Indoor-outdoor fusion positioning method and apparatus, communication device, and readable storage medium

Abstract

The application provides an indoor-outdoor fusion positioning method and device, a communication device and a readable storage medium. A first module arranged in a terminal receives a signal from a global navigation satellite system (GNSS), and obtains geographical position information of the terminal. A second module arranged in the terminal is connected to a base station, and sends an uplink positioning reference signal (SRS-Pos) to a transmission and reception point (TRP) of the surrounding base station, which is used for the base station to calculate measurement positioning information of the terminal. The base station simultaneously extends a SIBPos request to the terminal to request a synchronous high-precision time, and reports the geographical position information obtained by the first module and the measurement positioning information calculated by the base station to a LBS server, which is used for fusion decision of all received position information to obtain an accurate position of the terminal. The method can improve the positioning accuracy in an outdoor environment, effectively cover an indoor environment, and realize more accurate and reliable indoor-outdoor fusion positioning service.

Description

Technical Field

[0001] This application relates to the field of device positioning technology, and in particular to an indoor-outdoor integrated positioning method, device, communication equipment, and readable storage medium. Background Technology

[0002] With the rapid development of modern communication technologies, especially the promotion and application of 5G (Fifth Generation) technology, the application of related technologies in the positioning field is becoming increasingly mature. Generally, in outdoor scenarios, GNSS (Global Navigation Satellite System) based methods are commonly used for outdoor positioning, such as the BeiDou Navigation Satellite System. However, while these methods perform well in open environments, their accuracy drops significantly indoors or in environments with obstructed signals. Their signals are easily interfered with, leading to a substantial decrease in positioning accuracy or even positioning failure. On the other hand, in situations where satellite positioning systems are generally not available indoors, many indoor positioning technologies have been proposed, such as Bluetooth positioning and 5G positioning. These technologies can provide auxiliary positioning information in specific environments, but their application in outdoor scenarios has limitations.

[0003] Single GNSS positioning or indoor positioning technologies have limitations and cannot meet the ever-increasing demand for accurate positioning. The current application trend is to use GNSS for outdoor positioning and Bluetooth, Wi-Fi, or 5G indoor distributed system positioning for indoor positioning. However, for two independent positioning systems, indoor and outdoor positioning must be able to switch smoothly in terms of location and time of positioning source data in order to achieve a smooth switching of positioning systems when changing scenes. Summary of the Invention

[0004] Therefore, it is necessary to provide an indoor-outdoor integrated positioning method, device, communication equipment, and readable storage medium to address the aforementioned technical problems.

[0005] This method leverages the advantages of both GNSS and indoor positioning systems. By fusing their positioning data, it not only improves positioning accuracy in outdoor environments but also effectively covers indoor environments, achieving a more precise and reliable integrated indoor-outdoor positioning service. This integrated positioning method aims to overcome the limitations of existing technologies and provide users with a comprehensive, continuous, and high-precision positioning solution.

[0006] Firstly, an indoor / outdoor fusion positioning method is provided, the method comprising:

[0007] The first module installed in the terminal receives signals from GNSS and obtains the terminal's geographical location information;

[0008] The second module installed in the terminal connects to the base station and sends uplink positioning reference signals (SRS-Pos) to the transmission and reception points (TRPs) of surrounding base stations. This is used by the base station to calculate the measurement and positioning information of the terminal. At the same time, the base station extends SIBPos to request synchronization of high-precision time to the terminal.

[0009] The geographic location information obtained by the first module and the measurement and positioning information calculated by the base station are reported to the location server (LBS, Location Based Services) for fusion and judgment of all received location information to obtain the accurate location of the terminal.

[0010] In some embodiments, the method further includes, in addition to, performing a fusion decision on all received location information:

[0011] LBS collects positioning measurement information from the terminal and the base station, evaluates the confidence of all positioning measurement information, and removes the corresponding positioning measurement information when the confidence of the data source is lower than a certain threshold.

[0012] The remaining positioning measurement information is evaluated for movement speed. A reasonable speed range is set. If the current movement speed evaluation value exceeds the expected range, it is judged as an anomaly and removed. The remaining information is valid positioning measurement information.

[0013] The effective positioning measurement information is fused to obtain the fused position value P. fusion ;

[0014] Using the current valid positioning measurement information and the historical location of the valid positioning measurement information as input, the possible location value P of each positioning measurement information at the next moment is estimated according to the relevant prediction method. predict ;

[0015] Based on the merged position value P fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final .

[0016] In some embodiments, the method further includes evaluating the movement speed based on the remaining positioning measurement information as follows:

[0017] Given the current terminal's location information P and time information t, calculate the current moving speed using the following formula:

[0018]

[0019] Where P currentFor all location data received by the current LBS, P last The location data calculated by LBS in the last time, t current t represents the current time. last v represents the time corresponding to the location data calculated by LBS in the last time. current This is the calculated current speed.

[0020] In some embodiments, the method involves fusing the effective positioning measurement information to obtain a fused position value P. fusion It also includes:

[0021] The combined position is obtained by weighting the different data sources:

[0022] P fusion =w GNSS *P GNSS +w BS *P BS +w gyro *P gyro

[0023] P fusion w represents the merged position value. GNSS Report position P to GNSS GNSS The weight, w BS Report location P to the base station system BS The weight, w gyro Report location P to other sensors gyro The weights, w, are dynamically adjusted based on the confidence level, and w GNSS +w BS +w gyro =1.

[0024] The effective positioning measurement information is fused with the corresponding calculated position P. fusion If the difference is small, increase the weight of the corresponding location information; if the difference is large, decrease the weight of the corresponding location information, while maintaining w. GNSS +w BS +w gyro =1.

[0025] In some embodiments of the method, the step of determining the fused position value P fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final It also includes:

[0026] Final location of the terminal: P final =a*P fusion +(1-a)*Ppredict ,

[0027] 'a' is a confidence parameter, and 'a' is adjustable.

[0028] In some embodiments, the method further includes sending an uplink positioning reference signal SRS-Pos to the TRP of surrounding base stations for high-precision positioning measurements:

[0029] The TRP receives the uplink positioning reference signal sent by the terminal, measures the relative time difference between the SRS-Pos arrival time and the base station's own reference time, and the baseband unit (BBU) in the base station sends the processed TRP data to the LBS server for further positioning calculation.

[0030] In some embodiments, the method further includes the base station simultaneously extending SIBPos requests to synchronize high-precision time to the terminal, and the base station encapsulating positioning assistance data obtained from the core network LMF element into the positioning system information module of the RRC broadcast message. The terminal obtains satellite positioning assistance data by reading the positioning system information module, and the terminal performs position calculation based on the satellite positioning assistance data to achieve precise time alignment between the terminal and the base station.

[0031] In some embodiments, the method further includes a third module responsible for driving the GNSS chip and other sensors to acquire information such as the terminal's acceleration and angular velocity. This information is used to assist in positioning and improve its accuracy and stability. The other sensors include gyroscopes, etc.

[0032] In one embodiment, the method further includes: the pre-estimation method employs the LSTM (Long Short-Term Memory) algorithm.

[0033] Secondly, an indoor / outdoor fusion positioning device is provided for use in a terminal. The device includes a memory, a transceiver, and a processor.

[0034] The memory is used to store computer programs;

[0035] The transceiver is used to send and receive data under the control of the processor;

[0036] The processor is configured to read the computer program from the memory and perform the following operations:

[0037] It receives signals from GNSS to obtain the terminal's geographic location information; sends uplink positioning reference signal SRS-Pos to the TRP of surrounding base stations, calculates the terminal's measurement and positioning information, and receives extended SIBPos requests from base stations to synchronize high-precision time; drives the GNSS chip and sensors to obtain the terminal's acceleration and angular velocity for auxiliary positioning; reports the obtained geographic location information and measurement and positioning information to LBS, and performs fusion and decision-making on all received location information to obtain the terminal's accurate location.

[0038] In some embodiments, the step of fusing and determining all received location information further includes: collecting positioning measurement information from the terminal and the base station; evaluating the confidence level of all the positioning measurement information; discarding the corresponding positioning measurement information when the confidence level of the data source is lower than a certain threshold; evaluating the movement speed of the remaining positioning measurement information; setting a reasonable speed range; if the current movement speed evaluation value exceeds the expected range, judging it as an anomaly and discarding it, leaving the remaining as valid positioning measurement information; and fusing the valid positioning measurement information to obtain the fused location value P. fusion Using the current valid positioning measurement information and the historical location of the valid positioning measurement information as input, the possible location value P of each positioning measurement information at the next moment is estimated according to the relevant prediction method. predict According to the fused position value P fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final .

[0039] In some embodiments of the device, the step of evaluating the movement speed based on the remaining positioning measurement information further includes:

[0040] Given the current terminal's location information P and time information t, calculate the current moving speed using the following formula:

[0041]

[0042] Where P current For all location data received by the current LBS, P last The location data calculated by LBS in the last time, t current t represents the current time. last v represents the time corresponding to the location data calculated by LBS in the last time. current This is the calculated current speed.

[0043] In some embodiments, the device fuses the effective positioning measurement information to obtain a fused position value P. fusion It also includes:

[0044] The combined position is obtained by weighting the different data sources:

[0045] P fusion =w GNSS *P GNSS +w BS *P BS +w gyro *P gyro

[0046] P fusion w represents the merged position value. GNSS Report position P to GNSS GNSS The weight, w 5G For base station to report location P BS The weight, w gyro Report location P to other sensors gyro The weights, and w GNSS +w BS +w gyro =1;

[0047] The effective positioning measurement information is fused with the corresponding calculated position P. fusion By comparison, the positional deviation value is obtained;

[0048] Set a position deviation threshold. If the position deviation value is less than the threshold, increase the weight of the corresponding position information; otherwise, decrease the weight of the corresponding position information, while maintaining w. GNSS +w BS +w gyro =1.

[0049] In some embodiments of the apparatus, the step of determining the position value P after fusion is... fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final It also includes:

[0050] Final location of the terminal: P final =a*P fusion +(1-a)*P predict ,

[0051] 'a' is a confidence parameter, and 'a' is adjustable.

[0052] In some embodiments of the apparatus, the step of sending uplink positioning reference signals SRS-Pos to surrounding base stations and calculating the terminal's measured positioning information further includes:

[0053] The system receives the uplink positioning reference signal sent by the receiving terminal, measures the relative time difference between the SRS-Pos arrival time and the base station's own reference time, and sends the processed TRP data to the LBS server for further positioning calculation.

[0054] In some embodiments, the device further includes other sensors, such as gyroscopes.

[0055] In one embodiment, the method further includes: the pre-estimation method employs the LSTM (Long Short-Term Memory) network algorithm.

[0056] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0057] Fourthly, this disclosure provides a communication device, including: a processor, and a memory communicatively connected to the processor;

[0058] The memory stores computer-executed instructions;

[0059] The processor executes computer execution instructions stored in the memory to implement the method as described in the first aspect.

[0060] Fifthly, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0061] This application provides an indoor / outdoor fusion positioning method, apparatus, communication device, and readable storage medium. The method receives signals from a Global Navigation Satellite System (GNSS) through a first module to obtain precise geographic location information. A second module connects to a base station and sends an uplink positioning reference signal (SRS-Pos) to the TRPs of surrounding base stations for the base stations to calculate measurement positioning information. The geographic location information obtained by the first module and the measurement positioning information calculated by the base stations are reported to an LBS server for fusion and decision-making based on all received location information to obtain the accurate location of the terminal. This method achieves advantages such as terminal positioning, multi-source data fusion, and deep integration between the cloud and the terminal, thus overcoming the limitations of existing single positioning technologies. It provides users with accurate, reliable, and environment-independent high-quality location services, significantly improving the continuity of positioning services and user experience, and has broad application prospects. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a schematic diagram of an application scenario in one embodiment;

[0064] Figure 2 This is a flowchart of an indoor / outdoor fusion positioning method in one embodiment;

[0065] Figure 3 This is a flowchart of the location fusion decision process in an indoor / outdoor fusion positioning method according to one embodiment;

[0066] Figure 4 This is a schematic diagram of the current location movement speed evaluation process in an indoor / outdoor fusion positioning method according to one embodiment;

[0067] Figure 5 This is a schematic diagram of the location fusion calculation process in an indoor / outdoor fusion positioning method according to one embodiment;

[0068] Figure 6 This is a schematic diagram of the location fusion optimization algorithm flow in an indoor / outdoor fusion positioning method according to one embodiment;

[0069] Figure 7 This is a schematic diagram of the uplink positioning reference signal transmission process in an indoor-outdoor fusion positioning method according to one embodiment;

[0070] Figure 8 This is a schematic diagram of the time alignment process in an indoor-outdoor fusion positioning method in one embodiment;

[0071] Figure 9 This is a structural block diagram of an indoor-outdoor integrated positioning device in one embodiment. Detailed Implementation

[0072] In this embodiment of the invention, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0073] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0074] The terms "first," "second," etc., used in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They do not indicate any order or limit on the number of objects in the embodiments of this application, and cannot constitute any limitation on the embodiments of this application. For example, the first data packet is a data packet sent by the server device to the proxy device, and the second data packet is a data packet sent by the proxy device to the client device. The use of terms such as "first" and "second" is only to distinguish different data packets, and does not indicate any difference in the size, priority, or importance of these two data packets.

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0076] Under normal circumstances, outdoor positioning can be performed based on satellite positioning systems (such as the BeiDou satellite positioning system). However, since it is difficult to receive satellite signals indoors, positioning cannot generally be performed indoors using satellite positioning systems.

[0077] However, current users have a wide range of needs for indoor positioning. For example, shopping malls and supermarkets need to monitor customers' locations in real time to understand their behavior and shopping preferences, and provide them with personalized recommendations. Hospitals need to accurately track the location of medical equipment and patients to improve the efficiency and safety of medical services. Office buildings need to monitor employees' locations in real time to optimize the utilization and management of office space. Factories and warehouses need to accurately track the location of goods and equipment to improve logistics and warehousing efficiency. To meet users' indoor positioning needs, many indoor positioning technologies have been proposed, such as Bluetooth positioning technology and 5G positioning technology. These technologies can provide auxiliary positioning information in specific environments, but their applications in outdoor scenarios have limitations.

[0078] As discussed above, both single GNSS positioning and indoor positioning technologies have limitations and cannot meet the ever-increasing demand for accurate positioning. The current trend is to use GNSS for outdoor positioning and Bluetooth, Wi-Fi, or 5G indoor distributed systems for indoor positioning. However, for two independent positioning systems (indoor and outdoor), smooth switching between location and time-series data is crucial for seamless transitions between different scenarios; otherwise, positioning accuracy will be compromised.

[0079] In view of this, embodiments of this application provide an indoor / outdoor fusion positioning method, apparatus, and readable storage medium. The positioning method receives signals from a global navigation satellite system through a first module to obtain accurate geographic location information; it connects to a base station through a second module and sends uplink positioning reference signals (SRS-Pos) to the TRPs of surrounding base stations for the base stations to calculate measurement positioning information; and it reports the geographic location information obtained by the first module and the measurement positioning information calculated by the base stations to an LBS for fusion decision on all received location information to obtain the accurate location of the terminal.

[0080] This application can be implemented based on a base station. In optional embodiments of this application, the base station can be a 5G base station or a base station of other communication standards, such as a future 6G (sixth generation) base station. This application does not specifically limit this. In the following, this application will only use the application of this positioning method to a 5G base station as an example for illustration.

[0081] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0082] The following is combined Figure 1 The application scenarios of this application are described. Figure 1 This is a schematic diagram illustrating an application scenario in one embodiment. For example... Figure 1 As shown, the terminal includes, but is not limited to, portable devices such as smartphones and tablets, as well as other devices capable of simultaneously connecting to a base station and accessing GNSS signals. A first module located in the terminal receives signals from GNSS to obtain precise geographic location information. A second module located in the terminal connects to a 5G base station and sends an uplink positioning reference signal (SRS-Pos) to the TRP of surrounding base stations for the base station to calculate measurement positioning information. The terminal connects to the base station through the core network and reports the geographic location information obtained by the first module to the LBS server. The 5G base station connects to the LBS server and reports the calculated measurement positioning information to the LBS server for fusion and decision-making of all received location information to obtain the accurate location of the terminal.

[0083] The terminal system is one of the key components of this invention. Its internal structure and functional design are specifically optimized for indoor and outdoor fusion positioning methods. It includes, but is not limited to, portable devices such as smartphones and tablets, and is capable of accessing 5G networks and receiving GNSS signals (such as GPS and BeiDou). The first module in the terminal is responsible for receiving signals from global navigation satellite systems to obtain accurate geographical location information. This module can capture and process signals from multiple satellite systems, ensuring high-precision positioning in outdoor environments.

[0084] In some example application scenarios, the terminal reports GNSS information and other relevant information, such as gyroscope data, obtained through the system driver module to the LBS server via the 5G network. The LBS server further processes this information. Since the terminal is connected to the 5G network, the 5G base station network performs 5G signal positioning measurements on the terminal, which are also reported to the LBS. The LBS combines the data from 5G positioning with the GNSS and gyroscope data reported by the terminal to provide a more accurate indoor / outdoor fusion positioning result. The terminal system integrates a GNSS module, a gyroscope module, and a 5G communication module, and, in conjunction with the system driver module, broadcasts data via the control plane broadcast technology of the 5G communication system. The positioning server sends data to the base station through the NRPPa interface protocol. The base station broadcasts to the terminal via the air interface. During broadcasting, the protocol stack between the gNB and the UE is the control plane protocol stack. The base station obtains positioning assistance data from the core network LMF element and encapsulates it into the positioning system information block SIBpos of the RRC broadcast message. Under this base station, the UE can obtain BeiDou positioning assistance data by reading the SIBpos. The UE calculates its location based on the assistance data. The UE can also send an on-demand posSI message to instruct the base station to broadcast only the auxiliary data required by the UE. This achieves precise time alignment between the terminal and the 5G indoor distributed system, providing LBS with 5G positioning data, GNSS data, and gyroscope data based on the same time, facilitating indoor and outdoor fusion positioning functions of the LBS system using multiple positioning data.

[0085] In some application scenarios, LBS systems also include data management and task scheduling functions, enabling efficient handling of concurrent location requests, management of large amounts of location data, and ensuring real-time data processing and efficient access. LBS systems provide interfaces for communication with Location Console Services (LCS), ensuring that location results can be quickly transmitted to the LCS system for display and further processing by front-end applications. Through the close collaboration of these modules, LBS systems provide continuous processing capabilities for indoor and outdoor integrated positioning, including 5G high-precision positioning data, GNSS positioning data, and gyroscope data, ensuring high accuracy in positioning services.

[0086] Figure 2 This is a flowchart illustrating an indoor / outdoor fusion positioning method in one embodiment. Figure 2 As shown, the method includes the following steps:

[0087] Step S201: The first module installed in the terminal receives signals from the Global Navigation Satellite System (GNSS) and obtains the terminal's geographical location information;

[0088] Step S202: The second module in the terminal is connected to the base station and sends an uplink positioning reference signal (SRS-Pos) to the TRP of the surrounding base stations for the base station to calculate the measurement and positioning information of the terminal. At the same time, the base station extends SIBPos to request synchronization of high-precision time to the terminal.

[0089] Step S203: The geographical location information obtained by the first module and the measurement and positioning information calculated by the base station are reported to the LBS server for fusion and judgment of all received location information to obtain the accurate location of the terminal.

[0090] In one exemplary embodiment, such as Figure 3 As shown, an indoor / outdoor fusion positioning method is provided, and the location fusion decision flowchart includes the following steps:

[0091] Step S301: The LBS server collects positioning measurement information from the terminal and the base station, evaluates the confidence level of all the positioning measurement information, and removes the corresponding positioning measurement information when the confidence level of the data source is lower than a certain threshold.

[0092] Step S302: Evaluate the movement speed of the remaining positioning measurement information, set a reasonable speed range, and if the current movement speed evaluation value exceeds the expected range, it is judged as an abnormal point and removed. The remaining information is valid positioning measurement information.

[0093] Step S303: The effective positioning measurement information is fused to obtain the fused position value P. fusion ;

[0094] Step S304: Using the current valid positioning measurement information and the historical position of the valid positioning measurement information as input, predict the possible position value P of each positioning measurement information at the next moment according to the relevant prediction method. predict ;

[0095] Step S305, based on the fused position value P fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final .

[0096] In the reliability assessment process, the confidence level of GNSS signals in positioning measurement information is determined based on factors such as signal quality indicators and whether the signal is interrupted. Signal quality indicators include signal-to-noise ratio (SNR), multipath effect, and the number of visible satellites. Signal interruption indicates poor data continuity or prolonged interruptions, leading to lower confidence. The confidence level of positioning measurement information from TRP is determined based on factors such as signal strength and latency. Signal strength can be measured using RSRP (Reference Signal Received Power) or RSRQ (Reference Signal Received Quality) as indicators, while latency indicates that large network latency fluctuations result in larger positioning errors and lower confidence.

[0097] In one exemplary embodiment, such as Figure 4 As shown, an indoor-outdoor fusion positioning method is provided, wherein the current location movement speed evaluation flowchart includes the following steps:

[0098] Step S401: Obtain the current terminal's location information P and time information t;

[0099] Step S402, calculate the current movement speed using the following formula:

[0100]

[0101] Where P is current All location data currently received by LBS, P last The location data calculated by LBS in the last time, t current t represents the current time. last v represents the time corresponding to the location data calculated by LBS in the last time. current This is the calculated current speed.

[0102] In one exemplary embodiment, such as Figure 5 As shown, an indoor-outdoor fusion positioning method is provided, and the location fusion calculation flowchart includes the following steps:

[0103] Step S501: Assign weight coefficient w to the location information of different data sources based on confidence level;

[0104] Step S502: Perform a weighted average of the location information from different data sources to obtain the fused location.

[0105] P fusion =w GNSS *P GNSS +w BS *P BS +w gyro *P gyro

[0106] Pfusion w represents the merged position value. GNSS Report position P to GNSS GNSS The weight, w BS Report location P to the base station system BS The weight, w gyro Report location P to other sensors gyro The weights. And w GNSS +w BS +w gyro =1.

[0107] The weight w can be dynamically adjusted based on the confidence level, and the effective positioning measurement information is fused with the corresponding calculated position P. fusion The position deviation value is obtained through comparison; a position deviation threshold is set. If the position deviation value is less than the position deviation threshold, the weight of the corresponding position information is increased; if the position deviation value is less than the position deviation threshold, the weight of the corresponding position information is decreased, while maintaining w. GNSS +w BS +w gyro =1.

[0108] In one exemplary embodiment, such as Figure 6 As shown, an indoor-outdoor fusion positioning method is provided, and a flowchart of one of the location fusion optimization algorithms includes the following steps:

[0109] Step S601: Obtain the fused position value P fusion ;

[0110] Step S602: Obtain the estimated possible location value P of each individual positioning measurement information at the next moment. predict ;

[0111] Step S603, for the obtained P fusion and P predict The final position P of the terminal is obtained by performing a coefficient-weighted average. final .

[0112] The calculation algorithms also include:

[0113] Final location of the terminal: P final =a*P fusion +(1-a)*P predict ,

[0114] 'a' is a confidence parameter, and 'a' is adjustable.

[0115] The confidence assessment of GNSS signals in the positioning measurement information is based on factors such as signal quality indicators and whether the signal is interrupted; the confidence assessment of positioning measurement information from TRP is based on factors such as signal strength indicators and time delay.

[0116] In one exemplary embodiment, such as Figure 7 As shown, an indoor-outdoor fusion positioning method is provided, and one uplink positioning reference signal transmission flowchart includes the following steps:

[0117] Step S701: The TRP receives the uplink positioning reference signal sent by the terminal;

[0118] Step S702: Measure the relative time difference between the arrival time of the uplink positioning reference signal and the base station's own reference time;

[0119] In step S703, the baseband unit (BBU) in the base station sends the processed relative time difference to the LBS server for further positioning calculation.

[0120] In some practical examples, the 5G TRP positioning principle involves multiple TRPs simultaneously measuring the same target terminal. By analyzing the time difference between the terminal and each TRP, and combining the known geographical location information of the TRPs, the LBS server can accurately calculate the location of the terminal.

[0121] In one exemplary embodiment, such as Figure 8 As shown, an indoor-outdoor fusion positioning method is provided, one of which includes a time alignment flowchart comprising the following steps:

[0122] In step S801, the base station encapsulates the positioning assistance data obtained from the core network LMF element into the positioning system information module of the RRC broadcast message;

[0123] In step S802, the terminal obtains satellite positioning auxiliary data by reading the positioning system information module;

[0124] In step S803, the terminal calculates its location based on satellite positioning auxiliary data to achieve precise time alignment between the terminal and the base station.

[0125] In some exemplary embodiments, the pre-estimation method used in the method employs the LSTM algorithm, but is not limited to this one pre-estimation method.

[0126] In some exemplary embodiments, the terminal used in the method is a device capable of simultaneously connecting to a base station and accessing GNSS signals, including but not limited to portable devices such as mobile phones and tablets.

[0127] In some exemplary embodiments, the terminal used in this method also includes a third module, which can be used to drive the GNSS chip and other sensors to obtain auxiliary positioning information such as the terminal's acceleration and angular velocity. The other sensors can be gyroscopes, but are not limited to gyroscopes.

[0128] In some exemplary embodiments, the method is also applied in scenarios that include an LCS server system, which serves as the backend support for the user interface. This system is primarily responsible for processing location data from the LBS system and displaying the processing results to the user. Through efficient data processing and request-response mechanisms, it provides users with rich location services and information displays. The LBS system provides an interface for communication with the LCS system, ensuring that location results can be quickly transmitted to the LCS system for display and further processing by front-end applications. Through the close collaboration of these modules, the LBS system provides continuous processing capabilities for indoor and outdoor integrated positioning, including 5G high-precision positioning data, GNSS positioning data, and gyroscope data, ensuring high accuracy in positioning services.

[0129] Based on the same inventive concept, this application also provides a positioning device for implementing the aforementioned indoor-outdoor fusion positioning method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations provided below can be found in the limitations of the indoor-outdoor fusion method described above, and will not be repeated here.

[0130] In one exemplary embodiment, such as Figure 9 As shown, an indoor-outdoor fusion positioning device is provided. The device 900 includes: a memory 901, a transceiver 902, and a processor 903.

[0131] The memory 901 is used to store computer programs;

[0132] The transceiver 902 is used to send and receive data under the control of the processor;

[0133] The processor 903 is used to read the computer program in the memory and execute the specific steps of an indoor / outdoor fusion positioning method:

[0134] It receives signals from GNSS and obtains the terminal's geographical location information;

[0135] Send uplink positioning reference signal SRS-Pos to the TRP of surrounding base stations, calculate the terminal's measurement and positioning information, and receive the base station's extended SIBPos request to synchronize high-precision time.

[0136] The acquired geographic location information and measurement location information are reported to LBS. All received location information is fused and judged to obtain the accurate location of the terminal.

[0137] Each unit in the aforementioned indoor / outdoor fusion positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. Each unit can be embedded in the processor of the communication device in hardware form or independent of it, or stored in the memory of the communication device in software form, so that the processor can call and execute the operations corresponding to each unit. It should be noted that the device provided in this application can implement all the method steps implemented in the above method embodiments and achieve the same technical effects. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described in detail here.

[0138] In one exemplary embodiment, a communication device is provided. The communication device may include a transceiver, a memory, a processor, and at least one communication bus. The communication bus is used to implement communication connections between components. The memory may include high-speed RAM, and may also include non-volatile memory (NVM), such as at least one disk storage device. The memory may store various programs (including an operating system) for performing various processing functions and implementing the method steps of the embodiments of this application. In this embodiment, the transceiver may be coupled to the processor, and can perform receiving or sending operations under the instruction or control of the processor.

[0139] Those skilled in the art will understand that the structures shown above are merely partial structures related to the present application and do not constitute a limitation on the communication devices to which the present application is applied. Specific communication devices may include more or fewer components than those shown in the figures, or combine certain components, or have different component arrangements.

[0140] In one exemplary embodiment, a communication device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps provided in the above method embodiments.

[0141] Based on the above technical concept, in an exemplary embodiment, this disclosure also provides a chip, the chip comprising:

[0142] A logic circuit is used to execute the data processing method as described in any of the above embodiments to obtain a notification message.

[0143] The output interface is used to send notification messages to terminal devices.

[0144] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. 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 units described above can be implemented in hardware or as software functional units.

[0145] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a processor-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.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0146] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps provided in the above method embodiments.

[0147] Processor-readable storage media can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0148] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps provided in the above method embodiments.

[0149] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0150] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0151] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for fusion indoor and outdoor positioning, characterized in that, The method includes: The first module installed in the terminal receives signals from the Global Navigation Satellite System (GNSS) and obtains the terminal's geographical location information; The second module installed in the terminal connects to the base station and sends uplink positioning reference signal SRS-Pos to the transmission and reception points (TRPs) of the surrounding base stations. This is used by the base station to calculate the measurement and positioning information of the terminal. At the same time, the base station extends SIBPos to request synchronization of high-precision time to the terminal. The geographic location information obtained by the first module and the measurement and positioning information calculated by the base station are reported to the location server LBS for fusion and decision-making on all received location information to obtain the accurate location of the terminal.

2. The method according to claim 1, characterized in that, The process of fusing and determining all received location information also includes: LBS collects positioning measurement information from the terminal and the base station, evaluates the confidence of all positioning measurement information, and removes the corresponding positioning measurement information when the confidence of the data source is lower than a certain threshold. The remaining positioning measurement information is evaluated for movement speed. A reasonable speed range is set. If the current movement speed evaluation value exceeds the expected range, it is judged as an anomaly and removed. The remaining information is valid positioning measurement information. The effective positioning measurement information is fused to obtain the fused position value P. fusion ; Using the current valid positioning measurement information and the historical position of the valid positioning measurement information as input, the possible position value P of each positioning measurement information at the next moment is estimated according to the relevant prediction method. predict ; Based on the merged position value P fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final .

3. The method according to claim 2, characterized in that, The step of evaluating the movement speed based on the remaining positioning measurement information further includes: obtaining the current terminal's location information P and time information t, and calculating the current movement speed using the following formula: Where P current For all location data received by the current LBS, P last The location data calculated by LBS in the last time, t current t represents the current time. last v represents the time corresponding to the location data calculated by LBS in the last time. current This is the calculated current speed.

4. The method according to claim 2, characterized in that, The effective positioning measurement information is fused to obtain the fused position value P. fusion It also includes: The combined position is obtained by weighting the different data sources: P fusion =w GNSS *P GNSS +w BS *P BS +w gyro *P gyro , P fusion w represents the merged position value. GNSS Report position P to GNSS GNSS The weight, w BS Report location P to the base station BS The weight, w gyro Report location P to other sensors gyro The weights, and w GNSS +w 5G +w gyro =1; The effective positioning measurement information is fused with the corresponding calculated position P. fusion By comparison, the positional deviation value is obtained; Set a position deviation threshold. If the position deviation value is less than the threshold, increase the weight of the corresponding position information; otherwise, decrease the weight of the corresponding position information, while maintaining w. GNSS +w BS +w gyro =1.

5. The method according to claim 2, characterized in that, The position value P after fusion fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final It also includes: Final location of the terminal: P fnal =a*P fusion +(1-a)*P predoct , 'a' is a credibility parameter, which can be adjusted.

6. The method according to claim 2, characterized in that, The confidence assessment also includes: The confidence level assessment of the GNSS signal in the positioning measurement information is based on signal quality indicators and whether the signal is interrupted. The confidence assessment of the positioning measurement information from TRP is based on signal strength indicators and time delay judgment.

7. The method according to claim 2, characterized in that, The method further includes: The prediction method uses the Long Short-Term Memory (LSTM) network algorithm.

8. The method according to claim 1, characterized in that, The step of sending the uplink positioning reference signal SRS-Pos to the surrounding base stations by the TRP for high-precision positioning measurement also includes: The TRP receives the uplink positioning reference signal sent by the terminal and measures the relative time difference between the SRS-Pos arrival time and the base station's own reference time. The baseband unit (BBU) in the base station sends the processed TRP data to the LBS for further positioning calculations.

9. The method according to claim 1, characterized in that, The base station also extends the SIBPos request to synchronize high-precision time to the terminal, and further includes: The base station encapsulates the positioning assistance data obtained from the core network LMF element into the positioning system information module of the RRC broadcast message; The terminal obtains satellite positioning auxiliary data by reading the positioning system information module; The terminal calculates its location based on satellite positioning assistance data, achieving precise time alignment between the terminal and the base station.

10. The method according to claim 1, characterized in that, The method further includes: The terminal is a device capable of simultaneously connecting to a base station and accessing GNSS signals, including mobile phones and tablets.

11. The method according to claim 1, characterized in that, The terminal also includes a third module, which is responsible for driving the GNSS chip and sensors to obtain terminal auxiliary positioning information. The sensors include a gyroscope.

12. An indoor-outdoor integrated positioning device, characterized in that, The device includes: a memory, a transceiver, and a processor. The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program from the memory and perform the following operations: It receives signals from GNSS and obtains the terminal's geographical location information; Send uplink positioning reference signal SRS-Pos to the TRP of surrounding base stations, calculate the terminal's measurement and positioning information, and receive the base station's extended SIBPos request to synchronize high-precision time. Drive the GNSS chip and sensors to obtain the terminal's acceleration and angular velocity for auxiliary positioning; The acquired geographic location information and measurement location information are reported to LBS. All received location information is fused and judged to obtain the accurate location of the terminal.

13. The apparatus according to claim 12, characterized in that, The device further includes: Other sensors, including gyroscopes.

14. The apparatus according to claim 12, characterized in that, The process of fusing and determining all received location information also includes: Location measurement information from the terminal and the base station is collected, and the confidence level of all the location measurement information is evaluated. If the confidence level of the data source is lower than a certain threshold, the corresponding location measurement information is removed. The remaining positioning measurement information is evaluated for movement speed. A reasonable speed range is set. If the current movement speed evaluation value exceeds the expected range, it is judged as an anomaly and removed. The remaining information is valid positioning measurement information. The effective positioning measurement information is fused to obtain the fused position value P. fusion ; Using the current valid positioning measurement information and the historical position of the valid positioning measurement information as input, the possible position value P of each positioning measurement information at the next moment is estimated according to the relevant prediction method. predict ; Based on the merged position value P fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final .

15. The apparatus according to claim 14, characterized in that, The step of evaluating the movement speed based on the remaining positioning measurement information also includes: Given the current terminal's location information P and time information t, calculate the current moving speed using the following formula: Where P current For all location data received by the current LBS, P last The location data calculated by LBS in the last time, t current t represents the current time. last v represents the time corresponding to the location data calculated by LBS in the last time. current This is the calculated current speed.

16. The apparatus according to claim 14, characterized in that, The effective positioning measurement information is fused to obtain the fused position value P. fusion It also includes: The combined position is obtained by weighting the different data sources: P fusion =w GNSS *P GNSS +w BS *P BS +w gyro *P gyro , P fusion w represents the merged position value. GNSS Report position P to GNSS GNSS The weight, w BS Report location P to the base station BS The weight, w gyro Report location P to other sensors gyro The weights, and w GNSS +w 5G +w gyro =1; The effective positioning measurement information is fused with the corresponding calculated position P. fusion By comparison, the positional deviation value is obtained; Set a position deviation threshold. If the position deviation value is less than the threshold, increase the weight of the corresponding position information; otherwise, decrease the weight of the corresponding position information, while maintaining w. GNSS +w BS +w gyro =1.

17. The apparatus according to claim 14, characterized in that, The position value P after fusion fusion And the estimated possible location value P of each positioning measurement information at the next moment. predict The final location P of the computing terminal final It also includes: Final location of the terminal: P final =a*P fusion +(1-a)*P predict , 'a' is a confidence parameter, and 'a' is adjustable.

18. The apparatus according to claim 14, characterized in that, The confidence assessment includes: The confidence level assessment of the GNSS signal in the positioning measurement information is based on signal quality indicators and whether the signal is interrupted. The confidence assessment of the positioning measurement information from TRP is based on signal strength indicators and time delay judgment.

19. The apparatus according to claim 14, characterized in that, Also includes: The prediction method uses the LSTM algorithm.

20. The apparatus according to claim 12, characterized in that, The step of sending the uplink positioning reference signal SRS-Pos to the TRP of surrounding base stations and calculating the measurement positioning information of the terminal also includes: Receive the uplink positioning reference signal sent by the receiving terminal and measure the relative time difference between the SRS-Pos arrival time and the base station's own reference time; The processed TRP data is sent to the LBS server for further location calculation.

21. The apparatus according to claim 12, characterized in that, Also includes: The terminal is a device capable of simultaneously connecting to a base station and accessing GNSS signals, including mobile phones and tablets.

22. A communication device, characterized in that, include: A transceiver, a processor, and a memory, wherein the memory stores a computer program; The processor executes the computer program and controls the transceiver to perform the steps of the method according to any one of claims 1 to 11.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

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