User terminal positioning method and device

Abstract

The invention discloses a user terminal positioning method and device. The method comprises the steps that LMF (Location Management Function) network element information in an indoor target area is acquired, and the LMF network element information at least comprises map information in the target area, a space coordinate value of a TRP (Transmitting / Receiving Point) in the target area and a preset threshold value of RSRP (Reference Signal Receiving Power); measuring results of all TRP in the target area are obtained, and the measuring results comprise RSRP, measured through the TRP, of the target terminal in the target area and time delay between the TRP in the target area and the target terminal; determining an effective measurement result from all TRP measurement results in the target area according to an RSRP preset threshold value; determining a positioning strategy of the target terminal according to the number of the effective measurement results; and positioning the target terminal based on the positioning strategy of the target terminal.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and more specifically, to a user terminal positioning method and apparatus. Background Technology

[0002] Currently, satellite positioning provides all-weather meter-level accuracy services in outdoor scenarios, but is limited by complex environments such as indoor spaces and urban canyons. Traditional indoor positioning technologies such as WiFi, Bluetooth, and UWB (Ultra-Wideband) achieve sub-meter accuracy, but face issues such as insufficient coverage, high costs, and interference. 5G positioning technology, through massive MIMO, millimeter-wave bands, and dense networking, achieves seamless high-precision positioning both indoors and outdoors, while reusing communication infrastructure, significantly reducing deployment costs. Its converged network architecture supports dynamic accuracy adjustment and multi-source collaboration, ensuring both industrial-grade positioning needs and consumer-grade scenarios, demonstrating comprehensive advantages of wide coverage, low cost, and high accuracy. This opens up new possibilities for innovative applications such as intelligent navigation and industrial IoT, with broad development prospects. 3GPP R16 defines various 5G positioning technologies, including DL TDOA (Downlink Time Difference of Arrival), DLAOD (Downlink Departure Angle), UL TDOA (Uplink Time Difference of Arrival), UL AOA (Uplink Angle of Arrival), Multi RTT (Multiple Round Trip Time), and E CID (Enhanced Cell ID). UL-TDOA positioning technology boasts significant advantages: sub-meter accuracy, multi-base station time difference measurement, and high accuracy in complex scenarios under 5G solutions; it covers both indoor and outdoor areas, compensating for traditional blind spots; it has strong anti-interference capabilities, suppressing multipath / NLOS (non-line-of-sight) propagation; and it offers high real-time performance, supporting low latency. However, in complex indoor scenarios with multiple cubicles and small cubicle areas, such as office buildings, hospitals, and factories, UL-TDOA technology faces a dual challenge: on the one hand, the dense non-line-of-sight (NLOS) environment significantly increases signal delay measurement errors, leading to a decrease in positioning accuracy; on the other hand, the solution of densely deploying transmit receiver points (TRPs) to improve accuracy will significantly increase construction costs. Summary of the Invention

[0003] This application provides a user terminal positioning method and apparatus to at least solve the technical problem of low positioning accuracy in indoor environments in related technologies.

[0004] According to one aspect of the embodiments of this application, a user terminal positioning method is provided, comprising: acquiring location management function (LMF) network element information within an indoor target area, wherein the LMF network element information includes at least: map information within the target area, spatial coordinates of transmit / receive points (TRPs) within the target area, and a preset threshold value for reference signal received power (RSRP); acquiring measurement results of all TRPs within the target area, wherein the measurement results include: the RSRP of a target terminal within the target area measured by the TRPs and the time delay between the TRPs within the target area and the target terminal; determining valid measurement results from the measurement results of all TRPs within the target area according to the RSRP preset threshold value; determining a positioning strategy for the target terminal based on the number of valid measurement results; and positioning the target terminal based on the positioning strategy.

[0005] Optionally, determining the positioning strategy of the target terminal based on the number of valid measurement results includes: if the number of valid measurement results is not less than a preset number, determining the positioning strategy as a first strategy, wherein the first strategy includes: selecting a preset number of measurement results with the largest RSRP from the valid measurement results as first measurement results, and determining the position of the target terminal based on the first measurement results; if the number of valid measurement results is less than the preset number, determining the positioning strategy as a second strategy, wherein the second strategy includes: selecting a preset number of measurement results with the largest RSRP from all measurement results as initial measurement results, calibrating the initial measurement results to obtain second measurement results, and determining the position of the target terminal based on the second measurement results.

[0006] Optionally, locating the target terminal based on the target terminal's positioning strategy includes: identifying multiple TRPs corresponding to the target measurement results as target TRPs, wherein the target measurement results include: the first measurement result and the second measurement result; determining distance measurements from the target terminal to the multiple target TRPs based on the target measurement results; determining distance difference measurements from the target terminal to the multiple target TRPs based on the target measurement results; constructing a system of linear equations based on the distance measurements and the distance difference measurements; solving the system of linear equations to obtain the initial position of the target terminal; and performing Kalman filtering on the initial position of the target terminal to obtain the position of the target terminal.

[0007] Optionally, when the positioning strategy is the second strategy, the method further includes: arranging the TRPs corresponding to the initial measurement results in order according to the measured RSRPs to obtain a TRP sequence; constructing a power covariance matrix based on the measured RSRPs of each TRP in the TRP sequence, wherein the power covariance matrix is ​​used to represent the statistical relationship between the measured RSRPs of each TRP in the TRP sequence; performing eigenvalue decomposition on the power covariance matrix to obtain the eigenvector matrix corresponding to the power covariance matrix; constructing a time delay function based on the eigenvector matrix; and calibrating the initial measurement results using the time delay function to obtain the second measurement result.

[0008] Optionally, constructing a time delay function based on the feature vector matrix includes: extracting a noise subspace matrix and a signal subspace matrix from the feature vector matrix, wherein the noise subspace matrix includes feature vectors with eigenvalues ​​less than a preset noise threshold, and the signal subspace matrix includes feature vectors with eigenvalues ​​greater than a preset noise threshold; obtaining a preset manifold vector; and determining the time delay function based on the preset manifold vector and the noise subspace matrix.

[0009] Optionally, calibrating the initial measurement result using the time delay function to obtain the target measurement result includes: performing a peak search on the time delay function to obtain multiple feature value time differences; obtaining multiple time difference measurement values ​​for each TRP measurement in the TRP sequence from the initial measurement result; determining multiple calibrated time differences based on the multiple time difference measurement values ​​and the multiple feature value time differences; and determining the target measurement result based on the multiple calibrated time differences.

[0010] Optionally, the initial position of the target terminal is processed by Kalman filtering to obtain the position of the target terminal, including: obtaining the observation noise covariance matrix and the observation matrix, and determining the Kalman gain based on the observation noise covariance matrix and the observation matrix; determining the state vector at the current time based on the initial position of the target terminal; determining the filtered state vector based on the current state vector and the Kalman gain; and determining the position of the target terminal based on the filtered state vector.

[0011] According to another aspect of the embodiments of this application, a user terminal positioning device is also provided, comprising: a first acquisition module, configured to acquire location management function (LMF) network element information within an indoor target area, wherein the LMF network element information includes at least: map information of the target area, spatial coordinates of transmit / receive points (TRPs) within the target area, and a preset threshold value for reference signal received power (RSRP); a second acquisition module, configured to acquire measurement results of all TRPs within the target area, wherein the measurement results include: the RSRP of a target terminal within the target area measured by the TRPs and the time delay between the TRPs within the target area and the target terminal; a first determination module, configured to determine valid measurement results from the measurement results of all TRPs within the target area according to the preset threshold value for RSRP; a second determination module, configured to determine a positioning strategy for the target terminal based on the number of valid measurement results; and a positioning module, configured to position the target terminal based on the positioning strategy of the target terminal.

[0012] According to another aspect of the embodiments of this application, a computer device is also provided, including: a memory and a processor, wherein the memory is used to store program instructions; and the processor, connected to the memory, is used to execute the above-described user terminal positioning method.

[0013] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions that, when executed by a processor, implement the above-described user terminal positioning method.

[0014] In this embodiment, the method involves acquiring Location Management Function (LMF) network element information within an indoor target area. The LMF network element information includes at least: map information within the target area, spatial coordinates of Transmitter / Receiver Points (TRPs) within the target area, and a preset threshold value for Reference Signal Received Power (RSRP). The method also involves acquiring measurement results from all TRPs within the target area, including: the RSRP of the target terminal within the target area measured by the TRPs and the time delay between the TRPs and the target terminal. Valid measurement results are then determined from the measurement results of all TRPs within the target area based on the RSRP preset threshold value. A positioning strategy for the target terminal is determined based on the number of valid measurement results. The target terminal is then positioned based on the positioning strategy. By filtering valid measurement results within the target area using the RSRP preset threshold value and determining different positioning strategies based on the number of valid measurement results, the method achieves the goal of determining different positioning strategies based on the number of different valid measurement results, thereby improving positioning accuracy and solving the technical problem of low positioning accuracy in indoor environments in related technologies. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 This is a hardware structure block diagram of a computer target terminal for implementing a user terminal positioning method according to an embodiment of this application;

[0017] Figure 2 This is a flowchart of a user terminal positioning method according to an embodiment of this application;

[0018] Figure 3 This is a flowchart of another user terminal positioning method according to an embodiment of this application;

[0019] Figure 4 This is a structural diagram of a user terminal positioning device according to an embodiment of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] The information collected in this application embodiment is information and data authorized by the user or fully authorized by all parties. The collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant regions, and necessary confidentiality measures have been taken. It does not violate public order and good morals, and provides corresponding operation entry points for users to choose to authorize or reject the automated decision results. If the user chooses to reject, the process will proceed to the expert decision-making process.

[0023] The technical terms used in this application are explained as follows:

[0024] LMF (Location Management Function): It is responsible for the overall coordination and resource scheduling required for registering or accessing the location of terminals in the 5G core network, and provides functions such as positioning process management, terminal positioning capability information, auxiliary positioning data, and terminal location estimation.

[0025] TRP (Transmission / Reception Point): A part of the base station that sends and receives radio signals to and from the UE based on the inherent physical layer attributes and parameters of the unit. It also serves as a location reference point in the positioning system.

[0026] RSRP (Reference Signal Receiving Power): The linear average of the power of the resource particles carrying the reference signal.

[0027] UE (User Equipment): A device that needs to obtain location information.

[0028] TDOA (Time Difference of Arrival): A positioning technique that calculates location based on the time difference of a signal arriving at different receiving points.

[0029] To address the problems existing in related technologies, this application provides a user terminal positioning method, which can be implemented in... Figure 1 The computer target terminal shown will be explained below.

[0030] The user terminal positioning method embodiments provided in this application can be executed in a mobile target terminal, a computer target terminal, or a similar computing device. Figure 1 A hardware block diagram of a computer target terminal for implementing a user terminal positioning method is shown. Figure 1As shown, the computer target terminal 10 may include one or more processors (shown as 102a, 102b, ..., 102n in the figure) (the processor may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission module 106 for communication functions connected via wired and / or wireless networks. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, the computer target terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0031] It should be noted that the aforementioned one or more processors and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be implemented wholly or partially as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be wholly or partially integrated into any other element in the computer target terminal 10. As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor target terminal path connected to an interface).

[0032] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the user terminal positioning method in this embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned user terminal positioning method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor, and these remote memories can be connected to the computer target terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] The transmission module 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer target terminal 10. In one example, the transmission module 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0034] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer target terminal 10.

[0035] It should be noted here that, in some optional embodiments, the above... Figure 1 The computer target terminal shown may include hardware components (including circuitry), software components (including computer code stored on a computer-readable medium), or a combination of both hardware and software components. It should be noted that... Figure 1 This is only one instance of a specific particular instance, and is intended to illustrate the types of components that may exist in the aforementioned computer target terminal.

[0036] In the above operating environment, this application provides an embodiment of a user terminal positioning method. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] Figure 2 This is a flowchart of a user terminal positioning method according to an embodiment of this application, such as... Figure 2 As shown, the method includes the following steps:

[0038] Step S202: Obtain location management function (LMF) network element information within the indoor target area, wherein the LMF network element information includes at least: map information within the target area, spatial coordinates of the transmit / receive point (TRP) within the target area, and a preset threshold value of the reference signal received power (RSRP).

[0039] In step S202, the LMF network element information includes: map information within the target area, spatial coordinates of the transmit / receive point (TRP) within the target area, and a preset threshold value for the reference signal received power (RSRP). NLOS power cross-correlation factor within the target region Power cross-correlation factor between LOS and NLOS Power noise threshold Calibration delay range .

[0040] In one alternative approach, M TRP ceiling mounts are deployed within the target area, all with a uniform height. (m), LMF maintains the spatial coordinate values ​​of TRP, where the spatial coordinate values ​​of the i-th TRP are... , .

[0041] Step S204: Obtain the measurement results of all TRPs within the target area, wherein the measurement results include: the RSRP of the target terminal within the target area measured by the TRP and the time delay between the TRP within the target area and the target terminal;

[0042] In step S204, the specific measurement process is as follows: The LMF network element initiates uplink measurements of the UE (user terminal) to all TRPs within the positioning area. The TRPs report the measurement results to the LMF network element. The measurement results include the measurements of the UE by the i-th TRP. The delay of the UE signal arriving at the TRP .

[0043] Step S206: Determine the valid measurement results from the measurement results of all TRPs within the target area according to the RSRP preset threshold value;

[0044] In step S206, a valid measurement result refers to a measurement result in which RSRP is higher than the preset threshold value of RSRP among all measurement results.

[0045] Understandably, valid measurement results can be identified as LOS (Line-of-Sight) measurement results, while invalid measurement results can be identified as NLOS (Non-Line-of-Sight) measurement results.

[0046] The screening process for valid measurement results is as follows:

[0047] The LMF network element sorts the RSRPs of TRPs within the target area and filters out the TRPs corresponding to valid measurement results based on a preset threshold value for RSRPs; the TRP sequence is shown below:

[0048]

[0049] in, ,and hour M is the number of TRPs. Indicates the first RSRP of TRP corresponding to each valid measurement result The RSRP of the measured TRP with the smallest RSRP is indicated by the last one in the list.

[0050] N is the number of TRPs with valid measurement results. This is the set of labels for the TRPs corresponding to valid measurement results. It can be understood that each valid measurement result corresponds to one TRP. The RSRP represents the TRP corresponding to the Nth valid measurement result. The RSRP of the TRP corresponding to the last valid measurement result in the sorting order. This indicates the RSRP preset threshold value.

[0051] Step S208: Determine the positioning strategy of the target terminal based on the number of valid measurement results;

[0052] Step S210: Locate the target terminal based on the target terminal's positioning strategy.

[0053] Through steps S202 to S210 above, the following methods are employed: 1. Obtaining Location Management Function (LMF) network element information within an indoor target area. The LMF network element information includes at least: map information within the target area, spatial coordinates of Transmitter / Receiver Points (TRPs) within the target area, and a preset threshold value for Reference Signal Received Power (RSRP). 2. Obtaining measurement results from all TRPs within the target area. These measurement results include: the RSRP of the target terminal within the target area measured by the TRPs, and the time delay between the TRPs and the target terminal. 3. Determining valid measurement results from all TRP measurement results within the target area based on the RSRP preset threshold value. 4. Determining the positioning strategy of the target terminal based on the number of valid measurement results. 5. Positioning the target terminal based on the positioning strategy. Valid measurement results within the target area are filtered using the RSRP preset threshold value, and different positioning strategies are determined based on the number of valid measurement results. This achieves the goal of determining different positioning strategies based on the number of different valid measurement results, thereby improving positioning accuracy and solving the technical problem of low positioning accuracy in indoor environments. The following is a detailed explanation.

[0054] In some embodiments of this application, the specific steps for determining the positioning strategy of the target terminal based on the number of valid measurement results are as follows: When the number of valid measurement results is not less than a preset number, the positioning strategy is determined to be a first strategy, wherein the first strategy includes: selecting a preset number of measurement results with the largest RSRP from the valid measurement results to determine as first measurement results, and determining the location of the target terminal based on the first measurement results; when the number of valid measurement results is less than the preset number, the positioning strategy is determined to be a second strategy, wherein the second strategy includes: selecting a preset number of measurement results with the largest RSRP from all measurement results to determine as initial measurement results, calibrating the initial measurement results to obtain second measurement results, and determining the location of the target terminal based on the second measurement results.

[0055] like Figure 3 As shown, if the number N of valid measurement results obtained is greater than or equal to the preset number, for example, 4, then the four measurement results with the largest RSRP and their TRP location information are selected. subset of And recorded as follows. (UE to the TRP and the If the time difference measurement value of the TRP is equal to the time difference calibration value, it means that the first measurement result does not need to be calibrated.

[0056] in, , for This indicates that the UE reaches the first... The time delay measurement value of TRP;

[0057] , Indicates that the UE reaches the first TRP and the Time difference measurement of TRP;

[0058] , Indicates that the UE reaches the first TRP and the The time difference calibration value of TRP.

[0059] If the number of valid TRPs N < 4, take a subset of the RSRP permutations. The time difference needs to be calibrated to obtain the second measurement result.

[0060] In some embodiments of this application, the specific steps for locating the target terminal based on the target terminal's positioning strategy are as follows: Multiple TRPs corresponding to the target measurement results are identified as target TRPs, wherein the target measurement results include: the first measurement result and the second measurement result; distance measurements from the target terminal to the multiple target TRPs are determined based on the target measurement results; distance difference measurements from the target terminal to the multiple target TRPs are determined based on the target measurement results; a system of linear equations is constructed based on the distance measurements and the distance difference measurements; the system of linear equations is solved to obtain the initial position of the target terminal; and Kalman filtering is applied to the initial position of the target terminal to obtain the final position of the target terminal.

[0061] Specifically, when the positioning strategy is the second strategy, the TRPs corresponding to the initial measurement results are arranged in order according to the measured RSRPs to obtain a TRP sequence; a power covariance matrix is ​​constructed based on the measured RSRPs of each TRP in the TRP sequence, wherein the power covariance matrix is ​​used to represent the statistical relationship between the measured RSRPs of each TRP in the TRP sequence; eigenvalue decomposition is performed on the power covariance matrix to obtain the eigenvector matrix corresponding to the power covariance matrix; a time delay function is constructed based on the eigenvector matrix; and the time delay function is used to calibrate the initial measurement results to obtain the second measurement result.

[0062] Among them, the power covariance matrix The elements in the matrix are as follows:

[0063] in, This indicates the label of the last TRP in the TRP sequence that corresponds to a valid measurement result. and These represent different TRP numbers. Indicates number and number The TRP's rank in the TRP sequence is located at number After TRP, the elements in the power covariance matrix Indicates the number is TRP and number The covariance of TRP and RSRP is understandable. Indicates number and number The TRP's rank in the TRP sequence is located at number Before TRP, Indicates number The TRP's rank in the TRP sequence is located at number After the TRP, number The TRP's rank in the TRP sequence is located at number Before the TRP (number) The TRP measurement results are valid measurement results. Indicates number The TRP's rank in the TRP sequence is located at number Before the TRP, number The TRP's rank in the TRP sequence is located at number After TRP (number) The TRP measurement results are not considered valid measurement results.

[0064] In some embodiments of this application, the specific steps for constructing a time delay function based on the eigenvector matrix are as follows: extracting a noise subspace matrix and a signal subspace matrix from the eigenvector matrix, wherein the noise subspace matrix includes eigenvectors with eigenvalues ​​less than a preset noise threshold, and the signal subspace matrix includes eigenvectors with eigenvalues ​​greater than a preset noise threshold; obtaining a preset manifold vector; and determining the time delay function based on the preset manifold vector and the noise subspace matrix.

[0065] Specifically, eigenvalue decomposition of C yields...

[0066] in, Represents the eigenvector matrix,

[0067] It is the eigenvalue matrix corresponding to the eigenvector matrix (arranged in descending order). Let b represent the b-th eigenvalue.

[0068] It is the signal subspace (eigenvalues ​​> power noise threshold). (corresponding feature vectors)

[0069] It is a noise subspace (eigenvalue < power noise threshold) The corresponding feature vector.

[0070] Construct a function with a delay of n:

[0071]

[0072] Wherein, the manifold vector is defined. .

[0073] In some embodiments of this application, the specific steps for calibrating the initial measurement result using the time delay function to obtain the target measurement result are as follows: performing peak search on the time delay function to obtain multiple feature value time differences; obtaining multiple time difference measurement values ​​for each TRP measurement in the TRP sequence from the initial measurement result; determining multiple calibrated time differences based on the multiple time difference measurement values ​​and the multiple feature value time differences; and determining the target measurement result based on the multiple calibrated time differences.

[0074] Specifically, from [- , Interval pairs Peak search is performed to obtain the time difference of feature values. , This indicates that the UE has reached the [number]th [number]. TRP and the The characteristic time difference of the TRP is calculated. The time difference calibration value is obtained by averaging the characteristic time difference and the measured time difference. Where n represents the time delay variable, used to represent the time difference between the user terminal and different TRPs. The period of the signal transmitted by the user terminal is represented by j, which represents the imaginary unit.

[0075] It should be noted that the initial location of the user terminal is determined as follows:

[0076] by , Indicates the first The spatial coordinates of the TRP, and the spatial coordinates of the user terminal are ( , , For example, since all TRPs are at the same height, their z-axis values ​​in the coordinate system are the same;

[0077] This indicates that the UE will go to the numbered... The distance measurement value of the TRP;

[0078] , Indicates that the UE reaches the first TRP and the The distance difference measurement value of TRP, The speed of electromagnetic wave propagation;

[0079] This indicates the position of the UE under test (the initial position of the UE);

[0080] The distance measurement value is transformed as follows:

[0081] ,

[0082] in .

[0083] because The above formula can be transformed into:

[0084]

[0085] Subtracting the formula for i=1 from the above formula, we get:

[0086]

[0087] The above formula is in When a system of linear equations is formed, Treating it as an unknown in the equation, the location of the UE can be solved as follows:

[0088]

[0089] in , ,

[0090] Will of The initial position of the UE was partially determined.

[0091] After determining the initial position of the UE, Kalman filtering is performed on the initial position of the target terminal to obtain the position of the target terminal. An optional filtering process is as follows: obtain the observation noise covariance matrix and the observation matrix, and determine the Kalman gain based on the observation noise covariance matrix and the observation matrix; determine the state vector at the current time based on the initial position of the target terminal; determine the filtered state vector based on the current state vector and the Kalman gain; and determine the position of the target terminal based on the filtered state vector.

[0092] It should be noted that the filtering model is as follows: The state vector is: ,in The result is the two-dimensional coordinates of the UE. For the UE's two-dimensional velocity components;

[0093] The state transition model is as follows:

[0094] in, This is the state transition matrix; For the location estimation period, The process noise of the state transition model is given by [example model name] and its covariance matrix is ​​[example model name]. ;

[0095] The observation model is:

[0096] in, and same, For the observation matrix, The process noise of the observation model is represented by the covariance matrix. .

[0097] Kalman filtering process:

[0098] Step 1, Prediction Step: State prediction is as follows The error covariance matrix is

[0099] Step 2, Update Steps:

[0100] Kalman calculation gain is

[0101] Status Update:

[0102] Error covariance update:

[0103] The result after Kalman filtering Pick The output is the location of the user's terminal.

[0104] In practical applications, other filtering methods can also be used; Kalman filtering is just one of them.

[0105] To better understand the user terminal positioning method proposed in this application, the following further explanation is provided:

[0106] Step 1, LMF maintenance information: LMF maintenance includes map information (map quality factor), TRP spatial coordinates, effective measured RSRP threshold, NLOS power cross-correlation factor, LOS and NLOS power cross-correlation factor, power noise threshold, and calibration delay range within the positioning site.

[0107] Step 2, Uplink Measurement and Result Reporting: The LMF initiates a UE uplink measurement request to all TRPs in the location area, and the TRPs report the measurement results (including RSRP and latency) to the LMF.

[0108] Step 3, Valid Measurement Result Screening and Calibration: LMF screens LOS measurement results based on the RSRP threshold of valid measurements. When the number of LOS measurement results is less than 4, the 4 measurement results with the highest RSRP are selected, and the time difference measurement results are calibrated using the RSRP measurement value and power correlation factor based on the eigenvalue decomposition method. When the number of LOS measurement results is greater than or equal to 4, the 4 time delay measurement results with the highest RSRP are selected for subsequent algorithms.

[0109] Step 4: Use the TDOA-based hybrid positioning algorithm to estimate the UE's location.

[0110] Step 5, Kalman filtering: The Kalman filter optimizes the solution results of the measurement data.

[0111] The user terminal positioning method proposed in this application uses an LMF network element to maintain map information, spatial coordinates of TRPs, and effective RSRP threshold values ​​within the positioning site. The LMF dynamically manages positioning resources, providing a foundation for high-precision positioning. The LMF initiates UE uplink measurement requests to all TRPs within the positioning site, and the TRPs report the measurement results (including RSRP and UE signal arrival delay) to the LMF. This mechanism ensures that the LMF can obtain sufficient positioning information to provide data support for subsequent location estimation. The LMF filters the measurement results reported by the TRPs according to a preset RSRP threshold, selecting valid measurement results. This step helps to eliminate poor-quality measurement data and improve positioning accuracy. When LOS measurement results are insufficient, calibrating the time difference measurement results using an eigenvalue decomposition method based on RSRP and power correlation factors can effectively reduce time difference measurement errors caused by NLOS. The LMF selects different location estimation schemes based on the number of valid measurement results. When the number of valid measurement results is less than 4, the positioning result is null; when the number is greater than or equal to 4, the 4 measurement results with the highest RSRP are selected, and the UE position is estimated using the TDOA (Time Difference of Arrival) algorithm. This scheme selection mechanism ensures optimal positioning performance in different scenarios. The acquired position estimation results are filtered by a Kalman filter to improve positioning accuracy and stability. The Kalman filter smooths the position estimation results through prediction and update steps, reducing the impact of random errors. By combining 5G with received signal quality assessment, a hybrid positioning algorithm based on TDOA and a Kalman filter algorithm are used to achieve high-precision positioning while controlling hardware deployment costs.

[0112] Figure 4 A user terminal positioning device is shown, the device comprising:

[0113] The first acquisition module 40 is used to acquire location management function (LMF) network element information within an indoor target area. The LMF network element information includes at least: map information of the target area, spatial coordinates of the transmit / receive point (TRP) within the target area, and a preset threshold value for the reference signal received power (RSRP).

[0114] The second acquisition module 42 is used to acquire the measurement results of all TRPs in the target area, wherein the measurement results include: the RSRP of the target terminal in the target area measured by the TRP and the time delay between the TRP in the target area and the target terminal;

[0115] The first determining module 44 is used to determine the valid measurement result from the measurement results of all TRPs in the target area according to the RSRP preset threshold value;

[0116] The second determining module 46 is used to determine the positioning strategy of the target terminal based on the number of valid measurement results;

[0117] The positioning module 48 is used to locate the target terminal based on the positioning strategy of the target terminal.

[0118] The aforementioned user terminal positioning device acquires Location Management Function (LMF) network element information within an indoor target area. The LMF network element information includes at least: map information of the target area, spatial coordinates of Transmitter / Receiver Points (TRPs) within the target area, and a preset threshold value for Reference Signal Received Power (RSRP). It acquires measurement results from all TRPs within the target area, including: the RSRP of the target terminal within the target area measured by the TRPs and the time delay between the TRPs and the target terminal. It determines valid measurement results from all TRP measurement results within the target area based on the RSRP preset threshold value. It determines the positioning strategy for the target terminal based on the number of valid measurement results. Based on the positioning strategy, it positions the target terminal. By filtering valid measurement results within the target area using the RSRP preset threshold value and determining different positioning strategies based on the number of valid measurement results, it achieves the goal of determining different positioning strategies based on the number of different valid measurement results, thereby improving positioning accuracy and solving the technical problem of low positioning accuracy in indoor environments in related technologies.

[0119] The second determining module 46 includes a strategy submodule, used to determine the positioning strategy of the target terminal based on the number of valid measurement results, including: when the number of valid measurement results is not less than a preset number, determining the positioning strategy as a first strategy, wherein the first strategy includes: selecting a preset number of measurement results with the largest RSRP from the valid measurement results to determine as first measurement results, and determining the position of the target terminal based on the first measurement results; when the number of valid measurement results is less than the preset number, determining the positioning strategy as a second strategy, wherein the second strategy includes: selecting a preset number of measurement results with the largest RSRP from all measurement results to determine as initial measurement results, calibrating the initial measurement results to obtain second measurement results, and determining the position of the target terminal based on the second measurement results.

[0120] The strategy submodule includes a positioning unit for locating the target terminal based on a positioning strategy of the target terminal. This includes: identifying multiple TRPs corresponding to the target measurement results as target TRPs, wherein the target measurement results include: the first measurement result and the second measurement result; determining distance measurements from the target terminal to the multiple target TRPs based on the target measurement results; determining distance difference measurements from the target terminal to the multiple target TRPs based on the target measurement results; constructing a system of linear equations based on the distance measurements and the distance difference measurements; solving the system of linear equations to obtain the initial position of the target terminal; and performing Kalman filtering on the initial position of the target terminal to obtain the final position of the target terminal.

[0121] The strategy submodule further includes: a calibration unit, configured to, when the positioning strategy is the second strategy, arrange the TRPs corresponding to the initial measurement results in order according to the measured RSRPs to obtain a TRP sequence; construct a power covariance matrix based on the measured RSRPs of each TRP in the TRP sequence, wherein the power covariance matrix is ​​used to represent the statistical relationship between the measured RSRPs of each TRP in the TRP sequence; perform eigenvalue decomposition on the power covariance matrix to obtain the eigenvector matrix corresponding to the power covariance matrix; construct a time delay function based on the eigenvector matrix; and use the time delay function to calibrate the initial measurement results to obtain the second measurement result.

[0122] The calibration unit includes a construction subunit and a calibration subunit. The construction subunit is used to construct a time delay function based on the feature vector matrix, including: extracting a noise subspace matrix and a signal subspace matrix from the feature vector matrix, wherein the noise subspace matrix includes feature vectors with eigenvalues ​​less than a preset noise threshold, and the signal subspace matrix includes feature vectors with eigenvalues ​​greater than the preset noise threshold; obtaining a preset manifold vector; and determining the time delay function based on the preset manifold vector and the noise subspace matrix.

[0123] The calibration subunit is used to calibrate the initial measurement result using the time delay function to obtain the target measurement result, including: performing peak search on the time delay function to obtain multiple feature value time differences; obtaining multiple time difference measurement values ​​for each TRP measurement in the TRP sequence from the initial measurement result; determining multiple calibrated time differences based on the multiple time difference measurement values ​​and the multiple feature value time differences; and determining the target measurement result based on the multiple calibrated time differences.

[0124] The strategy submodule also includes a filtering unit, used to perform Kalman filtering on the initial position of the target terminal to obtain the position of the target terminal, including: acquiring the observation noise covariance matrix and the observation matrix, and determining the Kalman gain based on the observation noise covariance matrix and the observation matrix; determining the state vector at the current time based on the initial position of the target terminal; determining the filtered state vector based on the current state vector and the Kalman gain; and determining the position of the target terminal based on the filtered state vector.

[0125] It should be noted that, Figure 4 The user terminal positioning device shown is used to perform Figure 2 The user terminal positioning method shown above also applies to the user terminal positioning device, and will not be repeated here.

[0126] This application also provides a computer device, including: a memory and a processor, wherein the memory is used to store program instructions; and the processor, connected to the memory, is used to execute the above-described user terminal positioning method.

[0127] This application also provides a computer program product, including computer instructions that, when executed by a processor, implement the steps of the user terminal positioning method in this application.

[0128] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0129] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0134] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A user terminal positioning method, characterized in that, include: Acquire location management function (LMF) network element information within an indoor target area, wherein the LMF network element information includes at least: map information within the target area, spatial coordinates of the transmit / receive point (TRP) within the target area, and a preset threshold value for the reference signal received power (RSRP). Obtain the measurement results of all TRPs within the target area, wherein the measurement results include: the RSRP of the target terminal within the target area measured by the TRP and the time delay between the TRP within the target area and the target terminal; Valid measurement results are determined from the measurement results of all TRPs within the target area based on the RSRP preset threshold value; The positioning strategy for the target terminal is determined based on the number of valid measurement results; The target terminal is located based on the target terminal's positioning strategy.

2. The method according to claim 1, characterized in that, Determining the positioning strategy of the target terminal based on the number of valid measurement results includes: If the number of valid measurement results is not less than a preset number, the positioning strategy is determined to be a first strategy, wherein the first strategy includes: selecting a preset number of measurement results with the largest RSRP from the valid measurement results and determining them as the first measurement results, and determining the location of the target terminal based on the first measurement results; If the number of valid measurement results is less than the preset number, the positioning strategy is determined to be the second strategy. The second strategy includes: selecting a preset number of measurement results with the largest RSRP from all measurement results to determine the initial measurement results, calibrating the initial measurement results to obtain the second measurement results, and determining the location of the target terminal based on the second measurement results.

3. The method according to claim 2, characterized in that, Locating the target terminal based on the target terminal's positioning strategy includes: Multiple TRPs corresponding to the target measurement results are identified as target TRPs, wherein the target measurement results include: the first measurement result and the second measurement result; Based on the target measurement results, determine the distance measurement values ​​from the target terminal to the multiple target TRPs; Based on the target measurement results, determine the distance difference measurement values ​​from the target terminal to the multiple target TRPs; Construct a system of linear equations based on the distance measurements and the distance difference measurements; The initial position of the target terminal is obtained by solving the system of linear equations. The initial position of the target terminal is processed by Kalman filtering to obtain the position of the target terminal.

4. The method according to claim 2, characterized in that, When the positioning strategy is the second strategy, the method further includes: The TRPs corresponding to the initial measurement results are arranged in order according to the measured RSRPs to obtain the TRP sequence; A power covariance matrix is ​​constructed based on the RSRP measured for each TRP in the TRP sequence, wherein the power covariance matrix is ​​used to represent the statistical relationship between the RSRP measured for each TRP in the TRP sequence; The eigenvalue decomposition of the power covariance matrix yields the eigenvector matrix corresponding to the power covariance matrix; Construct a time delay function based on the aforementioned feature vector matrix; The second measurement result is obtained by calibrating the initial measurement result using the time delay function.

5. The method according to claim 4, characterized in that, Constructing a time delay function based on the eigenvector matrix includes: Extract a noise subspace matrix and a signal subspace matrix from the feature vector matrix, wherein the noise subspace matrix includes feature vectors with eigenvalues ​​less than a preset noise threshold, and the signal subspace matrix includes feature vectors with eigenvalues ​​greater than a preset noise threshold; Get the preset manifold vector; The time delay function is determined based on the preset manifold vector and the noise subspace matrix.

6. The method according to claim 4, characterized in that, The target measurement result is obtained by calibrating the initial measurement result using the time delay function, including: Peak search is performed on the time delay function to obtain multiple feature value time differences; From the initial measurement results, obtain multiple time difference measurements for each TRP in the TRP sequence; Multiple calibrated time differences are determined based on the multiple time difference measurements and the multiple characteristic value time differences; The target measurement result is determined based on the multiple calibrated time differences.

7. The method according to claim 3, characterized in that, The initial position of the target terminal is processed by Kalman filtering to obtain the position of the target terminal, including: Obtain the observation noise covariance matrix and the observation matrix, and determine the Kalman gain based on the observation noise covariance matrix and the observation matrix; The current state vector is determined based on the initial position of the target terminal; The filtered state vector is determined based on the current state vector and the Kalman gain. The location of the target terminal is determined based on the filtered state vector.

8. A user terminal positioning device, characterized in that, include: The first acquisition module is used to acquire location management function (LMF) network element information within an indoor target area. The LMF network element information includes at least: map information of the target area, spatial coordinates of the transmit / receive point (TRP) within the target area, and a preset threshold value for the reference signal received power (RSRP). The second acquisition module is used to acquire the measurement results of all TRPs in the target area, wherein the measurement results include: the RSRP of the target terminal in the target area measured by the TRP and the time delay between the TRP in the target area and the target terminal; The first determining module is used to determine the valid measurement result from the measurement results of all TRPs in the target area according to the RSRP preset threshold value; The second determining module is used to determine the positioning strategy of the target terminal based on the number of valid measurement results; The positioning module is used to locate the target terminal based on the positioning strategy of the target terminal.

9. A computer device, characterized in that, include: A memory and a processor, wherein the memory is used to store program instructions; The processor, connected to the memory, is used to execute the user terminal positioning method according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the user terminal positioning method according to any one of claims 1 to 7.

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