Terminal positioning method, electronic device, and apparatus

Abstract

The present disclosure provides a terminal positioning method, an electronic device, and an apparatus. The method comprises: determining an estimated area where a target terminal is located; on the basis of respective locations of a plurality of TRPs and the location range of the estimated area, determining the probability distribution of the ideal TOA from each of the plurality of TRPs to the estimated area where the target terminal is located; obtaining a deviation estimation value of a relative time alignment error on the basis of the probability distribution of the ideal TOA from each of the plurality of TRPs to the estimated area where the target terminal is located, a first TOA measurement value from a reference TRP to the target terminal, and a second TOA measurement value from a non-reference TRP to the target terminal; and determining a positioning location of the target terminal on the basis of the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

Description

Terminal positioning method, electronic equipment and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 2023115730650, filed on November 23, 2023, entitled “Terminal Positioning Method, Electronic Device and Apparatus,” which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to the field of communication technology, and in particular to a terminal positioning method, electronic equipment, and device. Background Art

[0004] Time of Arrival (TOA) is a common terminal positioning technology. It measures the TOA of the reference signal sent by the terminal to multiple transmit receive points (TRPs) to calculate the distance between each TRP and the terminal, thereby achieving terminal positioning based on the distance between each TRP and the terminal.

[0005] When using TOA-based terminal positioning, time alignment misalignment exists between multiple TRPs and terminals, leading to inaccurate arrival times of the measured reference signals and affecting terminal positioning accuracy. Single-difference calculations of the TOAs of different TRPs on the same terminal can eliminate this terminal-side time alignment misalignment. Currently, double-difference calculations between TRPs can be used to eliminate this misalignment, improving terminal positioning accuracy.

[0006] However, the above method of introducing the reference terminal is relatively complicated to operate.

[0007] Summary of the Invention

[0008] The present disclosure provides a terminal positioning method, electronic device and apparatus to solve the problem that the current method of introducing a reference terminal to eliminate the time alignment deviation between TRPs and thus performing terminal positioning is relatively complicated.

[0009] In a first aspect, the present disclosure provides a terminal positioning method, comprising:

[0010] Determine the estimated area where the target terminal is located;

[0011] Determine, based on the respective positions of the plurality of transmitting and receiving units TRP and the position range of the estimated area, a probability distribution of an ideal time of arrival TOA of each of the plurality of TRPs to the estimated area where the target terminal is located; the plurality of TRPs include a reference TRP and at least one non-reference TRP;

[0012] Obtaining a deviation estimate of the relative time alignment error based on the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal;

[0013] The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0014] In one possible implementation, obtaining a deviation estimate of the relative time alignment error based on a probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal includes:

[0015] Determine the probability distribution of the ideal single-difference time of arrival (TDOA) from the non-reference TRP and the reference TRP to the location points in the estimated area based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0016] A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0017] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, is determined, including:

[0018] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0019] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0020] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0021] In one possible implementation,

[0022] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0023] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0024] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0025] Among them, D lower,i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference;

[0026] D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference;

[0027] R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0028] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of ideal TDOA.

[0029] In one possible implementation, obtaining a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value includes:

[0030] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0031] The probability distribution of the ideal TDOA is transformed according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0032] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0033] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate according to the probability distribution of the relative time alignment error includes:

[0034] Performing weighted averaging processing on the probability distributions of the multiple relative time alignment errors to obtain the weighted average probability distributions of the multiple relative time alignment errors;

[0035] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error.

[0036] In one possible implementation, when the probability of the target terminal being at each location point in the estimated area is uniformly distributed, determining the probability distribution of the ideal arrival time TOA of each of the multiple transmitting and receiving units TRP to the estimated area where the target terminal is located based on the respective locations of the multiple transmitting and receiving units TRP and the location range of the estimated area includes:

[0037] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0038] According to the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0039] In a possible implementation, determining the positioning position of the target terminal according to the deviation estimate of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes:

[0040] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0041] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0042] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0043] In a second aspect, the present disclosure provides an electronic device, including a memory, a transceiver, and a processor;

[0044] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0045] Determine the estimated area where the target terminal is located;

[0046] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a probability distribution of an ideal TOA from each of the plurality of TRPs to the estimated area where the target terminal is located; the plurality of TRPs include a reference TRP and at least one non-reference TRP;

[0047] Obtaining a deviation estimate of the relative time alignment error based on the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal;

[0048] The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0049] In one possible implementation, obtaining a deviation estimate of the relative time alignment error based on a probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal includes:

[0050] Determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimated area based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located;

[0051] A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0052] In one possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area based on the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, includes:

[0053] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0054] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0055] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0056] In one possible implementation,

[0057] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0058] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0059] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0060] Among them, D lower,i D is the minimum distance from the non-reference TRP to the location point in the estimation area. upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference;

[0061] D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference;

[0062] R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0063] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of ideal TDOA.

[0064] In one possible implementation, obtaining a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value includes:

[0065] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0066] The probability distribution of the ideal TDOA is transformed according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0067] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0068] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate according to the probability distribution of the relative time alignment error includes:

[0069] Performing weighted averaging processing on the probability distributions of the multiple relative time alignment errors to obtain the weighted average probability distributions of the multiple relative time alignment errors;

[0070] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error.

[0071] In one possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of an ideal TOA from each of the multiple TRPs to the estimation area where the target terminal is located based on the respective locations of the multiple TRPs and the location range of the estimation area includes:

[0072] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0073] According to the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0074] In a possible implementation, determining the positioning position of the target terminal according to the deviation estimate of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes:

[0075] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0076] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0077] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0078] In a third aspect, the present disclosure provides a terminal positioning device, comprising:

[0079] A first determining module, configured to determine an estimated area where a target terminal is located;

[0080] A second determining module is configured to determine a probability distribution of an ideal TOA from each of the plurality of TRPs to the estimated area where the target terminal is located based on the respective positions of the plurality of TRPs and the position range of the estimated area; the plurality of TRPs include a reference TRP and at least one non-reference TRP;

[0081] a processing module, configured to obtain a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal;

[0082] The positioning module is configured to determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0083] In a possible implementation, the processing module is specifically configured to:

[0084] Determine the probability distribution of the ideal single-difference time of arrival (TDOA) from the non-reference TRP and the reference TRP to the location points in the estimated area based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0085] A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0086] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the processing module is specifically configured to:

[0087] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0088] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0089] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0090] In one possible implementation,

[0091] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0092] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0093] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0094] Among them, D lower,i D is the minimum distance from the non-reference TRP to the location point in the estimation area. upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference;

[0095] D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference;

[0096] R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0097] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of ideal TDOA.

[0098] In a possible implementation, the processing module is specifically configured to:

[0099] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0100] The probability distribution of the ideal TDOA is transformed according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0101] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0102] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, the processing module is specifically configured to:

[0103] Performing weighted averaging processing on the probability distributions of the multiple relative time alignment errors to obtain the weighted average probability distributions of the multiple relative time alignment errors;

[0104] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error.

[0105] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the second determining module is specifically configured to:

[0106] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0107] According to the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0108] In a possible implementation, the positioning module is specifically configured to:

[0109] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0110] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0111] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0112] In a fourth aspect, the present disclosure provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any one of the terminal positioning methods in the first aspect.

[0113] The terminal positioning method, electronic device and apparatus provided by the present disclosure first determine the estimated area where the target terminal is located; then, based on the respective positions of the multiple TRPs and the position range of the estimated area, determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located; the multiple TRPs include a reference TRP and at least one non-reference TRP; and then, based on the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, obtain the deviation estimate of the relative time alignment error; and then, based on the deviation estimate of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value, determine the positioning position of the target terminal. The scheme disclosed in the present disclosure can estimate and compensate for the relative time alignment error between each TRP without deploying a reference terminal, thereby achieving terminal positioning while ensuring accuracy, without introducing any reference terminal, and is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0115] FIG1 is a flow chart of a terminal positioning method;

[0116] FIG2 is a flow chart of a terminal positioning method provided by an embodiment of the present disclosure;

[0117] FIG3 is a schematic diagram of an estimated area provided by an embodiment of the present disclosure;

[0118] FIG4 is a flowchart of determining the probability distribution of the ideal TOA of each of multiple TRPs to the estimated area according to an embodiment of the present disclosure;

[0119] FIG5 is a flow chart of determining a deviation estimate of a relative time alignment error according to an embodiment of the present disclosure;

[0120] FIG6 is a flowchart of determining a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value according to an embodiment of the present disclosure;

[0121] FIG7 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure;

[0122] FIG8 is a schematic structural diagram of a terminal positioning device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0123] To make the objectives, technical solutions, and advantages of this disclosure more clear, the technical solutions of this disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this disclosure, not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of this disclosure without creative effort shall fall within the scope of protection of this disclosure.

[0124] In most current methods for locating terminals based on TOA estimation, multiple TRPs and terminals need to be time-aligned to ensure positioning accuracy.

[0125] FIG1 is a flow chart of a terminal positioning. As shown in FIG1 , first, the TOA measurement module mainly performs TOA measurements from different TRPs to the target terminal and TOA measurements from different TRPs to the reference terminal.

[0126] In some embodiments, the TOA from the TRP to the reference terminal refers to the TOA of the reference signal sent by the reference terminal to the TRP. In other embodiments, the TOA from the TRP to the reference terminal may also refer to the TOA of the reference signal sent by the TRP to the reference terminal. For ease of description, the TOA from the TRP to the reference terminal is described in the following embodiments as the TOA of the reference signal sent by the reference terminal to the TRP.

[0127] Different TRPs are recorded as TRP i , the target terminal is UE tar , the reference terminal is UE ref , then after the TOA measurement module, TRP i The TOA measurement value to the target terminal is denoted as t i,tar , TRP i The TOA measurement value to the reference terminal is denoted as t i,ref To facilitate subsequent positioning work, the TOA measurement value in time units needs to be converted into a TOA measurement value in distance units, t i,tar The TOA measurement value converted to distance unit is recorded as D i,tar , t i,refThe TOA measurement value converted to distance unit is recorded as D i,ref , where D i,tar =t i,tar *c,D i,ref =t i,ref *c, c is the speed of light, in actual calculations, c=3*10 8 m / s.

[0128] Then, the TOA measurement value double difference calculation module calculates the TOA measurement value D i,tar and D i,ref Perform double differential operation, and the double differential calculation can be expressed as: ΔR i,j =(D i,tar -D j,tar )-(D i,ref -D j,ref ) (1)

[0129] Among them, TRP i is non-reference TRP, TRP j For reference TRP, D i,tar TRP i TOA measurement distance value to the target terminal, D j,tar TRP j TOA measurement distance value to the target terminal, D i,ref TRP i TOA measurement distance to the reference terminal, D j,ref TRP j TOA measurement distance to the reference terminal, ΔR i,j is the double difference value.

[0130] Then, with the known coordinates of the TRP and the reference terminal, the ideal distance between each TRP and the reference terminal can be calculated based on the Euclidean distance, and the ideal TDOA between the reference TRP and the reference terminal can be obtained. The ideal TDOA can be expressed as follows: ideal,i,ref =M i,ref -M j,ref (2)

[0131] Among them, R ideal,i,ref Indicates TRP i and the ideal TDOA between the reference terminal, M i,ref Indicates TRP i The ideal distance between the reference terminal, M j,ref Indicates TRP j The ideal distance between the terminal and the reference terminal.

[0132] Note TRP iThe coordinates of (x trp,i ,y trp,i ,z trp,i ), the coordinates of the reference terminal are (x ue,ref ,y ue,ref ,z ue,ref ), then:

[0133] The recovered TDOA can be expressed as: R i,tar,recover =ΔR i,j +R ideal,i,ref (4)

[0134] Among them, R i,tar,recover represents the recovered TDOA, ΔR i,j is the double difference value, R ideal,i,ref Indicates TRP i , TRP j Ideal TDOA between the 1 and 2 terminals.

[0135] Finally, the recovered TDOA is input into the relevant algorithm for positioning solution to obtain the positioning position of the target terminal.

[0136] For the target terminal and the reference terminal, the output result of the TOA measurement module includes not only the transmission distance caused by the actual position distance between the terminal and the TRP, but also the synchronization deviation caused by the failure of the TRP and the terminal to synchronize with the standard time, which is recorded as s trp,i , s ue,tar , s ue,ref , the unit is seconds (s), where s trp,i Indicates TRP i Synchronization deviation from standard time, s ue,tar Indicates the synchronization deviation between the target terminal and the standard time, s ue,ref Indicates the synchronization deviation between the reference terminal and the standard time.

[0137] To align with the TOA unit in the derived calculation, the synchronization deviation expressed in time can be converted to the synchronization deviation expressed in distance through G=s*c, where s is the synchronization deviation expressed in time, G is the synchronization deviation expressed in distance, c is the speed of light, and s can be s trp,i , s ue,tar , s ue,ref . In s for s trp,i Substituting G=s*c, we can get G trp,i , G trp,i TRP i Synchronous deviation in distance; in s is s ue,tar Substituting G=s*c, we can get Gue,tar , G ue,tar is the synchronization deviation of the target terminal in terms of distance; in s, it is s ue,ref Substituting G=s*c, we can get G ue,ref , G ue,ref is the synchronization deviation of the reference terminal in distance. Therefore, the TOA measurement distance value from TRP to the target terminal / reference terminal obtained by the TOA measurement module can be decomposed into: D i,tar =M i,tar +G trp,i +G ue,tar +ΔD i,tar (5) D i,ref =M i,ref +G trp,i +G ue,ref +ΔD i,ref (6)

[0138] Where ΔD i,tar TRP i TOA measurement deviation to the target terminal, ΔD i,ref TRP i TOA measurement deviation to the reference terminal; M i,tar TRP i Euclidean distance to the target terminal, also known as TRP i The ideal distance between the target terminal and the target terminal; M i,ref TRP i Euclidean distance to the reference terminal, also known as TRP i The ideal distance between the reference terminal and G trp,i Indicates TRP i Synchronous deviation in distance, G ue,tar Indicates the synchronization deviation of the target terminal in terms of distance, G ue,ref Indicates the synchronization deviation of the reference terminal in terms of distance.

[0139] Through the double difference calculation formula, it can be found that in the subsequent double difference calculation module, the G described above can be trp,i , G ue,tar , G ue,ref Elimination, ΔR i,j It can be expressed as the following expression: ΔR i,j =ΔM i,j +Δ i,j (7) ΔM i,j =M i,tar -M j,tar -M i,ref +M j,ref, Δ i,j =ΔD i,tar -ΔD j,tar - ΔD i,ref +ΔD j,ref ;

[0140] M j,tar TRP j Euclidean distance to the target terminal, also known as TRP j The ideal distance between the target terminal and the target terminal; M j,ref TRP j Euclidean distance to the reference terminal, also known as TRP j The ideal distance between the reference terminal; ΔD j,tar TRP j TOA measurement deviation to the target terminal; ΔD j,ref TRP j TOA measurement deviation to the reference terminal.

[0141] From the above mathematical derivation and description, it can be found that in the current scheme, a reference terminal must be introduced to eliminate the synchronization error between the TRP side and the terminal side, that is, G trp,i , G ue,tar and G ue,ref The impact on the TOA measurement results. At the same time, because it is necessary to ensure line of sight (LOS) propagation between the reference terminal and each TRP, multiple reference terminals are often required when arranging positioning scenarios, which undoubtedly greatly increases the cost of positioning and complicates the operation.

[0142] Based on this, the embodiment of the present disclosure provides a terminal positioning method, which realizes the positioning of the terminal without introducing a reference terminal. The solution of the embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0143] FIG2 is a flow chart of a terminal positioning method provided by an embodiment of the present disclosure. As shown in FIG2 , the method includes:

[0144] S21, determining an estimated area where the target terminal is located.

[0145] The target terminal is the terminal to be located, and the estimated area where the target terminal is located is the area within which the target terminal belongs, determined based on the target terminal's historical information. In the disclosed embodiments, the estimated area is simply the area obtained by performing coarse label positioning on the target terminal. The estimated area reflects the approximate range of the target terminal's location, with an accuracy of several meters.

[0146] There are many ways to determine the estimated area where the target terminal is located. For example, you can obtain the positioning position of the target terminal at the last historical moment, and determine the estimated area where the target terminal is located based on the positioning position at the last historical moment; for example, you can obtain the movement trajectory of the target terminal in a historical period, and determine the estimated area where the target terminal is located based on the direction and speed corresponding to the movement trajectory, and so on.

[0147] Because the estimated area is merely the approximate location of the target terminal, accuracy requirements are not high. Therefore, the estimated area can be determined based on prior information such as the target terminal's location at historical moments and its movement trajectory over historical time periods. In the disclosed embodiments, the range and shape of the estimated area are not limited; the estimated area can be large or small, and its shape can be regular or irregular.

[0148] S22, determining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located based on the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP.

[0149] In the disclosed embodiment, the multiple TRPs include a reference TRP and at least one non-reference TRP. The positions of the multiple TRPs are known, and the position range of the estimated area is also known. Since the estimated area is the area where the target terminal is located, after the positions of the multiple TRPs are known, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located can be determined based on the positions of the multiple TRPs and the position range of the estimated area.

[0150] Specifically, there are multiple location points within the location range of the estimated area, and the location of the target terminal is at one of these multiple location points. For any TRP among the multiple TRPs, the TOA from the TRP to the multiple location points can be determined based on the location of the TRP and the respective locations of the multiple location points within the location range of the estimated area. Since the TOA from the TRP to the multiple location points is determined based on the location of the TRP and the respective locations of the multiple location points, there is no time alignment error, so the TOA from the TRP to the multiple location points is called the ideal TOA from the TRP to the estimated area where the target terminal is located.

[0151] The probability of the target terminal being located at each of the plurality of locations within the estimated area can be predetermined. In the absence of external prior information, the probability of the target terminal being located at each location within the estimated area can be determined to be uniformly distributed. However, if external prior information is available, the probability of the target terminal being located at each location within the estimated area can be non-uniformly distributed.

[0152] External prior information can include various types, such as the target terminal's historical positioning trajectory, historical data, and so on. For example, if the target terminal's historical positioning trajectory determines that the target terminal has a high probability of appearing in a certain sub-area within the estimated area, the probability value of the target terminal being in that sub-area can be set higher than the probability value of the target terminal being in other sub-areas. For example, the target terminal's historical data can be used to calculate the probability of the target terminal appearing at various locations within the estimated area, thereby obtaining the probability value of the target terminal being at each location, and so on.

[0153] After determining the probability value of each location point where the target terminal is located in the estimated area and the ideal TOA from the TRP to the estimated area where the target terminal is located, the probability distribution of the ideal TOA from the TRP to the estimated area where the target terminal is located can be obtained.

[0154] S23, obtains the deviation estimate of the relative time alignment error based on the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal.

[0155] Specifically, based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the position points in the estimated area can be determined, wherein when the probability of the target terminal being at each position point in the estimated area is uniformly distributed or non-uniformly distributed, the probability distribution of the obtained ideal TDOA is also different accordingly. Then, based on the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, the deviation estimate of the relative time alignment error is calculated.

[0156] S24 : Determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0157] A single difference operation can be performed on the second TOA measurement value and the first TOA measurement value to determine the TDOA value between the non-reference TRP and the reference TRP, so that the TDOA value is corrected by the deviation estimate of the relative time alignment error to obtain the corrected TDOA value, and the positioning position of the target terminal is determined based on the corrected TDOA value.

[0158] Based on any of the above embodiments, the solutions of the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0159] FIG3 is a schematic diagram of an estimated area provided by an embodiment of the present disclosure. As shown in FIG3 , the shaded area formed by points B1 , B2 , B3 , and B4 is the estimated area where the target terminal is located.

[0160] In practice, the estimated area should be a three-dimensional area. However, considering that the target terminal is usually held by the user, the height of the target terminal can be considered known, that is, the coordinate of the estimated area on the z-axis can be directly set as z ue,tar Therefore, in the example of FIG3 , only the range of the estimated region on the x-axis and y-axis is shown. It should be noted that although the estimated region in FIG3 is a regular rectangle on the xy plane, in reality the shape of the estimated region can be irregular, and the shape shown in FIG3 is only an example.

[0161] In the absence of external prior information, it can be assumed that the probability of the target terminal being at each location point in the estimated area is uniformly distributed. In this case, combined with Figure 4, an implementation scheme for determining the probability distribution of the ideal TOA of multiple TRPs to the estimated area where the target terminal is located is introduced.

[0162] FIG4 is a flowchart of determining the probability distribution of ideal TOAs of multiple TRPs to the estimated area according to an embodiment of the present disclosure. When the probability of the target terminal being at each location point in the estimated area is uniformly distributed, as shown in FIG4 , the flowchart includes:

[0163] S41, determining the maximum distance and the minimum distance from each of the multiple TRPs to the position point in the estimated area according to the respective positions of the multiple TRPs and the position range of the estimated area.

[0164] The plurality of TRPs includes a reference TRP (ie, a TRP j ) and non-reference TRP (ie, TRP i ), the calculation method of the probability distribution of the ideal TOA of multiple TRPs to the estimation area is similar.

[0165] For any TRP among the multiple TRPs, the maximum distance and the minimum distance from each of the multiple TRPs to the position point in the estimated area can be determined based on the position of the TRP and the position range of the estimated area.

[0166] At any TRP i For example, the TRP i The location may be within the estimated area or outside the estimated area.

[0167] Assume that the coordinates of any point in the estimated area are (a, b, z ue,tar ), TRP i The coordinates of (x trp,i ,y trp,i,z trp,i ), then the TRP i The distance to the location point in the estimated area is:

[0168] Assume D lower,i Indicates TRP i The minimum distance to the location point in the estimation area, D upper,i Indicates TRP i The maximum distance to the location point in the estimation area, then in TRP i If the location is outside the estimated area: D lower,i =min(ΔB i,(a,b) ) (9) D upper,i =max(ΔB i,(a,b) ) (10)

[0169] In TRP i If the location is within the estimated area: D lower,i =0 (11) D upper,i =max(ΔB i,(a,b) ) (12)

[0170] in, E is a set of multiple location points obtained by dividing the boundary of the estimation area based on a preset step size, and (a, b) is the coordinate of any location point among the multiple location points.

[0171] Based on the above formulas (8) to (12), TRP can be obtained i The maximum distance and minimum distance to the location points in the estimated area, and any TRP among the multiple TRPs can adopt the above method to obtain the maximum distance and minimum distance of each of the multiple TRPs to the location points in the estimated area.

[0172] S42, determining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located based on the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area.

[0173] Based on the above formulas (8) to (12), we can know that for TRP i In terms of TRP i The distance range to the estimated area is [D lower,i ,D upper,iAlthough the exact location of the current target terminal in the estimated area is unknown, it can be determined that the target terminal is in the estimated area, and the TOA ideal value of any point in the estimated area will fall 100% within [D lower,i ,D upper,i ] range. When the probability of the target terminal being in each location point in the estimation area is uniformly distributed, it can be considered that the probability distribution of the ideal TOA also tends to be uniformly distributed, thus obtaining TRP i The probability distribution of the ideal TOA to the estimated area where the target terminal is located is as follows:

[0174] Among them, pdf TOA,i (p) is TRP i The probability distribution of the ideal TOA to the estimated area where the target terminal is located, p represents TRP i The ideal TOA to the estimated area where the target terminal is located.

[0175] In the above embodiment, the combination of equations (8) to (13) introduces the TRP for any i How to get TRP i The probability distribution of the ideal TOA to the estimated area where the target terminal is located can be implemented by using Equations (8) to (13) for multiple TRPs, thereby obtaining the probability distribution of the ideal TOA to the estimated area where the target terminal is located for each of the multiple TRPs.

[0176] After obtaining the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the deviation estimate of the relative time alignment error can be obtained based on the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value of the reference TRP to the target terminal, and the second TOA measurement value of the non-reference TRP to the target terminal. This process is introduced below in conjunction with Figure 5.

[0177] FIG5 is a flow chart of determining a deviation estimate of a relative time alignment error according to an embodiment of the present disclosure. As shown in FIG5 , the flow chart includes:

[0178] S51, based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimated area.

[0179] Assume that the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located is pdf TOA,j (p), the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located is pdfTOA,i (p), the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area can be obtained based on the following formula (14):

[0180] Among them, pdf TDOA,i (q) is the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area, and the independent variable q represents the ideal TDOA; pdf TOA,i (x) represents TRP i The probability distribution of the ideal TOA to the estimated area where the target terminal is located, x represents TRP i Ideal TOA to the estimated area where the target terminal is located; pdf TOA,j (p) represents TRP j The probability distribution of the ideal TOA to the estimated area where the target terminal is located, p represents TRP j The ideal TOA to the estimated area where the target terminal is located; q = xp.

[0181] In one possible implementation, when the probability of the target terminal being at each location point in the estimated area is uniformly distributed, the maximum distance and minimum distance of each of the multiple TRPs to the location point in the estimated area can also be determined based on the respective positions of the multiple TRPs and the location range of the estimated area; then, the first difference between the maximum distance and the minimum distance from the reference TRP to the location point in the estimated area, and the second difference between the maximum distance and the minimum distance from the non-reference TRP to the location point in the estimated area are determined; and then, based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located, the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area is determined.

[0182] The calculation method of the maximum and minimum distances from the TRP to the position points in the estimated area can be referred to above in equations (8) to (13). For the reference TRP, the maximum and minimum distances from the reference TRP to the position points in the estimated area are calculated to obtain the first difference value. For the non-reference TRP, the maximum and minimum distances from the non-reference TRP to the position points in the estimated area are calculated to obtain the second difference value.

[0183] When the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the calculation method of the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area can be divided into the following cases:

[0184] In the case where the first difference is less than the second difference, the probability distribution of the ideal TDOA of the non-reference TRP and the reference TRP to the location point in the estimation area is:

[0185] In the case where the first difference is greater than the second difference, the probability distribution of the ideal TDOA of the non-reference TRP and the reference TRP to the location point in the estimation area is:

[0186] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA of the non-reference TRP and the reference TRP to the location point in the estimation area is:

[0187] Among them, D lower,i D is the minimum distance from the non-reference TRP to the location point in the estimation area. upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference;

[0188] D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference;

[0189] R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0190] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of ideal TDOA.

[0191] S52: Obtain a deviation estimate of a relative time alignment error according to the probability distribution of an ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0192] In the above embodiment, it is introduced how to obtain the probability distribution of the ideal TDOA. The following is a solution for obtaining the deviation estimate of the relative time alignment error based on the probability distribution of the ideal TDOA, the first TOA measurement value and the second TOA measurement value in conjunction with FIG6 .

[0193] FIG6 is a flowchart of determining a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value according to an embodiment of the present disclosure. As shown in FIG6 , the flowchart includes:

[0194] S61: Perform a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP.

[0195] Assume that the first TOA measurement value is D j,tar , the second TOA measurement value is D i,tar , the second TOA measurement value and the first TOA measurement value can be single-differenced based on the following formula (15) to obtain the TDOA value between the non-reference TRP and the reference TRP: i,tar =D i,tar -D j,tar (15)

[0196] Among them, R i,tar Represents the TDOA value between the non-reference TRP and the reference TRP.

[0197] S62, performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0198] The TDOA value between the non-reference TRP and the reference TRP is R i,tar , the probability distribution of ideal TDOA is pdf TDOA,i (q), according to the TDOA value between the non-reference TRP and the reference TRP, R i,tar Probability distribution pdf for ideal TDOA TDOA,i (q) The process of independent variable conversion can be done by setting u = R i,tar -q, so: pdf DTAE,i (u)=pdf DTAE,i (R i,tar -q)=pdf TDOA,i (q) (16)

[0199] Among them, pdf DTAE,i (u) is the probability distribution of relative time alignment error, and u represents the relative time alignment error.

[0200] In formula (16), by TDOA,i (q) Translate and flip to get PDF DTAE,i (R i,tar -q), and let u=R i,tar -q as a whole is used as an independent variable to get the PDF DTAE,i (u).

[0201] S63: Obtain a deviation estimate of the relative time alignment error according to the probability distribution of the relative time alignment error.

[0202] Since the timing deviation on the target terminal side has been eliminated on TDOA, and considering that the relative time alignment error is stable within a certain period of time, the probability distribution of the relative time alignment error of the position estimates of all target terminals that need to be located can be accumulated and averaged within a certain time window.

[0203] Specifically, when there are multiple probability distributions of relative time alignment errors, a weighted average processing can be performed on the probability distributions of the multiple relative time alignment errors to obtain the weighted average probability distributions of the multiple relative time alignment errors. The weighted average processing process can be referred to the following formula (17):

[0204] Where N represents the number of probability distributions of multiple relative time alignment errors, N is a positive integer, and pdf DTAE,i,n (u) represents the probability distribution of the nth relative time alignment error, k n represents the weight value of the probability distribution of the nth relative time alignment error, and pdfDTAE,i,total(u) represents the weighted average probability distribution of multiple relative time alignment errors.

[0205] In the absence of prior information, the weight values ​​of the probability distributions of multiple relative time alignment errors can be set to be equal. In the presence of prior information, the weight values ​​of the probability distributions of the relative time alignment errors can be set based on the prior information. For example, the weight value of the probability distribution of the relative time alignment error can be determined by combining the signal to interference plus noise ratio (SINR) of the target terminal.

[0206] After obtaining a weighted average probability distribution of multiple relative time alignment errors, the relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error. For details, see the following formula (18):

[0207] Among them, ΔG best,trp,iBias estimate representing the relative time alignment error.

[0208] After obtaining the deviation estimation value of the relative time alignment error, the positioning position of the target terminal can be determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0209] Specifically, a single difference operation is first performed on the second TOA measurement value and the first TOA measurement value to determine the TDOA value between the non-reference TRP and the reference TRP. This process can be referred to in the above formula (15) and will not be repeated here.

[0210] Then, according to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value. The specific implementation process can be seen in the following formula (19):

[0211] Among them, R i,n,tar is the TDOA value between the non-reference TRP and the reference TRP, ΔG best,trp,i is the bias estimate of the relative time alignment error, is the TDOA value after correction.

[0212] The target terminal's location is then determined based on the corrected TDOA values. For example, after obtaining the corrected TDOA values ​​from the target terminal to the reference TRP and the non-reference TRP, a hyperbola is constructed using the corrected TDOA values, and the intersection of the hyperbolas is determined as the target terminal's location.

[0213] The terminal positioning method provided by the embodiment of the present disclosure first determines the estimated area where the target terminal is located; then, based on the respective positions of the multiple TRPs and the position range of the estimated area, determines the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located; the multiple TRPs include a reference TRP and at least one non-reference TRP; and then, based on the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal, obtains the deviation estimate of the relative time alignment error; and then, based on the deviation estimate of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value, determines the positioning position of the target terminal. The solution of the embodiment of the present disclosure can estimate and compensate for the relative time alignment error between each TRP without deploying a reference terminal, thereby achieving terminal positioning while ensuring accuracy, without introducing any reference terminal, and is easy to operate.

[0214] FIG7 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. As shown in FIG7 , the electronic device includes a memory 720, a transceiver 700, and a processor 710, wherein:

[0215] The memory 720 is used to store computer programs; the transceiver 700 is used to send and receive data under the control of the processor 710; the processor 710 is used to read the computer program in the memory 720 and perform the following operations:

[0216] Determine the estimated area where the target terminal is located;

[0217] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a probability distribution of an ideal TOA from each of the plurality of TRPs to the estimated area where the target terminal is located; the plurality of TRPs include a reference TRP and at least one non-reference TRP;

[0218] Obtaining a deviation estimate of the relative time alignment error based on the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal;

[0219] The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0220] Specifically, the transceiver 700 is configured to receive and send data under the control of the processor 710 .

[0221] In FIG7 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits linked together by one or more processors represented by processor 710 and memory represented by memory 720. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 700 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 710 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 710 when performing operations.

[0222] Optionally, the processor 710 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0223] The processor calls the computer program stored in the memory to execute any method provided by the embodiment of the present disclosure according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0224] In one possible implementation, obtaining a deviation estimate of the relative time alignment error based on a probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal includes:

[0225] Determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimated area based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located;

[0226] A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0227] In one possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location points in the estimation area based on the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, includes:

[0228] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0229] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0230] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0231] In one possible implementation,

[0232] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0233] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0234] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0235] Among them, D lower,i D is the minimum distance from the non-reference TRP to the location point in the estimation area. upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference;

[0236] D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference;

[0237] R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0238] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of ideal TDOA.

[0239] In one possible implementation, obtaining a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TDOA, a first TOA measurement value, and a second TOA measurement value includes:

[0240] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0241] The probability distribution of the ideal TDOA is transformed according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0242] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0243] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate according to the probability distribution of the relative time alignment error includes:

[0244] Performing weighted averaging processing on the probability distributions of the multiple relative time alignment errors to obtain the weighted average probability distributions of the multiple relative time alignment errors;

[0245] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error.

[0246] In one possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of an ideal TOA from each of the multiple TRPs to the estimation area where the target terminal is located based on the respective locations of the multiple TRPs and the location range of the estimation area includes:

[0247] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0248] According to the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0249] In a possible implementation, determining the positioning position of the target terminal according to the deviation estimate of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes:

[0250] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0251] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0252] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0253] It should be noted here that the above-mentioned electronic device provided in the embodiment of the present disclosure can implement all the method steps implemented in the method embodiment in which the execution subject is the electronic device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0254] FIG8 is a schematic diagram of the structure of a terminal positioning device provided by an embodiment of the present disclosure. As shown in FIG8 , the terminal positioning device includes:

[0255] A first determining module 810 is configured to determine an estimated area where a target terminal is located;

[0256] A second determining module 820 is configured to determine a probability distribution of an ideal TOA from each of the plurality of TRPs to the estimated area where the target terminal is located based on the respective positions of the plurality of TRPs and the position range of the estimated area; the plurality of TRPs includes a reference TRP and at least one non-reference TRP;

[0257] A processing module 830 is configured to obtain a deviation estimate of a relative time alignment error based on a probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal;

[0258] The positioning module 840 is configured to determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value.

[0259] In a possible implementation, the processing module 830 is specifically configured to:

[0260] Determine the probability distribution of the ideal single-difference time of arrival (TDOA) from the non-reference TRP and the reference TRP to the location points in the estimated area based on the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0261] A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

[0262] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the processing module 830 is specifically configured to:

[0263] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0264] determining a first difference between a maximum distance and a minimum distance from the reference TRP to the location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to the location points in the estimation area;

[0265] The probability distribution of ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

[0266] In one possible implementation,

[0267] When the first difference is less than the second difference, the probability distribution of the ideal TDOA is:

[0268] When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is:

[0269] In the case where the first difference is equal to the second difference, the probability distribution of the ideal TDOA is:

[0270] Among them, D lower,i D is the minimum distance from the non-reference TRP to the location point in the estimation area. upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference;

[0271] D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference;

[0272] R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j, represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP;

[0273] represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of ideal TDOA.

[0274] In a possible implementation, the processing module 830 is specifically configured to:

[0275] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0276] The probability distribution of the ideal TDOA is transformed according to the TDOA value to obtain the probability distribution of the relative time alignment error.

[0277] According to the probability distribution of the relative time alignment error, a deviation estimation value of the relative time alignment error is obtained.

[0278] In a possible implementation, when there are multiple probability distributions of the relative time alignment error, the processing module 830 is specifically configured to:

[0279] Performing weighted averaging processing on the probability distributions of the multiple relative time alignment errors to obtain the weighted average probability distributions of the multiple relative time alignment errors;

[0280] The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as the deviation estimate of the relative time alignment error.

[0281] In a possible implementation, when the probability of the target terminal being at each location point in the estimation area is uniformly distributed, the second determining module 820 is specifically configured to:

[0282] Determine, based on the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area;

[0283] According to the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area, the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located is determined.

[0284] In a possible implementation, the positioning module 840 is specifically configured to:

[0285] performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP;

[0286] According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain the corrected TDOA value;

[0287] The positioning position of the target terminal is determined based on the TDOA value after correction.

[0288] Specifically, the terminal positioning device provided in the embodiment of the present disclosure can implement all the method steps implemented in the method embodiment in which the execution subject is an electronic device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0289] It should be noted that the division of units / modules in the above-mentioned embodiments of the present disclosure is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0290] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially 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, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the various embodiments of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0291] In some embodiments, a processor-readable storage medium is further provided. The processor-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute the terminal positioning method provided by the above-mentioned method embodiments.

[0292] Specifically, the processor-readable storage medium provided in the embodiment of the present disclosure can implement all the method steps implemented in the above-mentioned method embodiments and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0293] It should be noted that the processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid-state drives (SSDs)), etc.

[0294] It should also be noted that the terms "first," "second," and the like in the embodiments of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present disclosure can be implemented in an order other than that illustrated or described herein. Furthermore, the terms "first" and "second" generally distinguish objects of the same type, and do not limit the number of objects. For example, the first object can be one or more.

[0295] In the embodiments of the present disclosure, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0296] In the embodiments of the present disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar thereto.

[0297] The technical solution provided by the embodiment of the present disclosure can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new air interface (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0298] The terminal device involved in the embodiments of the present disclosure may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called User Equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present disclosure.

[0299] The network device involved in the embodiments of the present disclosure may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in an access network that communicates with a wireless terminal device through one or more sectors on an air interface, or may be called another name. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present disclosure may be a base transceiver station (BTS) in the Global System for Mobile communications (GSM) or code division multiple access (CDMA), a network device (NodeB) in wide-band code division multiple access (WCDMA), an evolutionary Node B (eNB or e-NodeB) in the long term evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), a home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of the present disclosure. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.

[0300] Network devices and terminal devices can each use one or more antennas for Multiple Input Multiple Output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO. It can also use diversity transmission, precoding, or beamforming.

[0301] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0302] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0303] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0304] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0305] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A terminal positioning method, comprising: Determine an estimated area where the target terminal is located; Determine the probability distribution of the ideal arrival time TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple transmitting and receiving units TRP and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP; Obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal; The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

2. The method according to claim 1, wherein: The obtaining a deviation estimate of a relative time alignment error according to the probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal comprises: Determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

3. The method according to claim 2, wherein: In a case where the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimation area according to the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, comprises: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; determining a first difference between a maximum distance and a minimum distance from the reference TRP to location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to location points in the estimation area; The probability distribution of the ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

4. The method according to claim 3, wherein: When the first difference is less than the second difference, the probability distribution of the ideal TDOA is: When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is: When the first difference is equal to the second difference, the probability distribution of the ideal TDOA is: Among them, D lower,i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference; D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference; R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP; Represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of the ideal TDOA.

5. The method according to any one of claims 2 to 4, wherein: The obtaining, according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, a deviation estimate of the relative time alignment error includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; Performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain a probability distribution of a relative time alignment error; A deviation estimation value of the relative time alignment error is obtained according to the probability distribution of the relative time alignment error.

6. The method according to claim 5, wherein: In the case where there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate of the relative time alignment error according to the probability distribution of the relative time alignment error includes: Performing weighted average processing on probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors; The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

7. The method according to any one of claims 1 to 4, wherein: In a case where the probability of the target terminal being at each location point in the estimated area is uniformly distributed, determining the probability distribution of the ideal arrival time TOA of each of the plurality of transmitting and receiving units TRP to the estimated area where the target terminal is located according to the respective locations of the plurality of TRPs and the location range of the estimated area, comprises: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; According to the maximum distances of each of the plurality of TRPs to the location points in the estimation area and minimum distance, determine the probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located.

8. The method according to any one of claims 1 to 4, wherein: The determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain a corrected TDOA value; The positioning position of the target terminal is determined according to the TDOA value after the correction.

9. An electronic device comprising a memory, a transceiver, and a processor; a memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; A processor is configured to read the computer program in the memory and perform the following operations: Determine an estimated area where the target terminal is located; Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, the probability distribution of the ideal TOA of each of the plurality of TRPs to the estimated area where the target terminal is located; the plurality of TRPs include a reference TRP and at least one non-reference TRP; Obtaining a deviation estimate of a relative time alignment error according to a probability distribution of an ideal TOA from each of the multiple TRPs to an estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal; The positioning position of the target terminal is determined according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

10. The electronic device according to claim 9, wherein: The obtaining a deviation estimate of a relative time alignment error according to the probability distribution of an ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located, a first TOA measurement value from the reference TRP to the target terminal, and a second TOA measurement value from the non-reference TRP to the target terminal comprises: Determine the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

11. The electronic device according to claim 10, wherein: In a case where the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TDOA from the non-reference TRP and the reference TRP to the location point in the estimation area according to the probability distribution of the ideal TOA from the reference TRP to the estimation area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimation area where the target terminal is located, comprises: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; determining a first difference between a maximum distance and a minimum distance from the reference TRP to location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to location points in the estimation area; The probability distribution of the ideal TDOA is determined based on the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located.

12. The electronic device according to claim 11, wherein: When the first difference is less than the second difference, the probability distribution of the ideal TDOA is: When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is: When the first difference is equal to the second difference, the probability distribution of the ideal TDOA is: Among them, D lower,i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference; D lower,j is the minimum distance from the reference TRP to the location point in the estimation area, D upper,j is the maximum distance from the reference TRP to the position point in the estimation area, D upper,j -D lower,j represents the first difference; R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP; Represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of the ideal TDOA.

13. The electronic device according to any one of claims 10 to 12, wherein: The obtaining, according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value, a deviation estimate of the relative time alignment error includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; Performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain a probability distribution of a relative time alignment error; A deviation estimation value of the relative time alignment error is obtained according to the probability distribution of the relative time alignment error.

14. The electronic device according to claim 13, wherein: In the case where there are multiple probability distributions of the relative time alignment error, obtaining the deviation estimate of the relative time alignment error according to the probability distribution of the relative time alignment error includes: Performing weighted average processing on probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors; The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

15. The electronic device according to any one of claims 9 to 12, wherein: In a case where the probability of the target terminal being at each location point in the estimation area is uniformly distributed, determining the probability distribution of the ideal TOA from each of the multiple TRPs to the estimation area where the target terminal is located according to the respective locations of the multiple TRPs and the location range of the estimation area includes: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; The probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined based on the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area.

16. The electronic device according to any one of claims 9 to 12, wherein: The determining the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value, and the second TOA measurement value includes: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain a corrected TDOA value; The positioning position of the target terminal is determined according to the TDOA value after the correction.

17. A terminal positioning device, comprising: A first determination module, used to determine an estimated area where a target terminal is located; A second determination module is used to determine the probability distribution of the ideal TOA of each of the multiple TRPs to the estimated area where the target terminal is located according to the respective positions of the multiple TRPs and the position range of the estimated area; the multiple TRPs include a reference TRP and at least one non-reference TRP; A processing module is used to estimate the location of the target terminal according to the plurality of TRPs. The estimated value of the deviation of the relative time alignment error is obtained by combining the probability distribution of the ideal TOA of the measurement area, the first TOA measurement value from the reference TRP to the target terminal, and the second TOA measurement value from the non-reference TRP to the target terminal; A positioning module is used to determine the positioning position of the target terminal according to the deviation estimation value of the relative time alignment error, the first TOA measurement value and the second TOA measurement value.

18. The terminal positioning device according to claim 17, wherein: The processing module is specifically used for: Determine the probability distribution of the ideal single difference arrival time TDOA from the non-reference TRP and the reference TRP to the location point in the estimated area according to the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; A deviation estimate of the relative time alignment error is obtained according to the probability distribution of the ideal TDOA, the first TOA measurement value, and the second TOA measurement value.

19. The terminal positioning device according to claim 18, wherein: In the case where the probability of the target terminal being at each location point in the estimated area is uniformly distributed, the processing module is specifically configured to: Determine, according to the respective positions of the plurality of TRPs and the position range of the estimated area, a maximum distance and a minimum distance from each of the plurality of TRPs to a position point in the estimated area; determining a first difference between a maximum distance and a minimum distance from the reference TRP to location points in the estimation area, and a second difference between a maximum distance and a minimum distance from the non-reference TRP to location points in the estimation area; The ideal TOA is determined according to the first difference, the second difference, the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located, and the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located. Probability distribution of TDOA.

20. The terminal positioning device according to claim 19, wherein: When the first difference is less than the second difference, the probability distribution of the ideal TDOA is: When the first difference is greater than the second difference, the probability distribution of the ideal TDOA is: When the first difference is equal to the second difference, the probability distribution of the ideal TDOA is: Among them, D lower,i is the minimum distance from the non-reference TRP to the location point in the estimation area, D upper,i is the maximum distance from the non-reference TRP to the location point in the estimation area, D upper,i -D lower,i represents the second difference; D lower,j is the minimum distance from the reference TRP to the position point in the estimation area, D upper,j is the maximum distance from the reference TRP to the location point in the estimation area, D upper,j -D lower,j represents the first difference; R lower,i =D lower,i -D upper,j , represents the minimum value of the ideal TDOA between the non-reference TRP and the reference TRP; R upper,i =D upper,i -D lower,j , represents the maximum value of the ideal TDOA between the non-reference TRP and the reference TRP; Represents the probability distribution of the ideal TOA from the reference TRP to the estimated area where the target terminal is located; represents the probability distribution of the ideal TOA from the non-reference TRP to the estimated area where the target terminal is located; q represents the ideal TDOA, pdf TDOA,i (q) represents the probability distribution of the ideal TDOA.

21. The terminal positioning device according to any one of claims 18 to 20, wherein: The processing module is specifically used for: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; Performing independent variable conversion processing on the probability distribution of the ideal TDOA according to the TDOA value to obtain a probability distribution of a relative time alignment error; A deviation estimation value of the relative time alignment error is obtained according to the probability distribution of the relative time alignment error.

22. The terminal positioning device according to claim 21, wherein: In the case where there are multiple probability distributions of the relative time alignment error, the processing module is specifically used to: Performing weighted average processing on probability distributions of multiple relative time alignment errors to obtain weighted average probability distributions of the multiple relative time alignment errors; The relative time alignment error corresponding to the maximum probability in the weighted average probability distribution is determined as a deviation estimate of the relative time alignment error.

23. The terminal positioning device according to any one of claims 17 to 20, wherein: In the case where the probability that the target terminal is located at each location point in the estimated area is uniformly distributed, the second determination module is specifically used to: determine the maximum distance and the minimum distance of each of the multiple TRPs to the location point in the estimated area according to the respective locations of the multiple TRPs and the location range of the estimated area; The probability distribution of the ideal TOA from each of the multiple TRPs to the estimated area where the target terminal is located is determined based on the maximum distance and the minimum distance from each of the multiple TRPs to the location points in the estimated area.

24. The terminal positioning device according to any one of claims 17 to 20, wherein: The positioning module is specifically used for: Performing a single difference operation on the second TOA measurement value and the first TOA measurement value to determine a TDOA value between the non-reference TRP and the reference TRP; According to the deviation estimation value of the relative time alignment error, the TDOA value is corrected to obtain a corrected TDOA value; The positioning position of the target terminal is determined according to the TDOA value after the correction.

25. A processor-readable storage medium storing a computer program, wherein the computer program is used to enable a computer to execute the terminal positioning method according to any one of claims 1 to 8.

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