Wireless positioning methods, device, and storage medium

Abstract

Provided in the embodiments of the present application are wireless positioning methods, a device, and a storage medium. A method comprises: a terminal requesting from a first core network first auxiliary information regarding a downlink positioning reference signal, or the terminal requesting from a base station an uplink positioning reference signal configuration, wherein the first auxiliary information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio channel number, a transmission reception point index, base station timing information, or the time difference between the base station and a reference base station, a downlink positioning reference signal configuration, a downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range. The wireless positioning method provided in the present embodiment applies 5G wireless positioning technology to a 6G network, such that requirements for high precision, low latency and high reliability of positioning can be met.

Description

Wireless positioning method, device and storage medium TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of wireless communication, and in particular to a wireless positioning method, device and storage medium. BACKGROUND

[0002] Wireless positioning can be used to enhance user experience, improve network efficiency, serve industry 4.0, and be used in smart city scenarios. For example, through accurate positioning, users can enjoy more personalized and intelligent services, such as location-based advertising, navigation services, and emergency rescue, etc. Operators can use positioning information for network optimization, such as dynamically adjusting network resource allocation according to user location, improving network coverage and capacity. In industry 4.0, accurate positioning can support real-time tracking of devices and materials, optimize production processes, and improve efficiency. Positioning can also be used to support intelligent traffic management, public facility maintenance, disaster emergency response, etc.

[0003] With the evolution from 5G to 6G, there is an increasing demand for high-precision, low-latency, and high-reliability positioning.

[0004] Sensing integration is one of the important evolution directions of future communication technologies identified by the International Telecommunication Union, and helps to realize smart low-altitude, smart transportation, smart life, smart network, and other typical scenarios. Sensing extracts the characteristics of the measured object or environment by receiving and measuring reflected / scattered waves from the device, to obtain measurement data for the sensing target or environment. There are six basic sensing modes: base station self-transmission and self-reception, base station A transmission and base station B reception, terminal self-transmission and self-reception, terminal A transmission and terminal B reception, base station transmission and terminal reception, and terminal transmission and base station reception. SUMMARY

[0005] Embodiments of the present application provide a wireless positioning method, device and storage medium, which can meet the demand for high-precision, low-latency and high-reliability positioning.

[0006] To achieve the above-mentioned purpose, the embodiments of the present application provide a wireless positioning method, comprising:

[0007] The terminal requests first assistance information about downlink positioning reference signals from a first core network, or the terminal requests uplink positioning reference signal configuration from a base station; wherein the first assistance information includes at least one of the following: physical cell index, global cell index, absolute radio frequency channel number, transmission and reception point index, base station timing information, or time difference between base station and reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, and effective cell range.

[0008] To achieve the above-mentioned purpose, the embodiments of the present application provide a wireless positioning method, comprising:

[0009] The first core network sends first assistance information of a downlink positioning reference signal to the terminal, so that the terminal performs a positioning measurement on the downlink positioning reference signal based on the first assistance information, and obtains a positioning measurement result or position information; wherein the first assistance information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between the base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, an effective area, and an effective cell range.

[0010] To achieve the above object, the embodiments of the present application provide a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to realize the wireless positioning method according to the embodiments of the present application.

[0011] To achieve the above object, the embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, wherein the program is executable by a processor to realize the wireless positioning method according to the embodiments of the present application.

[0012] The embodiments of the present application provide a wireless positioning method, device and storage medium. The method comprises: a terminal requesting first assistance information about a downlink positioning reference signal from a first core network, or the terminal requesting uplink positioning reference signal configuration from a base station; wherein the first assistance information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between the base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, an effective area, and an effective cell range. The wireless positioning method provided by the embodiments can apply the wireless positioning technology of 5G to 6G network, and can meet the demand for high precision, low latency and high reliability of positioning. BRIEF DESCRIPTION OF DRAWINGS

[0013] Fig. 1 is a flowchart of a wireless positioning method according to an embodiment of the present application;

[0014] Fig. 2 is a wireless positioning architecture diagram according to an embodiment of the present application;

[0015] Fig. 3 is a signaling diagram of 6G supporting downlink positioning according to an embodiment of the present application;

[0016] Fig. 4 is a signaling diagram of 6G supporting uplink positioning according to an embodiment of the present application;

[0017] Fig. 5 is a wireless positioning architecture diagram according to an embodiment of the present application;

[0018] FIG. 6 is a wireless positioning architecture diagram in an embodiment of the present application;

[0019] FIG. 7 is a wireless positioning architecture diagram in an embodiment of the present application;

[0020] FIG. 8 is a wireless positioning architecture diagram in an embodiment of the present application;

[0021] FIG. 9 is a flowchart of a wireless positioning method in an embodiment of the present application;

[0022] FIG. 10 is a structural schematic diagram of a wireless positioning device in an embodiment of the present application;

[0023] FIG. 11 is a structural schematic diagram of a wireless positioning device in an embodiment of the present application;

[0024] FIG. 12 is a structural schematic diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other as long as there is no conflict.

[0026] It should be understood that the specific embodiments described herein are merely intended to explain the present application and not to limit the present application.

[0027] In the subsequent description, the suffixes such as "module", "part", or "unit" used to denote elements are merely for the convenience of description of the present application, and have no specific meaning in itself. Therefore, "module", "part", or "unit" can be used interchangeably.

[0028] FIG. 1 is a flowchart of a wireless positioning method according to an embodiment of the present application. As shown in FIG. 1, the method includes the following steps:

[0029] S110, the terminal requests first assistance information about downlink positioning reference signals from a first core network, or the terminal requests uplink positioning reference signal configuration from a base station.

[0030] The first assistance information includes at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between the base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range. The first core network can be a 6G core network.

[0031] In one embodiment, FIG. 2 is a wireless positioning architecture diagram in an embodiment of the present application. As shown in FIG. 2, in the architecture, the terminal only interacts with the 6G core network for signaling, and the terminal and the 5G core network have no signaling interaction. The terminal can establish a connection with the 5G base station and the 6G base station through the air interface, and the 6G core network and the 5G base station and the 6G base station have signaling interaction. There can be an interface between the 5G core network and the 6G core network to meet the function of using the 5G reference signal positioning of the 6G core network.

[0032] Optionally, the terminal supports dual connectivity, and one terminal can be connected to the 5G base station and the 6G base station, that is, can receive signals or channels sent from the 5G base station and the 6G base station.

[0033] Optionally, the positioning service can be initiated by the 6G core network, the application layer, or the terminal.

[0034] Optionally, the first core network requests the second assistance information from the base station or the base station sends the second assistance information to the first core network. The second assistance information includes at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set or downlink positioning reference signal positioning frequency layer for bandwidth aggregation, synchronization signal block (SSB) information of the transmission-reception point, spatial orientation information of the downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of the transmission-reception point (TRP), timing advance parameter configured by the base station, and mobile base station information.

[0035] The base station can be a 5G base station, that is, the 6G core network and the 5G base station interact with each other. The index signal of the base station includes at least one of the following: physical cell index, global cell index, absolute radio frequency channel number, and transmission-reception point index; the base station timing information includes system frame number initial time; the base station information includes at least one of the following: geographic location information of the base station, geographic location information of the TRP, position information of the downlink positioning reference signal, speed information of the base station, and associated timestamp information; and the mobile base station information includes at least one of the following: timestamp, geographic location, speed size, speed direction, and speed.

[0036] Optionally, after the terminal requests the first assistance information about the downlink positioning reference signal from the first core network, the terminal further includes: performing positioning measurement on the downlink positioning reference signal based on the first assistance information, obtaining the positioning measurement result or the position information, and actively or based on the request of the first core network, sending the positioning measurement result or the position information to the first core network.

[0037] Optionally, the first core network sends measurement request information to the base station. The measurement request information includes at least one of the following: terminal uplink positioning reference signal configuration information, terminal uplink clock information, terminal timing advance uplink angle of arrival (AOA) angle range, and terminal timing advance uplink AOA angle range.

[0038] Optionally, the 6G core network and the 5G base station signaling interaction can adopt one or more of the following: there is direct signaling interaction between the 6G core network and the 5G base station; the 6G core network can collect information of the 5G base station, including base station location information, downlink positioning reference signal configuration information, and uplink positioning reference signal configuration information. There is no direct signaling interaction between the 6G core network and the 5G base station, and the 6G core network can interact information through the 6G base station and the 5G base station. The information exchanged between the 5G base station and the 6G base station is transmitted through the Xn interface, and the information exchanged between the 6G core network and the 5G base station can be transparent to the 6G base station.

[0039] Optionally, the first core network and the second core network transmit information through an interface.

[0040] The second core network is a 5G core network, and the 5G core network can be an AMF (Access and Mobility Management Function), an LMF (Location Management Function), or an NEF (Network Exposure Function). The interface can be a private interface. The information transmitted by the interface includes at least one of the following: the second core network sends at least one of the following information to the first core network: positioning-related information, authentication and authorization information, base station index for positioning, base station location, positioning reference unit location, other terminal index, other terminal location, or positioning method. The first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; wherein the positioning requirement information includes at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; wherein the quality of service information includes at least one of the following: service type, distance speed angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, perception area, detection speed interval, duration, feedback period, time delay; the positioning measurement request includes at least one of the following: positioning method, terminal coordinate information, quality information, and time information. The second core network also sends the location information of the terminal to the first core network. The positioning-related information can include enabling the 6G core network to support the 5G positioning method. For example: downlink time difference of arrival (DL-TDOA), uplink time difference of arrival (UL-TDOA), sidelink time difference of arrival (SL-TDOA), sidelink time of arrival (SL-TOA), multi-round trip time (Multi-RTT), sidelink round trip time (SL-RTT), sidelink angle of arrival (SL-AoA), downlink angle of departure (DL-AoD), and uplink angle of arrival (UL-AoA).

[0041] In this embodiment, the terminal measures the downlink positioning reference signal and reports the measurement result to the 6G core network. The terminal needs a measurement gap or a downlink positioning reference signal processing window (PRS processing window, PPW) to measure the downlink positioning signal.

[0042] Optionally, the terminal requests the base station for a measurement gap or a downlink positioning reference signal processing window through high-layer signaling; or the terminal requests the base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window through low-layer signaling.

[0043] The high-layer signaling can be Radio Resource Control (RRC) signaling, and the low-layer signaling can be Media Access Control Control Element (MAC CE) signaling. The base station can be a 5G base station or a 6G base station. That is, the terminal requests the 5G base station for a measurement gap or a downlink positioning reference signal processing window through high-layer signaling; or the terminal requests the 5G base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window through low-layer signaling. The terminal requests the 6G base station for a measurement gap or a downlink positioning reference signal processing window through high-layer signaling; or the terminal requests the 6G base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window through low-layer signaling.

[0044] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or the first core network receives a preconfigured measurement gap or a downlink positioning reference signal processing window sent by the base station; or the first core network requests the base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

[0045] The base station can be a 5G base station or a 6G base station. That is, the 6G core network can request the 5G base station to configure a measurement gap or a downlink positioning reference signal processing window; or the 5G base station can send a preconfigured measurement gap or a downlink positioning reference signal processing window to the 6G core network, and the 6G core network can request the 5G base station to activate a certain preconfigured measurement gap or downlink positioning reference signal processing window. The 6G core network can request the 6G base station to configure a measurement gap or a downlink positioning reference signal processing window; or the 6G base station can send a preconfigured measurement gap or a downlink positioning reference signal processing window to the 6G core network, and the 6G core network can request the 6G base station to activate a certain preconfigured measurement gap or downlink positioning reference signal processing window.

[0046] Optionally, after the terminal requests the uplink positioning reference signal configuration from the base station, the method further includes: the terminal sends the uplink positioning reference signal to the base station based on the uplink positioning reference signal configuration, so that the base station performs positioning measurement on the uplink positioning reference signal, obtains the positioning measurement result or the position information, and sends the positioning measurement result or the position information to the first core network.

[0047] In one embodiment, FIG. 3 is a signaling diagram of 6G supporting downlink positioning in the embodiment. As shown in FIG. 3, the process of 6G supporting downlink positioning includes the following steps: the 6G core network requests second assistance information from the 5G base station; the 5G base station reports the second assistance information to the 6G core network; the terminal requests first assistance information from the 6G core network; the 6G core network sends the first assistance information to the terminal; the terminal performs positioning measurement based on the first assistance information, and obtains the positioning measurement result or the position information; the 6G core network requests the terminal for the positioning result; and the terminal reports the positioning measurement result or the position information to the 6G core network.

[0048] In one embodiment, FIG. 4 is a signaling diagram of 6G supporting uplink positioning in the embodiment. As shown in FIG. 3, the process of 6G supporting uplink positioning includes the following steps: the terminal requests uplink positioning reference signal configuration from the 5G base station; the 5G base station sends the uplink positioning reference signal configuration to the terminal; the terminal sends the uplink positioning reference signal to the 5G base station; the 5G base station performs positioning measurement on the uplink positioning reference signal; the 6G core network requests second assistance information from the 5G base station; the 5G base station reports the second assistance information to the 6G core network; the 6G core network requests the positioning result from the 5G base station; and the 5G base station reports the positioning measurement result or the position information to the 6G core network.

[0049] In one embodiment, FIG. 5 is a wireless positioning architecture diagram in the embodiment of the present application. As shown in FIG. 5, in the architecture, the terminal needs to be connected to two core networks, i.e., the 5G core network and the 6G core network, and at least an interface is needed between the 5G core network and the 6G core network to transfer the positioning measurement result or the position information of the terminal.

[0050] Optionally, the terminal supports dual connectivity, and one terminal can be connected to the 5G base station and the 6G base station, i.e., can receive signals or channels sent from the 5G base station and the 6G base station.

[0051] Optionally, the positioning service can be initiated by the 6G core network, the application layer or the terminal.

[0052] Optionally, the 6G core network can forward the positioning request to the 5G core network.

[0053] Optionally, the 5G core network starts the 5G positioning process, and interacts with the 5G base station or the terminal for assistance information, terminal capability information and measurement information.

[0054] Optionally, the 5G core network feeds back the positioning measurement result or the terminal location information to the 6G core network.

[0055] As shown in FIG. 5, in this architecture, the 5G base station and the 6G base station can have no interaction of the Xn interface, that is, the 5G base station and the 5G core network are responsible for the 6G positioning service, and the 6G base station and the 6G core network are responsible for the 6G communication service. The positioning-related signaling interaction is mainly between the 5G core network and the 6G core network. The 5G core network and the 6G core network transmit information through an interface, and the information transmitted by the interface can be included in the above-mentioned embodiments, which will not be described here.

[0056] In one embodiment, the terminal is associated with another terminal, and the other terminal is a reference terminal; the terminal and the reference terminal establish connections with the second core network and the first core network, respectively.

[0057] Optionally, the association relationship of the two terminals is sent to the second core network or the base station; wherein the association relationship includes at least one of the following: a terminal index set, a terminal index, a distance between the terminal and the reference terminal, or a relative position of the two terminals.

[0058] Optionally, the following at least one is further included:

[0059] The reference terminal receives a positioning request of the first core network; wherein the positioning request includes a location information request or a positioning measurement result request. The reference terminal forwards the positioning request to the terminal, so that the terminal performs positioning measurement based on a preset positioning algorithm to obtain location information, and synchronizes the location information to the reference terminal. The reference terminal receives the location information synchronized by the terminal, and sends the location information to the first core network.

[0060] Optionally, the terminal performs positioning measurement based on a preset positioning method to obtain location information, including: if it is a terminal-based positioning method, the terminal performs positioning measurement to obtain location information; if it is a core network-based positioning method, the terminal performs positioning measurement to obtain a positioning measurement result; the terminal sends the positioning measurement result to the second core network, so that the second core network determines the location information based on the positioning measurement result, and sends the location information to the first core network or the reference terminal.

[0061] Exemplarily, FIG. 6 is a wireless positioning architecture diagram in an embodiment of the present application. As shown in FIG. 6, in this architecture, two associated terminals are included, which are terminal 1 and terminal 2, wherein terminal 2 is a reference terminal. As shown in FIG. 6, terminal 1 establishes a connection with the 5G core network, and terminal 2 establishes a connection with the 6G core network. The 5G core network and the 6G core network can interact positioning measurement information.

[0062] In the architecture, the terminal 1 reports the association relationship with the terminal 2 to the 5G base station or the 5G core network. The 6G core network sends a positioning request to the terminal 2; the terminal 2 sends the positioning request to the terminal 1 through high-layer signaling or an application layer; the terminal 1 triggers a positioning process, and if the positioning method is based on a terminal, the terminal 1 can obtain the position information and send the position information to the terminal 2; if the positioning method is based on a positioning core network, the terminal 1 can obtain the positioning measurement result and report the positioning measurement result to the 5G positioning core network, and the 5G positioning core network determines the position information based on the positioning measurement result and sends the position information to the 6G core network or the terminal 2.

[0063] Optionally, the reference terminal further sends at least one of the following to the first core network: index information of the terminal, index information of the terminal binding, positioning measurement result of the terminal, coordinate information of the terminal, relative position or relative distance information or relative angle information of the terminal and the reference terminal. That is, the terminal 2 reports the following results to the 6G core network: index information of the terminal 1, index information of the terminal binding, positioning measurement result of the terminal 1, position information of the terminal 1, and relative position or relative distance information or relative angle information of the terminal 1 and the terminal 2. In this embodiment, the terminal 1 and the terminal 2 are two terminals of a dual-card dual standby on the same device, the terminal 1 works in 5G, and the terminal 2 works in 6G (without introducing a positioning function). The positioning measurement result of the terminal 1 can be synchronized to the terminal 2.

[0064] Optionally, FIG. 7 is a wireless positioning architecture diagram in an embodiment of the present application. As shown in FIG. 7, in the architecture, the terminal can communicate with the 5G base station and the 6G base station, but the core network is borne by the 5G core network.

[0065] Optionally, the 5G base station and the 6G base station both participate in the positioning of the terminal, and to ensure the synchronization of the 5G base station and the 6G base station, for example, the core network (5G or 6G) can recommend a synchronization source or a synchronization time standard to the 5G and 6G base stations.

[0066] Optionally, FIG. 8 is a wireless positioning architecture diagram in an embodiment of the present application. As shown in FIG. 8, the first core network can be a perception core network.

[0067] Optionally, the perception core network receives at least one of the following information sent by the terminal or the base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, position information, and other perception information.

[0068] The distance-related information includes at least one of the following: a time delay, a time of arrival (TOA), a reference signal time difference (RSTD), a relative time of arrival (RTOA), and an Rx-Tx time difference; the angle-related information includes at least one of the following: a reference signal received power (RSRP), a reference signal received path power (RSRPP), an angle of arrival (AOA), and a zenith angle of arrival (ZOA); the speed-related information includes at least one of the following: a speed measurement result and a Doppler measurement result; the phase-related information includes at least one of the following: a carrier phase measurement result, a reference signal carrier phase (RSCP), a reference signal carrier phase difference (RSCPD), and a phase measurement for micro deformation; the reference-related information includes at least one of the following: a reference TRP and a reference time; the quality-related information includes at least one of the following: a quality, an uncertainty, and a confidence; the position information includes at least one of the following: position information of the terminal and position information of a sensing target; and the other sensing information includes at least one of the following: a micro Doppler measurement result, a target type, a target quantity, whether a target exists, a target trajectory, and a relative displacement size.

[0069] FIG. 9 is a flowchart of a wireless positioning method according to an embodiment of the present application. As shown in FIG. 9, the method includes the following steps:

[0070] S910, the first core network sends first assistance information of a downlink positioning reference signal to the terminal, so that the terminal performs positioning measurement on the downlink positioning reference signal based on the first assistance information, and obtains a positioning measurement result or position information.

[0071] The first assistance information includes at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission and reception point index, base station timing information, or a time difference between the base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range.

[0072] Optionally, the first core network requests the base station for or the base station sends to the first core network second assistance information; wherein the second assistance information comprises at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set or downlink positioning reference signal positioning frequency layer for bandwidth aggregation, SSB information of a transmission reception point, spatial orientation information of a downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of a TRP, base station configured timing advance parameter, and mobile base station information.

[0073] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or the first core network receives a preconfigured measurement gap or a downlink positioning reference signal processing window sent by the base station; or the first core network requests the base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

[0074] Optionally, the first core network and the second core network transmit information through an interface.

[0075] Optionally, the second core network sends at least one of the following information to the first core network: positioning related information, authentication and authorization information, base station index for positioning, base station location, positioning reference unit location, other terminal index, other terminal location, or positioning method; the first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; wherein the positioning requirement information comprises at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; the second core network also sends the location information of the terminal to the first core network; wherein the quality of service information comprises at least one of the following: service type, distance, speed, angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed interval, duration, feedback period, and time delay; the positioning measurement request comprises at least one of the following: positioning method, positioning measurement quantity, terminal coordinate information, quality information, and time information.

[0076] Optionally, the first core network is a sensing core network.

[0077] Optionally, the sensing core network receives at least one of the following information sent by the terminal or the base station: distance related information, angle related information, speed related information, phase related information, reference related information, quality related information, location information, and other sensing information.

[0078] FIG. 10 is a structural schematic diagram of a wireless positioning device provided by an embodiment of the present application, which is arranged in a terminal, as shown in FIG. 10, comprising:

[0079] The first assistance information or uplink positioning reference signal configuration request module 1001 is configured to request, by a terminal, first assistance information about a downlink positioning reference signal from a first core network, or request, by the terminal, uplink positioning reference signal configuration from a base station; wherein the first assistance information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between the base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, an effective area, and an effective cell range.

[0080] Optionally, the method further comprises a downlink positioning measurement module configured to:

[0081] perform positioning measurement on the downlink positioning reference signal based on the first assistance information, to obtain a positioning measurement result or position information.

[0082] Optionally, the first core network requests or the base station sends second assistance information to the first core network; wherein the second assistance information comprises at least one of the following: an index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set or downlink positioning reference signal positioning frequency layer for bandwidth aggregation, synchronization signal block (SSB) information of a transmission reception point (TRP), spatial orientation information of a downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of a TRP, timing advance parameter configured by the base station, and mobile base station information.

[0083] Optionally, the index signal of the base station comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, and a transmission reception point index; the base station timing information comprises a system frame number initial time; the base station information comprises at least one of the following: geographical position information of the base station, geographical position information of a TRP, position information of a downlink positioning reference signal, speed information of the base station, and associated timestamp information; and the mobile base station information comprises at least one of the following: a timestamp, a geographical position, a speed size, a speed direction, and a speed.

[0084] Optionally, the first core network sends measurement request information to the base station; wherein the measurement request information comprises at least one of the following: uplink positioning reference signal configuration information of the terminal, uplink clock information of the terminal, uplink angle of arrival (AOA) angle range expected by timing advance of the terminal, and uplink AOA angle range expected by timing advance of the terminal.

[0085] Optionally, the method further comprises a positioning measurement result or position information sending module configured to:

[0086] sending the positioning measurement result or the location information to the first core network.

[0087] Optionally, the method further comprises:

[0088] The terminal requests the base station to configure the measurement gap or the downlink positioning reference signal processing window through high layer signaling; or

[0089] The terminal requests the base station to activate the pre-configured measurement gap or the downlink positioning reference signal processing window through low layer signaling.

[0090] Optionally, the first core network requests the base station to configure the measurement gap or the downlink positioning reference signal processing window; or the first core network receives the pre-configured measurement gap or the downlink positioning reference signal processing window sent by the base station; or the first core network requests the base station to activate the pre-configured measurement gap or the downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

[0091] Optionally, the method further comprises:

[0092] Based on the uplink positioning reference information configuration, the terminal sends an uplink positioning reference signal to the base station, so that the base station performs positioning measurement on the uplink positioning reference signal, obtains a positioning measurement result or location information, and sends the positioning measurement result or location information to the first core network.

[0093] Optionally, the first core network and the second core network transmit information through an interface.

[0094] Optionally, the information transmitted by the interface comprises at least one of:

[0095] The second core network sends at least one of the following information to the first core network: positioning related information, authentication and authorization information, base station index for positioning, base station location, positioning reference unit location, other terminal index, other terminal location, or positioning method;

[0096] The first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request and positioning measurement result; wherein the positioning requirement information comprises at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; wherein the quality of service information comprises at least one of the following: service type, distance, speed, angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed interval, duration, feedback period, time delay; the positioning measurement request comprises at least one of the following: positioning method, positioning measurement quantity, terminal coordinate information, quality information, time information;

[0097] The second core network further sends location information of the terminal to the first core network.

[0098] Optionally, the terminal is associated with another terminal, and the another terminal is a reference terminal; the terminal and the reference terminal establish connections with the second core network and the first core network respectively.

[0099] Optionally, the method further comprises:

[0100] sending the association relationship of the two terminals to the second core network or a base station; wherein the association relationship comprises at least one of the following: a terminal index set, a terminal index, a distance between the terminal and the reference terminal, or a relative position of the two terminals.

[0101] Optionally, the method further comprises at least one of the following:

[0102] The reference terminal receives a positioning request of the first core network; wherein the positioning request comprises a location information request or a positioning measurement result request;

[0103] The reference terminal forwards the positioning request to the terminal, so that the terminal performs positioning measurement based on a preset positioning algorithm, obtains location information, and synchronizes the location information to the reference terminal;

[0104] The reference terminal receives the location information synchronized by the terminal, and sends the location information to the first core network.

[0105] Optionally, the method that the terminal performs positioning measurement based on a preset positioning method to obtain location information comprises:

[0106] If the preset positioning method is a terminal-based positioning method, the terminal performs positioning measurement to obtain location information;

[0107] If the preset positioning method is a core network-based positioning method, the terminal performs positioning measurement to obtain a positioning measurement result; the terminal sends the positioning measurement result to the second core network, so that the second core network determines location information based on the positioning measurement result, and sends the location information to the first core network or the reference terminal.

[0108] Optionally, the method further comprises:

[0109] The reference terminal sends at least one of the following to the first core network: index information of the terminal, index information bound by the terminal, a positioning measurement result of the terminal, coordinate information of the terminal, relative position or relative distance information or relative angle information of the terminal and the reference terminal.

[0110] Optionally, the first core network is a perception core network.

[0111] Optionally, the perception core network receives at least one of the following information sent by the terminal or the base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, location information, and other perception information.

[0112] Optionally, the distance-related information includes at least one of the following: time delay, time of arrival (TOA), reference signal time difference (RSTD), relative time of arrival (RTOA), receive-transmit time difference (Rx-Tx time difference); the angle-related information includes at least one of the following: reference signal received power (RSRP), reference signal received power (RSRPP), angle of arrival (AOA), zenith angle of arrival (ZOA); the speed-related information includes at least one of the following: speed measurement result, Doppler measurement result; the phase-related information includes at least one of the following: carrier phase measurement result, reference signal carrier phase (RSCP), reference signal carrier phase difference (RSCPD), phase measurement for micro deformation; the reference-related information includes at least one of the following: reference TRP, reference time; the quality-related information includes at least one of the following: quality, uncertainty, confidence; the location information includes at least one of the following: location information of the terminal, location information of the perception target; and the other perception information includes at least one of the following: micro Doppler measurement result, target type, target quantity, whether there is a target, target trajectory, relative displacement size.

[0113] FIG. 11 is a structural schematic diagram of a wireless positioning device provided by an embodiment of the present application, which is arranged in a first core network, as shown in FIG. 11, the device includes:

[0114] A first auxiliary information sending module 1101, configured to send, by the first core network, first auxiliary information of downlink positioning reference signals to a terminal, so that the terminal performs positioning measurement on the downlink positioning reference signals based on the first auxiliary information, and obtains a positioning measurement result or location information; wherein the first auxiliary information includes at least one of the following: physical cell index, global cell index, absolute radio frequency channel number, transmission and reception point index, base station timing information, or time difference between the base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, and effective cell range.

[0115] Optionally, the first core network requests the base station for or the base station sends the first core network second assistance information; wherein the second assistance information comprises at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set or downlink positioning reference signal positioning frequency layer for bandwidth aggregation, SSB information of the transmission reception point, spatial orientation information of the downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of the TRP, timing advance parameter configured by the base station, mobile base station information.

[0116] Optionally, the first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or the first core network receives a pre-configured measurement gap or a downlink positioning reference signal processing window sent by the base station; or the first core network requests the base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

[0117] Optionally, the first core network and the second core network transmit information through an interface.

[0118] Optionally, the second core network sends at least one of the following information to the first core network: positioning related information, authentication and authorization information, base station index for positioning, base station position, positioning reference unit position, other terminal index, other terminal position or positioning method; the first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request and positioning measurement result; wherein the positioning requirement information comprises at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; the second core network also sends the position information of the terminal to the first core network; wherein the quality of service information comprises at least one of the following: service type, distance, speed, angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed interval, duration, feedback period, time delay; the positioning measurement request comprises at least one of the following: positioning method, positioning measurement quantity, terminal coordinate information, quality information, time information.

[0119] Optionally, the first core network is a sensing core network.

[0120] Optionally, the sensing core network receives at least one of the following information sent by the terminal or the base station: distance related information, angle related information, speed related information, phase related information, reference related information, quality related information, position information and other sensing information.

[0121] In an embodiment, FIG. 12 is a structural schematic diagram of a computer device provided by the embodiments of the present application. As shown in FIG. 12, the device provided by the embodiments of the present application includes a processor 510 and a memory 520. The number of processors 510 in the device can be one or more, and FIG. 12 takes one processor 510 as an example. The number of memories 520 in the device can be one or more, and FIG. 12 takes one memory 520 as an example. The processor 510 and the memory 520 of the device can be connected through a bus or other means, and FIG. 12 takes the connection through the bus as an example. In the embodiments, the device is a computer device.

[0122] The memory 520, as a computer readable storage medium, can be configured to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the device of any embodiment of the present application. The memory 520 can include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required by a function; and the data storage area can store data created according to the use of the device, etc. In addition, the memory 520 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some examples, the memory 520 can further include a memory disposed remotely with respect to the processor 510, and these remote memories can be connected to the device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0123] The device provided above can be configured to execute the wireless positioning method provided by any of the above embodiments, and has the corresponding functions and effects.

[0124] The program stored in the memory 520 can be the program instructions / modules provided by the embodiments of the present application and applied to the wireless positioning method, and the processor 510 executes one or more functions of the computer device and data processing by running the software programs, instructions and modules stored in the memory 520, that is, implements the wireless positioning method in the above method embodiments. It can be understood that when the above device is a receiving end, the wireless positioning method provided by any embodiment of the present application can be executed, and has the corresponding functions and effects.

[0125] The embodiments of the present application also provide a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform a wireless positioning method, the method comprising: a terminal requesting first assistance information about downlink positioning reference signals from a first core network, or the terminal requesting uplink positioning reference signal configuration from a base station; wherein the first assistance information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range. Alternatively, the first core network sends the first assistance information about downlink positioning reference signals to the terminal, so that the terminal performs positioning measurement on the downlink positioning reference signals based on the first assistance information, and obtains positioning measurement results or position information; wherein the first assistance information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, a valid area, and a valid cell range.

[0126] Those skilled in the art will appreciate that the term user equipment encompasses any suitable type of wireless user equipment, such as a mobile phone, a portable data processing apparatus, a portable web browser, or a vehicle-mounted mobile station.

[0127] Generally, the various embodiments of the present application can be implemented in hardware or special-purpose circuits, software, logic or any combination thereof. For example, some aspects can be implemented in hardware, while other aspects can be implemented in

[0128] Embodiments of the present application can be implemented by a data processor of a mobile device executing computer program instructions, for example, in a processor entity, or by hardware, or by a combination of software and hardware. Computer program instructions can be in assembly code, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or in any combination of one or more programming languages, executed on one or more computer processors.

[0129] The block diagrams of any logical flow of the attached drawings can represent program steps or can represent interconnected logic circuits, modules, and functions, or can represent a combination of program steps and logic circuits, modules, and functions. The computer program can be stored on a memory. The memory can be of any type suitable to the local technical environment and can be implemented using any suitable data storage technology, such as, but not limited to, random access memory (RAM), read-only memory (ROM), optical storage devices, and systems, such as digital video disc (DVD) or compact disc (CD), and the like. The computer readable media can include non-transitory storage media. The data processor can be of any type suitable to the local technical environment, and can include, but is not limited to, a general purpose computer, a special purpose computer, a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and a processor based on multi-core processor architecture.

[0130] The above merely provides exemplary embodiments of the present application, and is not intended to limit the protection scope of the present application.

[0131] Embodiments of the present application can be implemented by a data processor of a mobile device executing computer program instructions, for example, in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions can be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0132] By way of example, and not limitation, such computer program instructions can be loaded onto a machine and executed by that machine to implement the exemplary embodiments of the present application. The computer program instructions can be stored in a storage device associated with the machine, such as a memory, a semiconductor memory, a programmable read-only memory (PROM), or a hard disk. The computer program instructions can also be stored in a storage device that is external to the machine, such as a floppy disk, a CD-ROM, a DVD, a memory stick, or a memory card. The computer program instructions can be executed by a processor associated with the machine, such as a general purpose processor, a special purpose processor, a microprocessor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a processor based on multi-core processor architecture.

Claims

1. A method for wireless positioning, comprising: a terminal requesting first assistance information about downlink positioning reference signals from a first core network, or the terminal requesting uplink positioning reference signal configuration from a base station; wherein the first assistance information comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index, base station timing information, or a time difference between a base station and a reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, a validity area, a valid cell range. 2.The method of claim 1, further comprising: performing positioning measurement on the downlink positioning reference signals based on the first assistance information, obtaining positioning measurement results or location information.

3. The method of claim 1, wherein, the first core network requesting or sending second assistance information to the base station; wherein the second assistance information comprises at least one of the following: an index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set or downlink positioning reference signal positioning frequency layer for bandwidth aggregation, synchronization signal block (SSB) information of a transmission reception point (TRP), spatial orientation information of a downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of a TRP, timing advance parameter configured by the base station, mobile base station information.

4. The method of claim 3, wherein, the index signal of the base station comprises at least one of the following: a physical cell index, a global cell index, an absolute radio frequency channel number, a transmission reception point index; the base station timing information comprises a system frame number initial time; the base station information comprises at least one of the following: geographical location information of the base station, geographical location information of a TRP, location information of a downlink positioning reference signal, speed information of the base station, associated timestamp information; the mobile base station information comprises at least one of the following: a timestamp, a geographical location, a speed size, a speed direction, a speed.

5. The method of claim 1, wherein, the first core network sending measurement request information to the base station; wherein the measurement request information comprises at least one of the following: terminal uplink positioning reference signal configuration information, terminal uplink clock information, terminal timing advance uplink angle of arrival (AOA) angle range, terminal timing advance uplink AOA angle range. 6.The method of claim 2, after obtaining the positioning measurement results or the location information, further comprising: sending the positioning measurement results or the location information to the first core network. 7.The method of claim 1, further comprising: the terminal requesting a measurement gap or a downlink positioning reference signal processing window from the base station through high layer signaling; or, the terminal requesting the base station to activate a preconfigured measurement gap or a downlink positioning reference signal processing window through low layer signaling.

8. The method of claim 7, wherein, The first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or the first core network receives a pre-configured measurement gap or downlink positioning reference signal processing window sent by the base station; or the first core network requests the base station to activate the pre-configured measurement gap or downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

9. The method of claim 1, further comprising: configuring the terminal to send an uplink positioning reference signal to the base station based on the uplink positioning reference information, so that the base station performs positioning measurement on the uplink positioning reference signal, obtains a positioning measurement result or position information, and sends the positioning measurement result or position information to the first core network.

10. The method of claim 1, wherein, The first core network and the second core network transmit information through an interface.

11. The method of claim 10, wherein, The information transmitted through the interface includes at least one of the following: The second core network sends at least one of the following information to the first core network: positioning related information, authentication and authorization information, base station index for positioning, base station position, positioning reference unit position, other terminal index, other terminal position, or positioning method; The first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; wherein the positioning requirement information includes at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; wherein the quality of service information includes at least one of the following: service type, distance, speed, angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed interval, duration, feedback period, time delay; the positioning measurement request includes at least one of the following: positioning method, positioning measurement quantity, terminal coordinate information, quality information, time information; The second core network also sends the position information of the terminal to the first core network.

12. The method of claim 1, wherein, The terminal is associated with another terminal, and the other terminal is a reference terminal; the terminal and the reference terminal establish connections with the second core network and the first core network, respectively.

13. The method of claim 12, further comprising: sending the association relationship between the terminal and the reference terminal to the second core network or the base station; wherein the association relationship includes at least one of the following: terminal index set, terminal index, distance between the terminal and the reference terminal, or relative position of the terminal and the reference terminal.

14. The method of claim 13, further comprising at least one of the following: The reference terminal receives a positioning request of the first core network; wherein The positioning request includes a position information request or a positioning measurement result request; The reference terminal forwards the positioning request to the terminal, so that the terminal performs positioning measurement based on a pre-set positioning algorithm, obtains position information, and synchronizes the position information to the reference terminal; The reference terminal receives the position information synchronized by the terminal and sends the position information to the first core network.

15. The method of claim 14, wherein, So that the terminal performs positioning measurement based on a pre-set positioning method to obtain position information, including: In response to the preset positioning method being a terminal-based positioning method, the terminal performs positioning measurement to obtain position information; In response to the preset positioning method being a core network-based positioning method, the terminal performs positioning measurement to obtain positioning measurement results; the terminal sends the positioning measurement results to the second core network, so that the second core network determines position information based on the positioning measurement results and sends the position information to the first core network or the reference terminal.

16. The method of claim 14, further comprising: The reference terminal sends at least one of the following to the first core network: index information of the terminal, index information of the terminal binding, positioning measurement results of the terminal, coordinate information of the terminal, relative position or relative distance information or relative angle information of the terminal and the reference terminal.

17. The method of claim 1, wherein, The first core network is a perception core network.

18. The method of claim 17, wherein, The perception core network receives at least one of the following information sent by the terminal or base station: distance-related information, angle-related information, speed-related information, phase-related information, reference-related information, quality-related information, position information, and other perception information.

19. The method of claim 18, wherein, The distance-related information includes at least one of the following: time delay, time of arrival (TOA), reference signal time difference (RSTD), relative time of arrival (RTOA), receive-transmit time difference (Rx-Tx time difference); the angle-related information includes at least one of the following: reference signal received power (RSRP), reference signal received power (RSRPP), angle of arrival (AOA), zenith angle of arrival (ZOA); the speed-related information includes at least one of the following: speed measurement result, Doppler measurement result; the phase-related information includes at least one of the following: carrier phase measurement result, reference signal carrier phase (RSCP), reference signal carrier phase difference (RSCPD), phase measurement for micro deformation; the reference-related information includes at least one of the following: reference TRP, reference time; the quality-related information includes at least one of the following: quality, uncertainty, confidence; the position information includes at least one of the following: position information of the terminal, position information of the perception target; and the other perception information includes at least one of the following: micro-Doppler measurement result, target type, target quantity, whether there is a target, target trajectory, relative displacement size.

20. A wireless positioning method, comprising: The first core network sends first assistance information of downlink positioning reference signals to the terminal, so that the terminal performs positioning measurement on the downlink positioning reference signals based on the first assistance information to obtain positioning measurement results or position information; wherein the first assistance information includes at least one of the following: physical cell index, global cell index, absolute radio frequency channel number, transmission and reception point index, base station timing information, or time difference between the base station and the reference base station, downlink positioning reference signal configuration, downlink positioning reference signal bandwidth aggregation configuration, effective area, and effective cell range.

21. The method of claim 20, wherein, The first core network requests or the base station sends second assistance information to the first core network; wherein the second assistance information comprises at least one of the following: index signal of the base station, base station timing information, base station information, downlink positioning reference signal configuration of the base station, uplink positioning reference signal configuration of the base station, downlink positioning reference signal resource set or downlink positioning reference signal positioning frequency layer for bandwidth aggregation, synchronization signal block (SSB) information of the transmission reception point (TRP), spatial orientation information of the downlink positioning reference signal resource, requested downlink positioning reference signal configuration, transmission time error group information of the TRP, timing advance parameter configured by the base station, and mobile base station information.

22. The method of claim 20, wherein, The first core network requests the base station to configure a measurement gap or a downlink positioning reference signal processing window; or the first core network receives a pre-configured measurement gap or a downlink positioning reference signal processing window sent by the base station; or the first core network requests the base station to activate a pre-configured measurement gap or a downlink positioning reference signal processing window; wherein the base station is a 5G base station or a 6G base station.

23. The method of claim 20, wherein, The first core network and the second core network transmit information through an interface.

24. The method of claim 23, wherein, The second core network sends at least one of the following information to the first core network: positioning related information, authentication and authorization information, base station index for positioning, base station location, positioning reference unit location, other terminal index, other terminal location, or positioning method; the first core network sends at least one of the following information to the second core network: positioning requirement information, positioning measurement request, and positioning measurement result; wherein the positioning requirement information comprises at least one of the following: terminal index information, quality of service information, horizontal positioning accuracy, vertical positioning accuracy, angle accuracy, response time, reporting period; the second core network also sends the location information of the terminal to the first core network; wherein the quality of service information comprises at least one of the following: service type, distance, speed, angle resolution and accuracy, refresh rate, target detection rate, target false alarm rate, sensing area, detection speed interval, duration, feedback period, and time delay; the positioning measurement request comprises at least one of the following: positioning method, coordinate information of the terminal, quality information, and time information.

25. The method of claim 20, wherein, The first core network is a sensing core network.

26. The method of claim 25, wherein, The sensing core network receives at least one of the following information sent by the terminal or the base station: distance related information, angle related information, speed related information, phase related information, reference related information, quality related information, location information, and other sensing information.

27. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program comprises the steps of: The processor executes the program to implement the wireless positioning method of any one of claims 1-26.

28. A computer readable storage medium having stored thereon a computer program, wherein, The program is executed by the processor to implement the wireless positioning method of any one of claims 1-26.

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