine the positioning result with large error or unreliable, and in the latter case, there may be a situation where the errors of the first positioning result and the second positioning result are large at the same time. A single mutual verification cannot identify whether the first positioning result and the second positioning result are reliable. Based on this, after the mutual verification, the first positioning result and the second positioning result can be further verified by speed verification to increase the reliability of the positioning result.

[0228] In order to increase the robustness of the positioning algorithm, in one embodiment, outputting the third information based on the verification result includes one or more of the following:

[0229] If the first inspection result corresponding to the first positioning result indicates that the inspection has passed, outputting the first positioning result;

[0230] If the first inspection result corresponding to the second positioning result indicates that the inspection has passed, outputting the second positioning result;

[0231] If the second verification result indicates that the inspection has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection has passed, outputting the first positioning result;

[0232] If the second verification result indicates that the inspection fails, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection passes, outputting the first positioning result or the second positioning result;

[0233] If the second verification result indicates that the verification has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the verification has failed, outputting the third information indicating that positioning of the terminal has failed;

[0234] When the second test result indicates that the test fails, and the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test fails, the third information indicating that the terminal positioning has failed is output.

[0235] Here, two situations may be described, where one of the first positioning result and the second positioning result indicates that the terminal positioning is successful, and both the first positioning result and the second positioning result indicate that the terminal positioning is successful, as follows:

[0236] Case 1: When the first positioning result indicates that the terminal positioning is successful, the first positioning result is tested based on the moving speed of the terminal to obtain a first test result corresponding to the first positioning result; when the first test result corresponding to the first positioning result indicates that the test has passed, the first positioning result is output; when the first test result corresponding to the first positioning result indicates that the test has failed, third information indicating that the terminal positioning has failed is output.

[0237] When the second positioning result indicates that the terminal positioning is successful, the second positioning result is tested based on the moving speed of the terminal to obtain a first test result corresponding to the second positioning result; when the first test result corresponding to the second positioning result indicates that the test has passed, the second positioning result is output; when the first test result corresponding to the second positioning result indicates that the test has failed, third information indicating that the terminal positioning has failed is output.

[0238] Case 2: When both the first positioning result and the second positioning result indicate that the terminal positioning is successful, the first positioning result and the second positioning result can be speed-tested respectively to obtain a first test result corresponding to the first positioning result and a first test result corresponding to the second positioning result; when the first test result corresponding to the first positioning result indicates that the test is passed, the first positioning result is output; when the first test result corresponding to the second positioning result indicates that the test is passed, the second positioning result is output; when the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test is passed, the first positioning result and the second positioning result can be output, or the positioning result with higher accuracy between the first positioning result and the second positioning result can be output, such as the accuracy of TDOA positioning is higher than that of fingerprint positioning, and the first positioning result is output; when the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test is failed, third information indicating that the terminal positioning has failed is output.

[0239] When both the first positioning result and the second positioning result indicate that the terminal positioning is successful, a secondary test may be performed on the first positioning result and the second positioning result. The secondary test includes a mutual test and a speed test to obtain a second test result, a first test result corresponding to the first positioning result, and a first test result corresponding to the second positioning result. The second test result can be understood as a test result of the mutual test; based on the second test result, the first test result corresponding to the first positioning result, and the first test result corresponding to the second positioning result, the third information is output. When the second test result indicates that the test is passed, and the first test results corresponding to the first positioning result and the second positioning result both indicate that the test is passed, the first positioning result is output. When the second test result indicates that the test is passed or not, and one of the first test results corresponding to the first positioning result and the second positioning result indicates that the test is passed, the positioning result corresponding to the test result indicating that the test is passed is output. When the second inspection result indicates that the inspection failed, and the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection passed, based on the moving speed of the terminal corresponding to the first positioning result and the moving speed of the terminal corresponding to the second positioning result, the third information is output. Specifically, the positioning result corresponding to the smaller moving speed of the terminal is output; for example, when the moving speed of the terminal corresponding to the first positioning result is greater than the moving speed of the terminal corresponding to the second positioning result, the second positioning result is output. When the second inspection result indicates that the inspection passed or failed, and the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection failed, or the speed inspection of the first positioning result and the speed inspection of the second positioning result cannot be performed, the third information indicating that the terminal positioning failed is output; the speed inspection cannot be performed, which may be because the first positioning result and the second positioning result are the positioning results of the first terminal positioning, there is no historical positioning result of the terminal, and the moving speed of the terminal cannot be calculated based on the third positioning result and the historical positioning results of the terminal.

[0240] For ease of understanding, Figure 7 As shown, when both the first positioning result and the second positioning result indicate that the terminal is successfully positioned, the process of performing secondary verification on the first positioning result and the second positioning result includes the following steps:

[0241] Step 701: Based on the set error of TDOA positioning, the set error of fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

[0242] Here, for the specific implementation process of steps 701-702, please refer to the relevant description above and will not be repeated here.

[0243] Step 702: Based on the moving speed of the terminal, the third positioning result is verified to obtain a first verification result.

[0244] Step 703: Determine whether the second test result indicates that the test has passed.

[0245] Here, if the second inspection result indicates that the inspection has passed, step 704 is executed; if the second inspection result indicates that the inspection has failed, step 705 is executed.

[0246] Step 704: Determine whether the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection has passed.

[0247] Here, if the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection has passed, step 706 is executed; if the first inspection results corresponding to the first positioning result and the second positioning result do not both indicate that the inspection has passed, step 707 is executed; if the first inspection results corresponding to the first positioning result and the second positioning result do not both indicate that the inspection has passed, including four situations: the first inspection result corresponding to the first positioning result indicates that the inspection has passed and the first inspection result corresponding to the second positioning result indicates that the inspection has failed; the first inspection result corresponding to the first positioning result indicates that the inspection has failed and the first inspection result corresponding to the second positioning result indicates that the inspection has passed; the first inspection results corresponding to the first positioning result and the second positioning result indicate that the inspection has failed; the first inspection results corresponding to the first positioning result and the second positioning result indicate that the inspection has failed; the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection has failed; and the speed inspection of the first positioning result and the second positioning result cannot be performed.

[0248] Step 705: Determine whether the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection has passed.

[0249] Here, if the first inspection results corresponding to the first positioning result and the second positioning result both indicate that the inspection has passed, step 712 is executed; if the first inspection results corresponding to the first positioning result and the second positioning result do not both indicate that the inspection has passed, step 713 is executed.

[0250] Step 706: Output the first positioning result.

[0251] Here, the specific implementation process of step 706 is described above and will not be repeated here.

[0252] Step 707: Determine whether the first inspection result corresponding to the first positioning result indicates that the inspection has passed.

[0253] Here, if the first inspection result corresponding to the first positioning result passes the characterization test, step 709 is executed; if the first inspection result corresponding to the first positioning result fails the characterization test, that is, the case where the first inspection result passes the characterization test and the first inspection result corresponding to the second positioning result fails the characterization test is excluded, step 708 is executed.

[0254] Step 708: Determine whether the first inspection result corresponding to the second positioning result indicates that the inspection has passed.

[0255] Here, if the characterization test of the first inspection result corresponding to the first positioning result passes, step 710 is executed; if the characterization test of the first inspection result corresponding to the first positioning result fails, that is, the case where the characterization test of the first inspection result fails and the characterization test of the first inspection result corresponding to the second positioning result passes is further excluded, indicating that the first inspection results corresponding to the first positioning result and the second positioning result both fail the characterization test, or the speed test of the first positioning result and the second positioning result cannot be performed, step 711 is executed.

[0256] Step 709: Output the first positioning result.

[0257] Here, for the specific implementation process of steps 709-712, please refer to the relevant description above and will not be repeated here.

[0258] Step 710: Output the second positioning result.

[0259] Step 711: Output third information indicating terminal positioning failure.

[0260] Step 712: Output the first positioning result or the second positioning result.

[0261] Step 713: Determine whether the first inspection result corresponding to the first positioning result indicates that the inspection has passed.

[0262] Here, if the first inspection result corresponding to the first positioning result passes the characterization test, step 709 is executed; if the first inspection result corresponding to the first positioning result fails the characterization test, that is, the case where the first inspection result passes the characterization test and the first inspection result corresponding to the second positioning result fails the characterization test is excluded, step 714 is executed.

[0263] Step 714: Determine whether the first inspection result corresponding to the second positioning result indicates that the inspection has passed.

[0264] Here, if the characterization test of the first inspection result corresponding to the first positioning result passes, step 710 is executed; if the characterization test of the first inspection result corresponding to the first positioning result fails, that is, the case where the characterization test of the first inspection result fails and the characterization test of the first inspection result corresponding to the second positioning result passes is further excluded, indicating that the first inspection results corresponding to the first positioning result and the second positioning result both fail the characterization test, or the speed test of the first positioning result and the second positioning result cannot be performed, step 711 is executed.

[0265] The present application is described in further detail below with reference to application examples.

[0266] like Figure 8 As shown, the terminal positioning method includes the following steps:

[0267] Step 801: Obtain first information and second information.

[0268] Here, the first information and the second information may be acquired simultaneously, or the second information may be extracted from the first information after the first information is acquired.

[0269] Step 802: Perform TDOA positioning on the terminal based on the first information to obtain a first positioning result.

[0270] Here, for the specific implementation process of steps 802-803, please refer to the relevant description above and will not be repeated here.

[0271] Step 803: Perform fingerprint positioning on the terminal based on the second information to obtain a second positioning result.

[0272] Step 804: Determine whether the first positioning result and the second positioning result both indicate that the terminal is successfully positioned.

[0273] Here, if both the first positioning result and the second positioning result indicate successful positioning of the terminal, step 809 is executed; if not both the first positioning result and the second positioning result indicate successful positioning of the terminal, step 805 is executed. The first positioning result and the second positioning result not both indicate successful positioning of the terminal, including three situations: only the first positioning result indicates successful positioning of the terminal, only the second positioning result indicates successful positioning of the terminal, and both the first positioning result and the second positioning result indicate failed positioning of the terminal.

[0274] Step 805: Determine whether the first positioning result indicates that the terminal is successfully positioned or whether the second positioning result indicates that the terminal is successfully positioned.

[0275] Here, when the first positioning result indicates that the terminal positioning is successful and the second positioning result indicates that the terminal positioning is unsuccessful, step 807 is executed; when the first positioning result indicates that the terminal positioning is unsuccessful and the second positioning result indicates that the terminal positioning is successful, step 807 is executed; when both the first positioning result and the second positioning result indicate that the terminal positioning is unsuccessful, step 806 is executed.

[0276] Step 806: Output third information indicating that the terminal positioning has failed.

[0277] Here, in the case where both the first positioning result and the second positioning result indicate a failure in positioning the terminal, the terminal positioning fails, and third information indicating the failure in positioning the terminal is output.

[0278] Step 807: Based on the moving speed of the terminal, the third positioning result is verified to obtain a first verification result.

[0279] Here, if the first positioning result indicates successful positioning of the terminal and the second positioning result indicates failed positioning of the terminal, the third positioning result is the first positioning result, and the first positioning result is verified based on the terminal's moving speed to obtain the first verification result. If the first positioning result indicates failed positioning of the terminal and the second positioning result indicates successful positioning of the terminal, the third positioning result is the second positioning result, and the second positioning result is verified based on the terminal's moving speed to obtain the first verification result. Please refer to the relevant description above for the specific implementation process of verifying the third positioning result based on the terminal's moving speed, which will not be repeated here.

[0280] Step 808: Output third information based on the first inspection result.

[0281] Here, when the first positioning result is tested and the first test result obtained indicates that the test is passed, the third information is the first positioning result, that is, the first positioning result is output; when the second positioning result is tested and the first test result obtained indicates that the test is passed, the third information is the second positioning result, that is, the second positioning result is output; when the first positioning result or the second positioning result is tested and the first test result obtained indicates that the test fails, that is, the first positioning result or the second positioning result is unreliable, and the third information is used to indicate that the terminal positioning has failed.

[0282] Step 809: Based on the set error of TDOA positioning, the set error of fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

[0283] Here, for the specific implementation process of steps 809-811, please refer to the relevant description above and will not be repeated here.

[0284] Step 810: Based on the moving speed of the terminal, the third positioning result is verified to obtain a first verification result.

[0285] Step 811: Output third information based on the first inspection result and the second inspection result.

[0286] In addition, in order to verify the improvement effect of combining TDOA positioning and fingerprint positioning on the accuracy of positioning results, Figure 9 The positioning area shown was tested for positioning accuracy. Specifically, CEP was used as the positioning accuracy indicator. Figure 9 The area within the frame is used as the test area, and positioning tests are performed on the positioning points within the frame using the current TDOA positioning method, the current fingerprint positioning method, and the positioning method combining TDOA positioning and fingerprint positioning in the embodiment of the present application, and the corresponding positioning test accuracies are obtained, namely Table 2, Table 3 and Table 4. Figure 9 The positioning point numbers in the box include: 27-30, 43-46, 76-80, 102-108. Figure 9 The network deployment in the test area only considers communication coverage but not positioning, that is, the current 5G network deployment equipment is used to perform positioning accuracy testing.

[0287] Table 2 Positioning test accuracy corresponding to the current TDOA positioning method

[0288]

[0289]

[0290] Table 2 shows the CEP50%, CEP67%, CEP80% and CEP90% values ​​obtained by positioning each positioning point in the frame 100 times using the current TDOA positioning method, as well as the positioning success rate and maximum error of the 100 positioning times. The units of the CEP value and the maximum error are meters (m). For example, 100 positioning tests are performed on positioning point 27. With positioning point 27 as the center, the radius of the circle with a 50% probability of a positioning result is 4.44834, that is, the CEP50% value is 4.44834; the radius of the circle with a 67% probability of a positioning result is 4.503364, that is, the CEP67% value is 4.503364; the radius of the circle with an 80% probability of a positioning result is 4.557531, that is, the CEP80% value is 4.557531; the radius of the circle with a 90% probability of a positioning result is 4.60274, that is, the CEP90% value is 4.60274; the positioning success rate of the 100 positioning results is 1; and the maximum error among the 100 positioning results is 5.133326.

[0291] Table 3 Positioning test accuracy corresponding to current fingerprint positioning methods

[0292]

[0293]

[0294] Table 3 shows the CEP50%, CEP67%, CEP80%, and CEP90% values ​​obtained by positioning each positioning point in the frame 100 times using the current fingerprint positioning method, as well as the positioning success rate and maximum error of the 100 positioning times. The units of the CEP value and the maximum error are meters (m). For example, 100 positioning tests are performed on positioning point 27. With positioning point 27 as the center, the radius of the circle with a 50% probability of a positioning result is 8.729016, that is, the CEP50% value is 8.729016; the radius of the circle with a 67% probability of a positioning result is 9.056383, that is, the CEP67% value is 9.056383; the radius of the circle with an 80% probability of a positioning result is 10.00758, that is, the CEP80% value is 10.00758; the radius of the circle with a 90% probability of a positioning result is 10.29061, that is, the CEP90% value is 10.29061; the positioning success rate of the 100 positioning results is 1; and the maximum error among the 100 positioning results is 13.11739.

[0295] Table 4 Positioning test accuracy corresponding to the positioning method combining TDOA positioning and fingerprint positioning

[0296]

[0297]

[0298] Table 4 shows the CEP50%, CEP67%, CEP80% and CEP90% values ​​obtained by positioning each positioning point in the frame 100 times using the positioning method combining TDOA positioning and fingerprint positioning in this application, as well as the positioning success rate and maximum error of 100 positioning times. The units of CEP value and maximum error are meters (m). For example, 100 positioning tests are performed on positioning point 27. With positioning point 27 as the center, the radius of the circle with a 50% probability of a positioning result is 4.447274, that is, the CEP50% value is 4.447274; the radius of the circle with a 67% probability of a positioning result is 4.488379, that is, the CEP67% value is 4.488379; the radius of the circle with an 80% probability of a positioning result is 4.557503, that is, the CEP80% value is 4.557503; the radius of the circle with a 90% probability of a positioning result is 4.596494, that is, the CEP90% value is 4.596494; the positioning success rate of the 100 positioning results is 1; and the maximum error among the 100 positioning results is 5.133368.

[0299] The average value of each column of the positioning times in Table 2, Table 3 and Table 4 is calculated to obtain the positioning test accuracy summary table shown in Table 5.

[0300] Table 5 Summary of positioning test accuracy

[0301]

[0302] As can be seen from Table 5, the positioning method combining TDOA positioning and fingerprint positioning in this application has basically the same CEP50%, CEP67%, CEP80% and CEP90% accuracy as the current TDOA positioning method, and the positioning success rate has increased by 30%, and the maximum error has been reduced by 27m. The positioning method combining TDOA positioning and fingerprint positioning in this application has an overall improvement of 23% in CEP50%, CEP67%, CEP80% and CEP90% accuracy compared to the current fingerprint positioning method, with a smaller improvement in positioning success rate and a maximum error reduction of 2m. It can be seen that the positioning method combining TDOA positioning and fingerprint positioning in this application improves positioning accuracy, and only uses the current 5G deployment equipment for positioning accuracy testing, without the need for additional sensing equipment, thereby improving usability and versatility, reducing deployment difficulty, and the combination of the two positioning methods also improves the robustness of terminal positioning.

[0303] In order to implement the method of the communication device side of the embodiment of the present application, the embodiment of the present application also provides a terminal positioning device, which is set on the communication device, such as Figure 10 As shown, the device includes:

[0304] An acquisition unit 1001 is configured to acquire first information and second information; the first information includes at least a first time and a position of a first transmitting and receiving point (TRP); the first time represents a time when the first TRP receives a positioning reference signal sent by a terminal, or represents a difference in time when the terminal receives positioning reference signals sent by different first TRPs; the second information includes an identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal;

[0305] A first positioning unit 1002 is configured to perform TDOA positioning on the terminal based on the first information to obtain a first positioning result;

[0306] A second positioning unit 1003 is configured to perform fingerprint positioning on the terminal based on the second information to obtain a second positioning result;

[0307] The output unit 1004 is configured to output third information based on the first positioning result and the second positioning result, where the third information indicates the positioning information of the terminal or indicates that positioning of the terminal has failed.

[0308] In one embodiment, the output unit 1004 is specifically configured to verify the third positioning result to obtain a verification result; the third positioning result includes the first positioning result indicating successful positioning of the terminal, and / or the second positioning result indicating successful positioning of the terminal;

[0309] The third information is output based on the inspection result.

[0310] In one embodiment, the output unit 1004 is specifically configured to verify the third positioning result based on the moving speed of the terminal to obtain a first verification result; and / or

[0311] Based on the set error of the TDOA positioning, the set error of the fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

[0312] In one embodiment, the apparatus further comprises:

[0313] A calculation unit is used to calculate the moving speed of the terminal based on the third positioning result and the historical positioning results of the terminal.

[0314] In one embodiment, the output unit 1004 is specifically configured to do one or more of the following:

[0315] If the first inspection result corresponding to the first positioning result indicates that the inspection has passed, outputting the first positioning result;

[0316] If the first inspection result corresponding to the second positioning result indicates that the inspection has passed, outputting the second positioning result;

[0317] If the second verification result indicates that the inspection has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection has passed, outputting the first positioning result;

[0318] If the second verification result indicates that the inspection fails, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection passes, outputting the first positioning result or the second positioning result;

[0319] If the second verification result indicates that the verification has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the verification has failed, outputting the third information indicating that positioning of the terminal has failed;

[0320] When the second test result indicates that the test fails, and the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test fails, the third information indicating that the terminal positioning has failed is output.

[0321] In one embodiment, the first positioning unit 1002 is specifically configured to determine a TRP set, wherein the TRP set includes at least three second TRPs; the second TRPs are determined from the first TRPs;

[0322] Based on the position of the second TRP and the first time corresponding to the second TRP, TDOA positioning solution is performed on the terminal to obtain the first positioning result.

[0323] In one embodiment, the first positioning unit 1002 is specifically configured to, when the number of second TRPs in the TRP set is equal to a first threshold, perform TDOA positioning solution on the terminal using a first algorithm to obtain the first positioning result; or

[0324] When the number of second TRPs in the TRP set is greater than the first threshold, performing TDOA positioning solution on the terminal using a second algorithm to obtain the first positioning result; wherein,

[0325] When the number of second TRPs in the TRP set is equal to the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the first algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the second algorithm; when the number of second TRPs in the TRP set is greater than the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the second algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the first algorithm.

[0326] In one embodiment, the first positioning unit 1002 is specifically configured to perform TDOA positioning calculation on the terminal using a first algorithm to obtain two calculation results;

[0327] When the two solution results are unequal positive numbers, determining a final solution result from the two solution results based on the historical positioning results of the terminal;

[0328] Perform residual analysis on the final solution result to determine the first positioning result.

[0329] In one embodiment, the first positioning unit 1002 is specifically configured to determine, based on the first time corresponding to each two first TRPs, a first difference corresponding to the two first TRPs, where the first difference represents a difference in distance between the two first TRPs and the terminal;

[0330] Eliminate all first differences that are greater than or equal to a second threshold;

[0331] Based on the remaining first difference, the TRP set is determined in the first TRP corresponding to the remaining first difference.

[0332] In one embodiment, when the moving speed of the terminal is greater than or equal to a third threshold, the first test result indicates that the test fails; or

[0333] In a case where the moving speed of the terminal is less than the third threshold, the first inspection result indicates that the inspection is passed.

[0334] In one embodiment, when the distance between different positioning results in the third positioning result is greater than the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second verification result indicates that the verification fails;

[0335] When the distance between different positioning results in the third positioning result is less than or equal to the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second inspection result indicates that the inspection is passed.

[0336] In practical applications, the output unit 1004 can be implemented by a processor in the terminal positioning device in combination with a communication interface; the acquisition unit 1001, the first positioning unit 1002, the second positioning unit 1003 and the calculation unit can be implemented by a processor in the terminal positioning device.

[0337] It should be noted that the above embodiments provide a terminal positioning device, using only the division of the above-mentioned program modules as an example to illustrate terminal positioning. In actual applications, the above-mentioned processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the above-described processing. In addition, the terminal positioning device provided in the above embodiments and the terminal positioning method embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0338] Based on the hardware implementation of the above program modules, and in order to implement the method of the communication device side of the embodiment of the present application, the embodiment of the present application also provides a communication device, such as Figure 11 As shown, the communication device 1100 includes:

[0339] The communication interface 1101 can exchange information with other network nodes.

[0340] The processor 1102 is connected to the communication interface 1101 to implement information interaction with other network nodes, and is used to execute the methods provided by one or more of the above technical solutions when running a computer program.

[0341] The memory 1103 is used to store computer programs that can be executed on the processor 1102 .

[0342] Specifically, the processor 1102 is configured to obtain first information and second information; the first information includes at least a first time and a position of a first transmitting and receiving point TRP; the first time represents the time when the first TRP receives a positioning reference signal sent by the terminal, or represents the difference between the times when the terminal receives positioning reference signals sent by different first TRPs; the second information includes an identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal;

[0343] Performing TDOA positioning on the terminal based on the first information to obtain a first positioning result;

[0344] Performing fingerprint positioning on the terminal based on the second information to obtain a second positioning result;

[0345] Based on the first positioning result and the second positioning result, third information is output, where the third information indicates the positioning information of the terminal, or indicates that the positioning of the terminal has failed.

[0346] In one embodiment, the processor 1102 is specifically configured to verify the third positioning result to obtain a verification result; the third positioning result includes the first positioning result indicating successful positioning of the terminal, and / or the second positioning result indicating successful positioning of the terminal;

[0347] The third information is output based on the inspection result.

[0348] In one embodiment, the processor 1102 is specifically configured to verify the third positioning result based on the moving speed of the terminal to obtain a first verification result; and / or

[0349] Based on the set error of the TDOA positioning, the set error of the fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

[0350] In one embodiment, the processor 1102 is further configured to calculate the moving speed of the terminal based on the third positioning result and the historical positioning results of the terminal.

[0351] In one embodiment, the processor 1102 is specifically configured to do one or more of the following:

[0352] If the first inspection result corresponding to the first positioning result indicates that the inspection has passed, outputting the first positioning result;

[0353] If the first inspection result corresponding to the second positioning result indicates that the inspection has passed, outputting the second positioning result;

[0354] If the second verification result indicates that the inspection has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection has passed, outputting the first positioning result;

[0355] If the second verification result indicates that the inspection fails, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection passes, outputting the first positioning result or the second positioning result;

[0356] If the second verification result indicates that the verification has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the verification has failed, outputting the third information indicating that positioning of the terminal has failed;

[0357] When the second test result indicates that the test fails, and the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test fails, the third information indicating that the terminal positioning has failed is output.

[0358] In one embodiment, the processor 1102 is specifically configured to determine a TRP set, wherein the TRP set includes at least three second TRPs; the second TRPs are determined from the first TRPs;

[0359] Based on the position of the second TRP and the first time corresponding to the second TRP, TDOA positioning solution is performed on the terminal to obtain the first positioning result.

[0360] In one embodiment, the processor 1102 is specifically configured to, when the number of second TRPs in the TRP set is equal to a first threshold, perform TDOA positioning solution on the terminal using a first algorithm to obtain the first positioning result; or

[0361] When the number of second TRPs in the TRP set is greater than the first threshold, performing TDOA positioning solution on the terminal using a second algorithm to obtain the first positioning result; wherein,

[0362] When the number of second TRPs in the TRP set is equal to the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the first algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the second algorithm; when the number of second TRPs in the TRP set is greater than the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the second algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the first algorithm.

[0363] In one embodiment, the processor 1102 is specifically configured to perform TDOA positioning solution on the terminal using a first algorithm to obtain two solution results;

[0364] When the two solution results are unequal positive numbers, determining a final solution result from the two solution results based on the historical positioning results of the terminal;

[0365] Perform residual analysis on the final solution result to determine the first positioning result.

[0366] In one embodiment, the processor 1102 is specifically configured to determine, based on the first time corresponding to each two first TRPs, a first difference corresponding to the two first TRPs, where the first difference represents a difference in distance between the two first TRPs and the terminal;

[0367] Eliminate all first differences that are greater than or equal to a second threshold;

[0368] Based on the remaining first difference, the TRP set is determined in the first TRP corresponding to the remaining first difference.

[0369] In one embodiment, when the moving speed of the terminal is greater than or equal to a third threshold, the first test result indicates that the test fails; or

[0370] In a case where the moving speed of the terminal is less than the third threshold, the first inspection result indicates that the inspection is passed.

[0371] In one embodiment, when the distance between different positioning results in the third positioning result is greater than the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second verification result indicates that the verification fails;

[0372] When the distance between different positioning results in the third positioning result is less than or equal to the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second inspection result indicates that the inspection is passed.

[0373] It should be noted that the specific processing procedures of the processor 1102 and the communication interface 1101 can be understood by referring to the above method.

[0374] Of course, in actual application, the various components in the communication device 1100 are coupled together through the bus system 1104. It is understood that the bus system 1104 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1104 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 11 Various buses are labeled as bus system 1104.

[0375] The memory 1103 in the embodiment of the present application is used to store various types of data to support the operation of the communication device 1100. Examples of such data include: any computer program used to operate on the communication device 1100.

[0376] The methods disclosed in the above embodiments of the present application can be applied to the processor 1102 or implemented by the processor 1102. The processor 1102 may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above methods can be completed by hardware integrated logic circuits in the processor 1102 or instructions in software form. The above processor 1102 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 1102 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the memory 1103. The processor 1102 reads the information in the memory 1103 and completes the steps of the above methods in combination with its hardware.

[0377] In an exemplary embodiment, the communication device 1100 can be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0378] It can be understood that the memory (memory 1103) of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile memory and non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a magnetic disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0379] In an exemplary embodiment, the present application also provides a storage medium, namely, a computer storage medium, specifically, a computer-readable storage medium, such as a memory 1103 storing a computer program. The computer program can be executed by the processor 1102 of the communication device 1100 to complete the steps of the aforementioned communication device-side method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0380] Illustratively, an embodiment of the present application further provides a computer program product, including a computer program, which can be executed by the processor 1102 of the communication device 1100 to complete the steps of any of the aforementioned methods.

[0381] It should be noted that "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence; "multiple" refers to two or more items. The term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the technical solutions described in the embodiments of the present application can be arbitrarily combined unless there is a conflict. The above is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A terminal positioning method, characterized in that: The method comprises: Obtain first information and second information; the first information includes at least a first time and a position of a first transmitting and receiving point TRP; the first time represents the time when the first TRP receives a positioning reference signal sent by the terminal, or represents the difference between the times when the terminal receives positioning reference signals sent by different first TRPs; the second information includes an identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal; Performing time difference of arrival (TDOA) positioning on the terminal based on the first information to obtain a first positioning result; Performing fingerprint positioning on the terminal based on the second information to obtain a second positioning result; Based on the first positioning result and the second positioning result, third information is output, where the third information indicates the positioning information of the terminal, or indicates that the positioning of the terminal has failed.

2. The method according to claim 1, characterized in that The outputting third information based on the first positioning result and the second positioning result includes: Verifying the third positioning result to obtain a verification result; the third positioning result includes the first positioning result indicating successful positioning of the terminal, and / or the second positioning result indicating successful positioning of the terminal; The third information is output based on the inspection result.

3. The method according to claim 2, characterized in that The verifying the third positioning result to obtain a verification result includes: Verifying the third positioning result based on the moving speed of the terminal to obtain a first verification result; and / or Based on the set error of the TDOA positioning, the set error of the fingerprint positioning, and the distance between different positioning results in the third positioning result, the third positioning result is verified to obtain a second verification result.

4. The method according to claim 3, characterized in that The method further comprises: The moving speed of the terminal is calculated based on the third positioning result and the historical positioning results of the terminal.

5. The method according to claim 3 or 4, characterized in that Outputting the third information based on the inspection result includes one or more of the following: If the first inspection result corresponding to the first positioning result indicates that the inspection has passed, outputting the first positioning result; If the first inspection result corresponding to the second positioning result indicates that the inspection has passed, outputting the second positioning result; If the second verification result indicates that the inspection has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection has passed, outputting the first positioning result; If the second verification result indicates that the inspection fails, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the inspection passes, outputting the first positioning result or the second positioning result; If the second verification result indicates that the verification has passed, and the first verification result corresponding to the first positioning result and the first verification result corresponding to the second positioning result both indicate that the verification has failed, outputting the third information indicating that positioning of the terminal has failed; When the second test result indicates that the test fails, and the first test result corresponding to the first positioning result and the first test result corresponding to the second positioning result both indicate that the test fails, the third information indicating that the terminal positioning has failed is output.

6. The method according to claim 1, characterized in that The performing TDOA positioning on the terminal based on the first information to obtain a first positioning result includes: Determine a TRP set, wherein the TRP set includes at least three second TRPs; the second TRPs are determined from the first TRPs; Based on the position of the second TRP and the first time corresponding to the second TRP, TDOA positioning solution is performed on the terminal to obtain the first positioning result.

7. The method according to claim 6, characterized in that The performing TDOA positioning solution on the terminal to obtain the first positioning result includes: When the number of second TRPs in the TRP set is equal to a first threshold, performing TDOA positioning solution on the terminal using a first algorithm to obtain the first positioning result; or When the number of second TRPs in the TRP set is greater than the first threshold, performing TDOA positioning solution on the terminal using a second algorithm to obtain the first positioning result; wherein, When the number of second TRPs in the TRP set is equal to the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the first algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the second algorithm; when the number of second TRPs in the TRP set is greater than the first threshold, the time complexity of performing TDOA positioning solution on the terminal through the second algorithm is less than the time complexity of performing TDOA positioning solution on the terminal through the first algorithm.

8. The method according to claim 7, characterized in that The performing TDOA positioning calculation on the terminal by using a first algorithm to obtain the first positioning result includes: Performing TDOA positioning calculation on the terminal using a first algorithm to obtain two calculation results; When the two solution results are unequal positive numbers, determining a final solution result from the two solution results based on the historical positioning results of the terminal; Perform residual analysis on the final solution result to determine the first positioning result.

9. The method according to claim 6, characterized in that Determining the TRP set includes: Determine, based on a first time corresponding to each two first TRPs, a first difference corresponding to the two first TRPs, where the first difference represents a difference in distance between the two first TRPs and the terminal; Eliminate all first differences that are greater than or equal to a second threshold; Based on the remaining first difference, the TRP set is determined in the first TRP corresponding to the remaining first difference.

10. The method according to claim 3 or 4, characterized in that When the moving speed of the terminal is greater than or equal to a third threshold, the first test result indicates that the test fails; or In a case where the moving speed of the terminal is less than the third threshold, the first inspection result indicates that the inspection is passed.

11. The method according to claim 3, characterized in that If the distance between different positioning results in the third positioning result is greater than the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second verification result indicates that the verification fails; When the distance between different positioning results in the third positioning result is less than or equal to the sum of the set error of the TDOA positioning and the set error of the fingerprint positioning, the second inspection result indicates that the inspection is passed.

12. A terminal positioning device, characterized in that: include: An acquiring unit, configured to acquire first information and second information; the first information including at least a first time and a position of a first transmitting and receiving point TRP; The first time represents the time when the first TRP receives the positioning reference signal sent by the terminal, or represents the difference between the times when the terminal receives the positioning reference signals sent by different first TRPs; the second information includes the identifier of the first TRP and measurement data related to the signal strength of the positioning reference signal; A first positioning unit, configured to perform TDOA positioning on the terminal based on the first information to obtain a first positioning result; A second positioning unit, configured to perform fingerprint positioning on the terminal based on the second information to obtain a second positioning result; An output unit is configured to output third information based on the first positioning result and the second positioning result, where the third information indicates the positioning information of the terminal or indicates that the positioning of the terminal has failed.

13. A communication device, characterized in that: comprising a processor and a memory for storing a computer program capable of being executed on the processor, Wherein, when the processor is used to run the computer program, it executes the steps of the method according to any one of claims 1 to 11.

14. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 11.

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