Method and device for high-precision positioning of terminal on network side according to differential information, electronic equipment and storage medium

Abstract

The invention provides a method and device for high-precision positioning of a terminal on a network side according to differential information, electronic equipment, a computer readable storage medium and a computer program product. The method for positioning the terminal at the network side with high precision according to the differential information comprises the following steps that: an access and mobility management function unit receives a high-precision positioning request for target user equipment; according to three dimensions of whether to start the broadcast high-precision positioning service in real time, whether to sign the broadcast high-precision positioning service and terminal hardware capability, a corresponding positioning strategy is selected to be executed; executing a corresponding positioning process according to the selected positioning strategy to obtain a high-precision positioning result; and feeding back the high-precision positioning result to the subject initiating the high-precision positioning request. According to the method and the device, the regional service state, the signing condition and the terminal capability are comprehensively considered, the positioning strategy is dynamically adapted, and the adaptability and the success rate of the high-precision positioning service in different scenes are effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of mobile communication positioning technology, and in particular to a method, apparatus, electronic device and storage medium for a high-precision positioning terminal based on a differential information network. Background Technology

[0002] With the evolution of mobile communication technology, location services play a vital role in areas such as public safety rescue, personal safety monitoring, and network system optimization. In the 5G network architecture, network elements such as the Access and Mobility Management Unit, the Location Management Unit, and the Gateway Mobility Center work collaboratively, responding to location requests from user equipment or the network through control plane signaling interactions. Existing positioning technologies mainly include basic cellular positioning, SRS field strength triangulation, and TOA fingerprint positioning. These methods utilize the characteristics of radio interface signals or propagation time differences to estimate the location of user equipment.

[0003] However, the aforementioned positioning methods based on traditional algorithms typically only provide positioning results with meter-level accuracy, which is insufficient for business scenarios requiring high positioning accuracy, such as lane-level navigation, intelligent manufacturing, and sophisticated logistics warehousing. Although high-precision positioning solutions based on the data plane exist, these usually require user equipment to pre-install specific software development kits to acquire auxiliary data and complete calculations through the data plane channel. This approach relies on the terminal-side software environment, and the data flow process mainly takes place on the data plane, failing to fully utilize the advantages of network-side control plane signaling.

[0004] Furthermore, existing high-precision positioning services primarily rely on base stations broadcasting real-time dynamic carrier phase differential auxiliary information from the Global Navigation Satellite System (GNSS) to user equipment within their coverage area. User equipment then receives this auxiliary information and performs autonomous calculations using its own measurement data. This model involves one-way data transmission and is strictly dependent on the user equipment possessing both the hardware capability for autonomous calculation and a signed service subscription. When a user equipment is within a service-enabled area but has not subscribed, or has subscribed but lacks the hardware capability for autonomous high-precision calculation, the single-terminal autonomous calculation process cannot be executed. Meanwhile, the network side, despite possessing differential data resources, cannot directly utilize its signaling plane capabilities to assist the terminal in achieving high-precision positioning, thus limiting the applicability and success rate of high-precision positioning services. Therefore, how to flexibly select the positioning execution entity based on the regional service activation status, user subscription status, and terminal capabilities, achieving complementarity between network-side and terminal-side calculations, is a problem that needs to be solved in this field. Summary of the Invention

[0005] This disclosure aims to at least partially address one of the technical problems in the related art.

[0006] To this end, this disclosure proposes a method, apparatus, electronic device, computer-readable storage medium, and computer program product based on a high-precision positioning terminal on a differential information network side. This method can improve the flexibility and success rate of high-precision positioning services. By comprehensively considering the regional service activation status, user subscription status, and terminal hardware capabilities, it dynamically selects positioning strategies and utilizes network-side broadcast differential resources and terminal computing capabilities to achieve high-precision positioning services.

[0007] The first aspect of this disclosure proposes a method for high-precision positioning of a terminal based on a differential information network, applied to the network side, comprising: an access and mobility management function unit receiving a high-precision positioning request for a target user device; the access and mobility management function unit determining, based on three dimensions—whether the area where the target user device is located currently has a real-time broadcast high-precision positioning service, whether the target user device has subscribed to a broadcast high-precision positioning service in the area where the target user device is located, and the terminal hardware capabilities of the target user device—and selecting and executing a corresponding positioning strategy; the access and mobility management function unit executing a corresponding positioning process according to the selected positioning strategy to obtain a high-precision positioning result for the target user device; and the access and mobility management function unit obtaining the high-precision positioning result and, according to the type of the high-precision positioning request, feeding back the high-precision positioning result to the entity that initiated the high-precision positioning request.

[0008] A second aspect of this disclosure provides a method for high-precision positioning of a terminal based on a differential information network, applied to the terminal side, comprising: the terminal side receiving a query request message sent by an access and mobility management function unit (AMU) through a base station; the terminal side responding to the query request message by sending a feedback message to the AMU, the feedback message carrying positioning capability information of the terminal side; the terminal side receiving a radio resource control reconfiguration message issued by the base station, the radio resource control reconfiguration message carrying a reporting requirement from the AMU to the terminal side; the terminal side performing measurement and processing operations according to the reporting requirement to obtain feedback data; the terminal side encapsulating the feedback data in a non-access stratum protocol data unit (NAS); and the terminal side sending a radio resource control reconfiguration completion message to the base station, the radio resource control reconfiguration completion message carrying the NAS data unit.

[0009] This disclosure provides a network-side high-precision positioning device, applied on the network side, comprising: a receiving module for receiving a high-precision positioning request for a target user device; a policy decision module for determining, based on three dimensions—whether the area where the target user device is located is currently using a real-time broadcast high-precision positioning service, whether the target user device has subscribed to a broadcast high-precision positioning service in the area where the target user device is located, and the terminal hardware capabilities of the target user device—and selecting and executing a corresponding positioning strategy; a positioning execution module for executing a corresponding positioning process according to the positioning strategy selected by the policy decision module, and obtaining a high-precision positioning result for the target user device; and a feedback module for obtaining the high-precision positioning result and, according to the type of the high-precision positioning request, feeding back the high-precision positioning result to the entity that initiated the high-precision positioning request.

[0010] This fourth aspect of the disclosure provides a terminal-side positioning device applied to a terminal side, comprising: a communication interaction module for receiving a query request message, sending a feedback message carrying positioning capability information, receiving a radio resource control reconfiguration message carrying a reporting request, and sending a radio resource control reconfiguration completion message carrying a non-access stratum protocol data unit; a measurement and processing module for performing measurement and processing operations according to the reporting request to obtain feedback data; and a data encapsulation module for encapsulating the feedback data in the non-access stratum protocol data unit.

[0011] A fifth aspect of this disclosure provides an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method for a high-precision positioning terminal based on a differential information network as proposed in the first aspect of this disclosure, or to implement the method for a high-precision positioning terminal based on a differential information network as proposed in the second aspect of this disclosure.

[0012] A sixth aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method for a high-precision positioning terminal based on a differential information network as proposed in the first aspect of this disclosure, or implement the method for a high-precision positioning terminal based on a differential information network as proposed in the second aspect of this disclosure.

[0013] A seventh aspect of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the method for a high-precision positioning terminal based on a differential information network as proposed in a first aspect of this disclosure, or implements the method for a high-precision positioning terminal based on a differential information network as proposed in a second aspect of this disclosure.

[0014] This disclosure presents a method, apparatus, electronic device, computer-readable storage medium, and computer program product for high-precision positioning terminals based on differential information network sides. The method receives high-precision positioning requests for target user devices through an access and mobility management function unit. It determines the target user device's location based on three dimensions: whether a broadcast high-precision positioning service is currently active in the area where the target user device is located, whether the target user device has subscribed to a broadcast high-precision positioning service in the area, and the target user device's terminal hardware capabilities. It then selects and executes a corresponding positioning strategy and performs a corresponding positioning process according to the selected strategy to obtain the high-precision positioning result of the target user device. In summary, the method provided in this disclosure can flexibly adapt to the optimal positioning process based on the target user device's actual subscription status, terminal hardware capabilities, and the service availability in the area. It utilizes the network side to complete positioning when the terminal lacks autonomous computing capabilities or is not subscribed, or utilizes the terminal's autonomous computing capabilities when conditions permit, effectively improving the adaptability and success rate of high-precision positioning services in different scenarios.

[0015] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a flowchart illustrating a method for a high-precision positioning terminal based on a differential information network, as provided in an embodiment of this disclosure. Figure 2 This is a schematic diagram of a network-side high-precision positioning decision-making process provided in an embodiment of the present disclosure; Figure 3 This is a flowchart illustrating another method for high-precision positioning terminals based on differential information network sides provided in this embodiment of the disclosure; Figure 4 This is a schematic diagram of a high-precision positioning signaling interaction timing based on a 5G network architecture provided in an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the structure of a network-side high-precision positioning device provided in an embodiment of the present disclosure; Figure 6 This is a schematic diagram of the structure of a terminal-side positioning device provided in an embodiment of the present disclosure; Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of the present disclosure. Detailed Implementation

[0017] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0018] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this disclosure are authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. The acquisition, transmission, storage, use, and processing of data in the technical solution of this disclosure all comply with the relevant provisions of national laws and regulations.

[0019] It should be noted that in the embodiments disclosed herein, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary and are intended only to illustrate the feasibility of implementing the technical solutions disclosed herein. However, they do not mean that the applicant has used or necessarily used such solutions.

[0020] Figure 1 This is a flowchart illustrating a method for high-precision positioning of a terminal based on a differential information network, as provided in an embodiment of this disclosure.

[0021] This embodiment illustrates the example of configuring a network-side high-precision positioning device based on a method for positioning a terminal on the network side using differential information. In this embodiment, the method for positioning a terminal on the network side using differential information can be configured in an Authentication Management Function (AMF). The network-side high-precision positioning device can be located in a network device, such as a server running in the core network, and there are no restrictions on this.

[0022] like Figure 1 and Figure 2 As shown, the method for high-precision positioning terminals based on differential information networks includes: S101: AMF receives a high-precision positioning request for the target UE.

[0023] Optionally, the entity initiating the location request may include the UE, the Gateway Mobile Location Center (GMLC), or a PLMN internal network element.

[0024] When a location request is initiated by the UE, the location request MO-LR procedure initiated by the mobile station is executed, and the UE requests the relevant location service from the serving AMF through the non-access stratum NAS message. When a location request is initiated by the GMLC, the MT-LR procedure for mobile station termination is executed, and the AMF receives the message from the GMLC; When a location request is initiated from within the PLMN, the Network-Induced Location Request (NI-LR) procedure is executed, for example, the AMF itself decides to initiate a location service for the UE.

[0025] S102: The AMF makes a judgment based on three dimensions: whether the broadcast high-precision positioning service is currently enabled in the area where the UE is located, whether the UE has signed up for the broadcast high-precision positioning service in the current area, and the UE's terminal hardware capabilities, and selects to execute the corresponding positioning strategy.

[0026] Optionally, the AMF determines whether the user's location is currently receiving a high-precision positioning broadcast service. The AMF determines the area currently receiving the high-precision positioning broadcast service by parsing the signaling sent by the Location Management Function (LMF) to control the broadcast (such as Positioning BroadcastCells and globalRanNodeList in the Namf_Communication_NonUeN2MessageTransfer service operation).

[0027] Optionally, the AMF determines whether the user has subscribed to the high-precision positioning service at the current geographical location. The AMF queries the Unified Data Management (UDM) for the user's subscription data. If the result returned by the UDM contains an LCS Broadcast Assistance Data Types information element, and the LcsBroadcastAssistanceTypesData field in that information element exists, then it is determined that the user has subscribed.

[0028] Optionally, the AMF acquires and determines the UE terminal's hardware capabilities for receiving and processing Global Navigation Satellite Systems (GNSS) measurements and Real-time Kinematic (RTK) information. The AMF checks the a-gnss-ProvideCapabilities information element fed back by the UE to confirm whether it supports RTK-related functions such as gnss-RTK-ReferenceStationInfoSupport.

[0029] S103: If the AMF determines that the area where the UE is located has not enabled the broadcast high-precision positioning service, then the positioning process led by the LMF will be executed.

[0030] Optionally, the AMF requests high-precision positioning results from the LMF; the LMF then requests the current GNSS system measurement pseudorange and phase information from the UE, and requests the real-time RTK differential information of the UE's home cell from the high-precision positioning platform.

[0031] Optionally, the LMF completes high-precision positioning of the terminal based on the acquired GNSS system measurement information and RTK differential information, and feeds the results back to the AMF.

[0032] If the AMF determines that the area where the UE is located has enabled the broadcast high-precision positioning service, and the UE has signed up for the service and has the hardware capability to independently calculate high-precision positioning, then the terminal will execute the positioning process calculated independently.

[0033] Optionally, the AMF can directly request high-precision positioning information calculated autonomously by the UE. The UE uses the broadcast encrypted PosSIB data to decrypt the RTK differential information and performs local calculations by combining it with its own observation data.

[0034] Optionally, if the UE cannot provide high-precision positioning information (e.g., calculation failure), the AMF instructs the UE to provide the pseudorange and phase information measured by the current GNSS system, and the process is transferred to network-side auxiliary calculation.

[0035] If the AMF determines that the area where the UE is located has enabled the broadcast high-precision positioning service, but the UE has not signed up for the service, or the UE has signed up but does not have the hardware capability to independently calculate high-precision positioning, then the positioning process led by the AMF will be executed.

[0036] Optionally, the AMF requests the pseudorange and phase information of the current GNSS system measurement from the UE, and combines it with the real-time RTK differential information of the UE's home cell obtained by the AMF during the broadcast service broadcast, so that the network side can complete the high-precision positioning of the terminal.

[0037] Optionally, the AMF can directly match and extract the real-time RTK differential information of the base station to which the cell belongs from the local cache or the currently flowing broadcast service data stream, without having to repeatedly subscribe to the positioning platform.

[0038] Optionally, for the calculation process on the network side (including LMF or AMF), the base station data obtained by the network side and the raw GNSS measurement data reported by the terminal side are used for joint calculation. The specific calculation principle is as follows: LMF or AMF first constructs terminal-side and base station-side configurations for the same satellite based on the acquired observation data. The pseudo-distance equation.

[0039] Among them, the terminal receiver and the target satellite The pseudodistance equation between them is: ; Similarly, the receiver at the ground-based augmentation reference station located in the same geographic grid as the terminal and the target satellite The pseudodistance equation between them is: ; in, It is the terminal receiver and the target satellite The pseudo-distance between them; It is the terminal receiver and the target satellite The geometric distance between them; It is affected by the clock bias of the receiver on the terminal side; It is the target satellite The effect of clock bias; It is the terminal receiver and the target satellite The influence of the ionosphere between them; It is the terminal receiver and the target satellite The tropospheric influence between them; It is the terminal receiver and the target satellite The pseudorange random error between them. It is a ground-based augmentation reference station receiver located in the same geographic grid as the terminal and the target satellite. The pseudo-distance between them; It is the receiver on the ground-based augmentation reference station side and the target satellite The geometric distance between them; It is the clock bias of the receiver on the ground-based augmentation reference station side; It is the receiver on the ground-based augmentation reference station side and the target satellite The influence of the ionosphere between them; It is the receiver on the ground-based augmentation reference station side and the target satellite The tropospheric influence between them; It is the receiver on the ground-based augmentation reference station side and the target satellite The pseudorange random error between them; , These are the coefficients of the corresponding terms.

[0040] Since the terminal and the ground-based augmentation reference station are located in the same geographic grid, the distance between the receiver on the terminal side and the receiver on the ground-based augmentation reference station side is very close. Therefore, the ionospheric influence, tropospheric influence, and random error can be considered to be the same. , , Using the aforementioned terminal receiver and the target satellite The pseudorange equation between the ground-based augmentation reference station receiver and the target satellite is subtracted from the pseudorange equation between them. The pseudo-distance equation between them can be obtained as follows: ; Through this step, satellite clock bias It was completely eliminated, and at the same time, most of the atmospheric delay error was eliminated.

[0041] Geometric distance in the above difference equation and Defined by the following formulas respectively: ; ; in, It is the target satellite coordinates These are the coordinates of the receiver on the terminal side. These are the coordinates of the receiver on the ground-based augmentation reference station side. This is a known quantity from the network side. It can be calculated from satellite ephemeris, and These are the unknowns to be solved.

[0042] By applying the formula for the geometric distance definition above to perform a linear transformation on the difference equation, the nonlinear distance equation is expanded to obtain the linearized equation: ; This formula establishes a linear relationship between the difference of observed values ​​and the coordinate parameters.

[0043] In the above linearized equation, , and All of these can be obtained through RTK data and measurement data, serving as known input quantities. For those containing... satellites ( The observation system can construct a system of simultaneous equations. The network-side computing unit (LMF or AMF) solves this system of equations using the least squares method to obtain the coordinates of the terminal receiver. This enables high-precision positioning of the terminal.

[0044] S104: The AMF obtains the final high-precision positioning result and, depending on the type of positioning request, feeds back the high-precision positioning result to the terminal that initiated the request, the GMLC, or the PLMN internal network element.

[0045] In this embodiment, the Authentication Management Function (AMF) acts as the control center, dynamically selecting the optimal positioning strategy based on the regional broadcast status, user subscription status, and terminal capabilities. In summary, the method provided in this embodiment can achieve adaptive high-precision positioning under different network configurations and terminal capabilities. It can fully utilize terminal computing power to reduce network load, and even when the terminal does not support or has not subscribed, it can complete positioning by multiplexing broadcast data on the network side and combining it with a high-precision differential formula, effectively reducing signaling overhead and ensuring the continuity of positioning services.

[0046] Figure 3 This is a flowchart illustrating another method for high-precision positioning terminals based on differential information network side, provided in an embodiment of this disclosure.

[0047] This embodiment illustrates the example of configuring a high-precision positioning terminal based on a differential information network side into a terminal-side positioning device. In this embodiment, the high-precision positioning terminal based on a differential information network side can be configured in a terminal (UE), and the terminal-side positioning device can be installed in an electronic device, such as in a client or chip module running in the electronic device, without limitation.

[0048] like Figure 3 As shown, the method for high-precision positioning terminals based on differential information networks includes: S201: The terminal receives a query request message sent by the Access and Mobility Management Function Unit through the base station.

[0049] S202: The terminal responds to the query request message by sending a feedback message to the Access and Mobility Management Function Unit, which carries the terminal's positioning capability information.

[0050] Optionally, the positioning capability information includes assisted global navigation satellite system positioning capabilities and hardware capability information related to real-time dynamic carrier phase differential technology.

[0051] Optionally, the hardware capability information related to this real-time dynamic carrier phase differential technology includes at least one of the following: gnss-RTK-ReferenceStationInfoSupport, gnss-RTK-AuxiliaryStationDataSupport, gnss-RTK-ObservationSupport, glo-RTK-BiasInformationSupport, gnss-RTK-MAC-CorrectionDifferencesSupport, gnss-RTK-ResidualsSupport, and gnss-RTK-FKpGradientsSupport. Through this step, the network-side access and mobility management function unit can determine the data type of subsequent requests based on whether the terminal side has the ability to autonomously receive and process RTK information.

[0052] S203: The terminal receives a radio resource control reconfiguration message from the base station, which carries the reporting requirements of the access and mobility management function unit to the terminal.

[0053] Optionally, the reporting requirement may include directly requesting raw measurement information from the Global Navigation Satellite System, or requesting, as a first choice, to report high-precision latitude and longitude information and as a second choice, to report raw measurement information from the Global Navigation Satellite System.

[0054] S204: The terminal side performs measurement and processing operations according to the reporting request.

[0055] Optionally, when the reporting request indicates that high-precision latitude and longitude information should be reported first, and the terminal has the capability for autonomous calculation, the terminal executes the autonomous calculation process. The terminal performs measurements using a Global Navigation Satellite System (GNSS) receiver to achieve single-point positioning and receives positioning system information broadcast by the current cell. The terminal decrypts the positioning system information using the key obtained during registration to obtain real-time dynamic carrier phase differential data. The terminal combines the GNSS measurements with the real-time dynamic carrier phase differential data to perform calculations and obtain the high-precision positioning result.

[0056] Optionally, when the reporting request instructs the direct reporting of the original measurement information of the Global Navigation Satellite System, or when the terminal cannot complete the calculation of the high-precision positioning result, the terminal may collect the current pseudorange and phase information of the Global Navigation Satellite System.

[0057] The pseudorange and phase information measured by this Global Navigation Satellite System includes at least one of the following fields: a 2-bit satellite system identifier, a 30-bit Global Navigation Satellite System epoch time, a 64-bit satellite mask, a 32-bit signal mask, an 8-bit approximate satellite distance in milliseconds, a 10-bit approximate satellite distance within milliseconds, a 15-bit signal pseudorange, a 22-bit signal carrier phase, and a 6-bit Global Navigation Satellite System carrier-to-noise ratio. The satellite system identifier is used to distinguish between the Global Positioning System, the BeiDou Navigation Satellite System, the GLONASS system, and the Galileo system.

[0058] S205: The terminal side encapsulates the high-precision positioning result or the pseudorange and phase information measured by the global navigation satellite system in a non-access stratum protocol data unit.

[0059] S206: The terminal sends a Radio Resource Control (RRC) reconfiguration completion message to the base station, which carries the Non-Access Stratum (NAS) data unit. This NAS data unit is subsequently transmitted by the base station to the Access and Mobility Management (AM) functional unit. If the terminal provides feedback on the pseudorange and phase information measured by the Global Navigation Satellite System (GNSS), this information is used by the AMAM functional unit to calculate the terminal's high-precision position in conjunction with the real-time dynamic carrier phase differential data acquired from the network side.

[0060] In this embodiment, the terminal reports detailed RTK hardware capabilities and flexibly chooses to autonomously calculate or report raw observation data based on instructions from the network side. In summary, the method provided in this embodiment can cooperate with the network side to implement differentiated positioning strategies. When capabilities are available, it utilizes air interface broadcast data for autonomous positioning to reduce latency; when conditions are unavailable, it provides high-precision raw measurement data for network-side calculation, thereby improving the overall success rate and accuracy of the positioning service.

[0061] Figure 4 This is a schematic diagram of the timing interaction of high-precision positioning signaling based on a 5G network architecture, provided as an embodiment of this disclosure.

[0062] like Figure 4 As shown, this interaction process involves the User Equipment (UE), the base station (gNB), the Access and Mobility Management Function (AMF), the Location Management Function (LMF), the Continuously Operating Reference Station (CORS) platform, and the Gateway Mobile Location Center (GMLC). The specific interaction process is as follows: Before initiating positioning, the LMF sends full RTK data containing auxiliary information control, such as an update frequency of 210,000 grids per hertz, to the AMF via the Namf_Communication_NonUeN2MessageTransfer service. The AMF then transmits this network auxiliary data to the gNB via the DOWNLINK NON UE ASSOCIATED NRPPa TRANSPORT message. The gNB further broadcasts this data to the UE over the air interface via a high-precision positioning service broadcast message.

[0063] The location process can be triggered by the UE-initiated MO-LR process, the GMLC-initiated MT-LR process, or the NI-LR process initiated within the network. When the AMF receives a location service request, it determines the subsequent execution branch based on whether the UE's cell currently has RTK broadcast service enabled and whether the UE has subscribed to the broadcast high-precision positioning service.

[0064] Scenario 1: LMF-led localization process If the AMF determines that the NR cell where the UE is located has not yet enabled RTK broadcasting, it performs the following steps: The AMF sends an Nlmf_Location-DetermineLocation Req request to the LMF. Based on the NCGI in the request, the LMF determines that the cell has no RTK broadcasting and cannot support autonomous terminal positioning, so it decides to perform network-side positioning. The LMF requests capability from the UE via the LPP protocol and receives feedback. The LMF subscribes to and obtains real-time RTK information for the area from the CORS base station platform. The LMF requests location information from the UE, and the UE provides the measurement results. Based on the obtained real-time RTK information and the UE's real-time GNSS measurement information, the LMF calculates the UE's real-time high-precision location and feeds it back to the AMF.

[0065] Scenario 2: AMF-led or terminal-autonomous positioning process If the AMF determines that the NR cell where the UE is located has enabled RTK broadcasting, then the following steps are executed: AMF sends a DOWNLINK NAS TRANSPORT message to the UE via gNB to request the UE's positioning capability information.

[0066] The UE provides its GNSS and RTK reception capability information to the AMF via the UPLINK NAS TRANSPORT. This information includes the a-gnss-ProvideCapabilities field, which indicates that the UE has A-GNSS positioning capabilities. It contains RTK-related capability information, specifically one or more of the following: gnss-RTK-ReferenceStationInfoSupport, gnss-RTK-AuxiliaryStationDataSupport, gnss-RTK-ObservationSupport, glo-RTK-BiasInformationSupport, gnss-RTK-MAC-CorrectionDifferencesSupport, gnss-RTK-ResidualsSupport, and gnss-RTK-FKpGradientsSupport.

[0067] AMF is based on the UE-side RTK reception and processing capabilities and the subsequent process of determining the subscription status.

[0068] When the AMF determines that the user has subscribed to the high-precision positioning service during the user registration phase, and confirms that the UE has the ability to independently calculate and obtain high-precision positioning information based on the aforementioned capability acquisition process (Note: The decryption key CK has been obtained during the user registration phase, and the UE has the ability to decrypt the air interface PosSIB): AMF initiates a location reporting request to gNB via the LOCATION REPORTING CONTROL message.

[0069] The gNB performs an RRC reconfiguration process with the UE and carries the AMF's reporting requirements for the UE along with it, instructing the user to report high-precision latitude and longitude information first and GNSS measurement information second.

[0070] The UE receives an RRC reconfiguration message from the network side. If the UE can complete the calculation, it performs single-point positioning based on its autonomous GNSS capabilities and completes high-precision positioning correction based on the PosSIB sent by the network side, and feeds back the high-precision positioning result containing ecefX, ecefY, ecefZ and Time to the network side.

[0071] If the UE cannot complete high-precision positioning calculations, it will send back the corresponding GNSS system information to the network side, including GPS, BeiDou, GLONASS, or Galileo system information. The feedback information specifically includes: a 2-bit satellite system identifier (used to distinguish between GPS, BeiDou, GLONASS, and Galileo systems), a 30-bit GNSS epoch time, a 64-bit satellite mask, a 32-bit signal mask, an 8-bit approximate satellite distance in milliseconds, a 10-bit approximate satellite distance within milliseconds, a 15-bit signal pseudorange, a 22-bit signal carrier phase, and a 6-bit GNSS signal carrier-to-noise ratio.

[0072] The UE carries high-precision latitude and longitude information or GNSS measurement information in the RRC Reconfiguration Complete message and adds it to the NAS-PDU along with the path and feeds it back to the gNB.

[0073] The gNB carries a User Location Information element in the NG interface message sent to the core network. According to 3GPP TS 38.413, messages containing this User Location Information element include: PDU Session management messages: PDU SESSION RESOURCE RELEASE RESPONSE, PDU SESSIONRESOURCE MODIFY RESPONSE, PDU SESSION RESOURCE NOTIFY, PDU SESSION RESOURCEMODIFY INDICATION; UE context management messages: UE CONTEXT RELEASE COMPLETE, UE CONTEXT MODIFICATIONRESPONSE, RRC INACTIVE TRANSITION REPORT; UE mobility management messages: HANDOVER NOTIFY, PATH SWITCH REQUEST; NAS Transmission Messages: INITIAL UE MESSAGE, UPLINK NAS TRANSPORT.

[0074] If the AMF receives high-precision positioning information, it saves it directly; if it receives GNSS measurement information, it completes high-precision positioning of the UE by using the GNSS measurement information fed back by the UE and the RTK information corresponding to the geographical area where the UE is located.

[0075] When the user has not subscribed to the high-precision positioning service for the current area, or when the UE's RTK receiving capability, combined with the RTK broadcast information sent by the AMF, cannot independently complete high-precision positioning: The AMF requests GNSS measurement information from the UE. The network element that triggers this request is the AMF, which requests the information via a DOWNLINKNAS TRANSPORT message. The UE responds via an UPLINK NAS TRANSPORT message. The signaling process and fields used are consistent with the process initiated by the LMF.

[0076] AMF acquires GNSS measurement results fed back by the UE.

[0077] AMF combines the RTK broadcast information for the cell where the UE is located at the current moment in the high-precision positioning broadcast service with the GNSS measurement results fed back by the UE to obtain the UE's real-time high-precision positioning information.

[0078] After AMF obtains the final high-precision positioning result, it provides feedback based on the positioning trigger reason: If it is MO-LR, AMF transmits the positioning result to UE; if it is MT-LR, AMF transmits the positioning result to GMLC; if it is NI-LR, AMF transmits the positioning result to relevant interface services within PLMN.

[0079] It should be noted that in the following embodiments, the descriptions of the same or corresponding terms and method steps can be found in the above embodiments, and will not be repeated here.

[0080] Figure 5 This is a schematic diagram of the structure of a network-side high-precision positioning device provided in an embodiment of this disclosure.

[0081] like Figure 5 As shown, the network-side high-precision positioning device 30 is configured in an authentication management function unit (such as AMF). The network-side high-precision positioning device 30 includes: The receiving module 301 is used to receive a high-precision positioning request for the target UE; the positioning request can be initiated by the UE, by the gateway mobile location center (GMLC), or by the internal network element of the PLMN.

[0082] The strategy decision module 302 is used to make a judgment based on three dimensions: whether the broadcast high-precision positioning service is currently enabled in the area where the UE is located, whether the UE has signed up for the broadcast high-precision positioning service in the current area, and the UE's terminal hardware capabilities, and select to execute the corresponding positioning strategy.

[0083] The positioning execution module 303 is used to perform one of the following operations based on the judgment result of the strategy decision module: If it is determined that the area does not have broadcast service enabled, request the location result from LMF; If it is determined that the area has enabled broadcasting, the UE has signed up and has autonomous capabilities, the system requests high-precision positioning information calculated autonomously from the UE. If the area is determined to be broadcasting but the UE has not signed up or does not have autonomous capabilities, the network side will request the UE to provide the original GNSS measurement information and combine it with the RTK differential information during the broadcasting process to complete the positioning calculation.

[0084] Feedback module 304 is used to obtain the final high-precision positioning result and feed it back to the subject that initiated the request.

[0085] It should be noted that the foregoing explanation of the method for high-precision positioning terminals based on differential information networks also applies to the network-side high-precision positioning device of this embodiment, and will not be repeated here.

[0086] In this embodiment, multi-dimensional judgment by the strategy decision module and differentiated processing by the positioning execution module are used. In summary, the apparatus provided in this embodiment can optimize the allocation of network and terminal resources, reducing system overhead while ensuring high-precision positioning services.

[0087] Figure 6 This is a schematic diagram of the structure of a terminal-side positioning device provided in an embodiment of this disclosure.

[0088] like Figure 6 As shown, the terminal-side positioning device 40 is configured on a terminal device, and the terminal-side positioning device 40 includes: The communication interaction module 401 is used to receive query request messages, send feedback messages carrying positioning capability information, and receive radio resource control reconfiguration messages carrying reporting requests.

[0089] The measurement and processing module 402 is used to perform operations according to the reporting requirements: when the instruction is to prioritize the reporting result and the conditions are met, it receives broadcast RTK data and autonomously calculates the high-precision position; when the instruction is to directly report the raw information or the calculation fails, it collects GNSS measurement pseudorange and phase information.

[0090] The data encapsulation module 403 is used to encapsulate high-precision positioning results or GNSS measurement pseudorange and phase information in a non-access stratum protocol data unit and send it to the network side through the communication interaction module.

[0091] It should be noted that the foregoing explanation of the method for high-precision positioning of the terminal based on the differential information network also applies to the terminal-side positioning device of this embodiment, and will not be repeated here.

[0092] In this embodiment, intelligent cooperation and data collection are achieved on the terminal side. In summary, the device provided in this embodiment can support flexible high-precision positioning modes, adapting to different network deployment environments and user subscription statuses.

[0093] To implement the above embodiments, this disclosure also proposes an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0094] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0095] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0096] Figure 7 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Figure 7 The electronic device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0097] like Figure 7 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, memory 28, and bus 18 connecting different system components (including memory 28 and processing unit 16).

[0098] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0099] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0100] Memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and / or cache 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 7 Not shown; usually referred to as a "hard drive".

[0101] although Figure 7 As not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a removable non-volatile optical disc (e.g., a compact disc read-only memory (CD-ROM), a digital video disc read-only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this disclosure.

[0102] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of this disclosure.

[0103] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable human interaction with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0104] The processing unit 16 executes various functional applications and data processing by running programs stored in the memory 28, such as implementing the method for high-precision positioning terminals based on differential information network mentioned in the foregoing embodiments.

[0105] To implement the above embodiments, this disclosure also proposes an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0106] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0107] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0108] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this disclosure all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0109] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0110] This disclosure is intended to provide implementation schemes for users to selectively prevent the use or access to their personal information data. Specifically, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information is de-identified to protect user privacy.

[0111] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0112] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0113] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0114] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0115] It should be understood that various parts of this disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0116] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0117] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0118] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for high-precision positioning of a terminal on the side of a differential information network, characterized in that Applied to the network side, comprising the following steps: S101, the access and mobility management function unit receives a high-precision positioning request for a target user equipment; S102, the access and mobility management function unit judges based on whether the target user equipment is currently real-time opened broadcast high-precision positioning service in the area where the target user equipment is located, whether the target user equipment is subscribed to the broadcast high-precision positioning service in the area where the target user equipment is located, and the terminal hardware capability of the target user equipment, selects to execute the corresponding positioning strategy; S103, the access and mobility management function unit executes the corresponding positioning process according to the positioning strategy selected in the S102 step, and obtains the high-precision positioning result of the target user equipment; S104, the access and mobility management function unit obtains the high-precision positioning result, and feeds back the high-precision positioning result to the subject initiating the high-precision positioning request according to the type of the high-precision positioning request.

2. The method of claim 1, wherein, In the S103 step, the execution of the corresponding positioning process includes: If the S102 step judges that the target user equipment is not opened broadcast high-precision positioning service in the area where the target user equipment is located, the location management function unit dominated positioning process is executed; If the S102 step judges that the target user equipment is opened broadcast high-precision positioning service in the area where the target user equipment is located, and the target user equipment has subscribed to the broadcast high-precision positioning service and has the high-precision positioning hardware capability of self-computing, the terminal self-computing positioning process is executed; If the S102 step judges that the target user equipment is opened broadcast high-precision positioning service in the area where the target user equipment is located, but the target user equipment has not subscribed to the broadcast high-precision positioning service, or the target user equipment has subscribed but does not have the high-precision positioning hardware capability of self-computing, the access and mobility management function unit dominated positioning process is executed.

3. The method of claim 2, wherein, The execution of the access and mobility management function unit dominated positioning process includes: The access and mobility management function unit asks the target user equipment for the current global navigation satellite system measurement pseudo-range and phase information; The access and mobility management function unit matches and extracts the real-time dynamic carrier phase difference information of the target user equipment belonging cell from the local cache or the currently real-time transmitted broadcast service data stream; The access and mobility management function unit combines the global navigation satellite system measurement pseudo-range and phase information and the real-time dynamic carrier phase difference information to complete the high-precision positioning of the target user equipment.

4. A method for network-side high-precision positioning of a terminal based on differential information, characterized in that Applied to the terminal side, comprising the following steps: S201, the terminal side receives the query request message sent by the access and mobility management function unit through the base station; S202, the terminal side responds to the query request message, sends a feedback message to the access and mobility management function unit, and the feedback message carries the positioning capability information of the terminal side; S203. The terminal receives a radio resource control reconfiguration message sent by the base station. The radio resource control reconfiguration message carries the reporting requirements of the access and mobility management function unit to the terminal. S204. The terminal side performs measurement and processing operations according to the reporting requirements to obtain feedback data; S205. The terminal side encapsulates the feedback data in a non-access stratum protocol data unit; S206. The terminal sends a Radio Resource Control Reconfiguration Complete Message to the base station, the Radio Resource Control Reconfiguration Complete Message carrying the Non-Access Stratum Protocol Data Unit.

5. The method of claim 4, wherein, In step S204, the terminal performs measurement and processing operations according to the reporting request to obtain feedback data, specifically including: When the reporting request indicates that high-precision latitude and longitude information should be reported first and the terminal side has the conditions for autonomous calculation, the terminal side executes the autonomous calculation process: it performs measurement through the global navigation satellite system receiver to complete single-point positioning, receives the positioning system information broadcast by the current cell, decrypts the positioning system information using the key obtained during the registration process, obtains real-time dynamic carrier phase differential data, and performs calculations by combining the global navigation satellite system measurement value with the real-time dynamic carrier phase differential data to obtain the high-precision positioning result as the feedback data; When the reporting request instructs the direct reporting of the original measurement information of the Global Navigation Satellite System, or when the terminal cannot complete the calculation of the high-precision positioning result, the terminal collects the current pseudorange and phase information of the Global Navigation Satellite System as the feedback data.

6. An apparatus for network-side high-accuracy positioning of a terminal based on differential information, characterized by Configured on the network side, including: The receiving module is used to receive high-precision positioning requests for target user equipment. The strategy decision module is used to make a judgment based on three dimensions: whether the area where the target user equipment is located is currently using the broadcast high-precision positioning service in real time, whether the target user equipment has subscribed to the broadcast high-precision positioning service in the area where the target user equipment is located, and the terminal hardware capabilities of the target user equipment, and select to execute the corresponding positioning strategy. The positioning execution module is used to execute the corresponding positioning process according to the positioning strategy selected by the strategy decision module, and obtain the high-precision positioning result of the target user device; The feedback module is used to obtain the high-precision positioning result and, according to the type of the high-precision positioning request, to feed back the high-precision positioning result to the entity that initiated the high-precision positioning request.

7. An apparatus for network-side high-accuracy positioning of a terminal based on differential information, characterized by Configured on the terminal side, including: The communication interaction module is used to receive query request messages, send feedback messages carrying location capability information, receive radio resource control reconfiguration messages carrying reporting requirements, and send radio resource control reconfiguration completion messages carrying non-access stratum protocol data units. The measurement and processing module is used to perform measurement and processing operations according to the reporting requirements and obtain feedback data; A data encapsulation module is used to encapsulate the feedback data in the non-access stratum protocol data unit.

8. An electronic device, comprising: Includes a processor and a memory communicatively connected to the processor; The memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of claims 1-3, or to implement the method as described in any one of claims 4-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-3, or to implement the method as described in any one of claims 4-5.

10. A computer program product, characterised in that, It includes a computer program that, when executed by a processor, implements the method of any one of claims 1-3, or implements the method of any one of claims 4-5.

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