Positioning method, system and apparatus, and computer device and readable storage medium

Abstract

The present application relates to a positioning method, system and apparatus, and a computer device and a computer-readable storage medium. The method comprises: in response to a positioning request for a target terminal, acquiring, by means of control plane positioning, uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal, and acquiring terminal measurement data of the target terminal from an SLP; on the basis of the uplink signal measurement data and the terminal measurement data, generating a fused fingerprint feature of the target terminal; and performing matching processing on the fused fingerprint feature against a pre-constructed fused fingerprint library, and on the basis of a matching result, obtaining a positioning result of the target terminal. Using the method can implement the fusion of control plane positioning-based technology and user plane positioning-based technology, thereby improving the positioning accuracy even in regions having a lower density of base stations.

Description

Positioning method, system, device, computer device and readable storage medium

[0001] The present application claims priority to the Chinese patent application No. 2024113349457, filed on September 24, 2024, and entitled "Positioning method, system, device, computer device and readable storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication positioning technology, and in particular to a positioning method, system, device, computer device, computer readable storage medium and computer program product. BACKGROUND

[0003] With the development of communication positioning technology, a mobile communication network based on control plane positioning technology appears. This technology can transmit positioning information through signaling, and thus can support UTDOA, i.e., a positioning technology using the difference in the arrival time of the uplink signal, and AOA, i.e., a positioning technology using the direction of the incoming wave.

[0004] In related technologies, the positioning technology based on the control plane usually needs to rely on the base station for implementation. However, due to the insufficient number of base stations, in areas with low base station density, the positioning technology based on the control plane will result in a decrease in positioning accuracy. Therefore, in the existing positioning technology based on the control plane, the positioning accuracy is low in areas with low base station density. SUMMARY

[0005] Therefore, it is necessary to provide a positioning method, system, device, computer device, computer readable storage medium and computer program product capable of improving positioning accuracy in view of the above technical problems.

[0006] In a first aspect, the present application provides a positioning method, comprising:

[0007] In response to a positioning request for a target terminal, acquiring uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal in a control plane positioning manner, and acquiring terminal measurement data of the target terminal from an SLP in a user plane positioning manner;

[0008] Generating a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data;

[0009] Matching the fusion fingerprint feature with a pre-constructed fusion fingerprint library, and obtaining a positioning result of the target terminal according to a matching result.

[0010] In one of the embodiments, the target terminal communicates with the target LMF through the AMF; the target terminal obtains the uplink signal measurement data of the target terminal from the target LMF corresponding to the target terminal through the control plane positioning, and obtains the terminal measurement data of the target terminal from the SLP through the user plane positioning, including: sending the PSL information carrying the terminal identifier of the target terminal to the AMF; the PSL information is used to instruct the AMF to determine the target LMF from a plurality of LMFs according to the terminal identifier, and set the target terminal to a connected state of a linked state; in the case that the target terminal is in the linked state, the target LMF is used to obtain the uplink signal measurement data of the target terminal through the AMF and return; in the case that the target terminal is in the linked state, the terminal positioning request carrying the terminal identifier is sent to the SLP; the terminal positioning request is used to request the SLP to obtain the terminal measurement data of the target terminal according to the terminal identifier and return.

[0011] In one of the embodiments, the uplink signal measurement data includes uplink signal time of arrival data of the target terminal sent by a plurality of target signal transceiver points, and the target signal transceiver points are arranged in the base station interacting with the target terminal; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal; the fusion fingerprint feature of the target terminal is generated according to the uplink signal measurement data and the terminal measurement data, including: obtaining uplink signal time of arrival features of the target terminal corresponding to each target signal transceiver point according to the uplink signal time of arrival data measured by each target signal transceiver point; obtaining wireless communication signal strength features of the target terminal corresponding to each wireless communication device according to each wireless communication signal strength data; generating the fusion fingerprint feature by using each uplink signal time of arrival feature and each wireless communication signal strength feature.

[0012] In one of the embodiments, the uplink signal arrival time data measured according to each of the target signal transceiver points is used to obtain uplink signal arrival time characteristics of the target terminal corresponding to each of the target signal transceiver points, including: obtaining a feature weight corresponding to each of the uplink signal arrival time characteristics according to a data value of each of the uplink signal arrival time data; wherein the data value and the feature weight are in a negative correlation relationship; performing weighted processing on each of the uplink signal arrival time characteristics included in the fusion fingerprint feature by using each of the feature weights to obtain weighted uplink signal arrival time characteristics; and performing matching processing on the weighted uplink signal arrival time characteristics and each of the wireless communication signal strength characteristics included in the fusion fingerprint feature and a fingerprint included in the fusion fingerprint library to obtain a positioning result of the target terminal according to a matching result.

[0013] In one of the embodiments, the matching processing of the fusion fingerprint feature and the pre-constructed fusion fingerprint library to obtain a positioning result of the target terminal according to a matching result includes: obtaining a feature weight corresponding to each of the uplink signal arrival time characteristics according to a data value of each of the uplink signal arrival time data; wherein the data value and the feature weight are in a negative correlation relationship; performing weighted processing on each of the uplink signal arrival time characteristics to obtain weighted uplink signal arrival time characteristics by using each of the feature weights; and performing matching processing on the weighted uplink signal arrival time characteristics and each of the wireless communication signal strength characteristics and a fingerprint included in the fusion fingerprint library to obtain a positioning result of the target terminal according to a matching result.

[0014] In one of the embodiments, the matching processing of the fusion fingerprint feature and the pre-constructed fusion fingerprint library to obtain a positioning result of the target terminal according to a matching result includes: obtaining a magnetic field strength feature of the target terminal from the SLP, and obtaining a first positioning result of the target terminal according to the magnetic field strength feature; performing matching processing of the fusion fingerprint feature and the pre-constructed fusion fingerprint library to obtain a second positioning result of the target terminal according to a matching result; and obtaining a positioning result of the target terminal according to the first positioning result and the second positioning result.

[0015] In one of the embodiments, the fusion fingerprint feature of the target terminal is generated according to the uplink signal measurement data and the terminal measurement data, including: obtaining magnetic field strength data of the target terminal from the SLP; and generating the fusion fingerprint feature of the target terminal according to the magnetic field strength data, the uplink signal measurement data and the terminal measurement data.

[0016] In a second aspect, the present application also provides a positioning system, comprising: a fusion positioning platform, and a target LMF and a SLP corresponding to a target terminal in communication connection with the fusion positioning platform; wherein

[0017] The fusion positioning platform is configured to, in response to a positioning request for the target terminal, acquire uplink signal measurement data of the target terminal from the target LMF corresponding to the target terminal in a control plane positioning manner, and acquire terminal measurement data of the target terminal from the SLP in a user plane positioning manner.

[0018] The fusion positioning platform is further configured to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data, perform matching processing on the fusion fingerprint feature and a pre-constructed fusion fingerprint library, and obtain a positioning result of the target terminal according to a matching result.

[0019] In one of the embodiments, the system further comprises an AMF, and the fusion positioning platform is further configured to send PSL information carrying a terminal identifier of the target terminal to the AMF; the AMF is configured to determine the target LMF from a plurality of LMFs according to the terminal identifier in the PSL information, and set the target terminal to a linked state of being connected to a network; the target LMF is further configured to acquire the uplink signal measurement data of the target terminal through the AMF and return the uplink signal measurement data in a case where the target terminal is in the linked state; the fusion positioning platform is further configured to send a terminal positioning request carrying the terminal identifier to the SLP in the case where the target terminal is in the linked state; and the SLP is configured to acquire the terminal measurement data of the target terminal according to the terminal identifier and return the terminal measurement data.

[0020] In one of the embodiments, the AMF is further configured to send an Nlmf location determination request to the target LMF; and the target LMF is further configured to acquire the uplink signal measurement data of the target terminal from base stations interacting with the target terminal through the AMF according to the Nlmf location determination request, and return the uplink signal measurement data to the fusion positioning platform.

[0021] In one of the embodiments, the SLP is further configured to send a SUPL INIT message to the target terminal according to the terminal identifier; the SUPL INIT message is used to start a positioning session request to the target terminal; the target terminal is configured to return a SUPL POS INIT message to the SLP in response to starting the positioning session request, and return a SUPL POS message carrying the terminal measurement data to the SLP.

[0022] In a third aspect, the present application also provides a positioning device, comprising:

[0023] a measurement data obtaining module, configured to, in response to a positioning request for a target terminal, obtain uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal in a control plane positioning manner, and obtain terminal measurement data of the target terminal from an SLP in a user plane positioning manner;

[0024] a fused fingerprint obtaining module, configured to generate a fused fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data;

[0025] a positioning result obtaining module, configured to perform matching processing on the fused fingerprint feature and a pre-constructed fused fingerprint library, and obtain a positioning result of the target terminal according to a matching result.

[0026] In a fourth aspect, the present application also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any one of the embodiments of the first aspect when executing the computer program.

[0027] In a fifth aspect, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method in any one of the embodiments of the first aspect when executed by a processor.

[0028] In a sixth aspect, the present application also provides a computer program product, comprising a computer program, and the computer program implements the steps of the method in any one of the embodiments of the first aspect when executed by a processor.

[0029] The above positioning method, system, device, computer device, computer readable storage medium and computer program product, in response to a positioning request for a target terminal, obtain uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal in a control plane positioning manner, and obtain terminal measurement data of the target terminal from an SLP in a user plane positioning manner; generate a fused fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; perform matching processing on the fused fingerprint feature and a pre-constructed fused fingerprint library, and obtain a positioning result of the target terminal according to a matching result. The present application can obtain uplink signal measurement data from a target LMF in a control plane positioning manner and obtain terminal measurement data from an SLP in a user plane positioning manner when positioning a target terminal, so as to generate a fused fingerprint feature by using the above measurement data and perform matching processing by using a fused fingerprint library, thereby realizing positioning. In this way, the fusion of control plane positioning technology and user plane positioning technology is realized, and thus the positioning accuracy can be improved even in an area with low base station density. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 is an application environment diagram of the positioning method in one embodiment;

[0032] Figure 2 is a flowchart illustrating the positioning method in one embodiment;

[0033] Figure 3 is a flowchart illustrating the process of acquiring uplink signal measurement data and terminal measurement data in one embodiment;

[0034] Figure 4 is a schematic diagram of the process for generating fused fingerprint features in one embodiment;

[0035] Figure 5 is a schematic diagram of the positioning system in one embodiment;

[0036] Figure 6 is a schematic diagram of the positioning system in another embodiment;

[0037] Figure 7 is a flowchart illustrating the positioning method in another embodiment;

[0038] Figure 8 is a structural block diagram of the positioning device in one embodiment;

[0039] Figure 9 is an internal structure diagram of a computer device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] The positioning method provided by the embodiments of the present application can be applied to an application environment as shown in FIG. 1. Wherein, a target terminal 101 to be positioned can communicate with a fusion positioning platform 105 through a base station 102 and a target LMF 103, and can also communicate with the fusion positioning platform 105 through an SLP 104. Specifically, after the fusion positioning platform 105 receives a positioning request for the target terminal 101, the fusion positioning platform 105 can obtain uplink signal measurement data of the target terminal from the target LMF 103 through a control plane positioning manner, and obtain terminal measurement data of the target terminal from the SLP 104 through a user plane positioning manner, wherein the target LMF 103 can obtain the uplink signal measurement data through the base station 102 and return the fusion positioning platform 105. Then, the fusion positioning platform 105 can generate a fusion fingerprint feature of the target terminal 101 according to the uplink signal measurement data and the terminal measurement data, so as to obtain a positioning result of the target terminal 101. Wherein, the target terminal 101 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The target LMF 103, the SLP 104 and the fusion positioning platform 105 can be independent physical servers, can be server clusters or distributed systems composed of multiple physical servers, or can be cloud servers providing cloud computing services.

[0042] In one embodiment, as shown in FIG. 2, a positioning method is provided, which is taken as an example of the fusion positioning platform 105 in FIG. 1 for illustration, including the following steps:

[0043] Step S201, in response to a positioning request for a target terminal 101, obtaining uplink signal measurement data of the target terminal from a target LMF 103 corresponding to the target terminal 101 through a control plane positioning manner, and obtaining terminal measurement data of the target terminal 101 from an SLP 104 through a user plane positioning manner.

[0044] Wherein, the positioning request refers to a request for positioning operation of the target terminal 101, which can be triggered by a positioning application to the fusion positioning platform 105, the target terminal 101 refers to a terminal to be positioned, and the target LMF 103 refers to an LMF for obtaining uplink signal measurement data of the target terminal 101 from multiple LMFs, the uplink signal measurement data can be measurement data required by control plane positioning, such as UL-TDOA measurement result data, or AOA measurement result data, etc. The SLP 104 can be a SUPL-based positioning platform 104, which can obtain measurement data required by user plane positioning, i.e. terminal measurement data of the target terminal 101.

[0045] Specifically, in the case of receiving a positioning request for the target terminal 101, the uplink signal measurement data of the target terminal 101 can be obtained from the target LMF 103 by a control plane positioning manner, i.e., by a core network signaling transmission information manner, and the terminal measurement data of the target terminal 101 can be obtained from the SLP 104 by a user plane positioning manner, i.e., by a user layer data transmission information manner.

[0046] In step S202, a fusion fingerprint feature of the target terminal is generated according to the uplink signal measurement data and the terminal measurement data.

[0047] In step S203, the fusion fingerprint feature is matched with a pre-constructed fusion fingerprint library, and a positioning result of the target terminal is obtained according to a matching result.

[0048] The fusion fingerprint feature is a fingerprint feature obtained based on the uplink signal measurement data and the terminal measurement data, for example, the uplink signal measurement data and the terminal measurement data can be converted into a feature vector form, and the feature vector is spliced to obtain the fusion fingerprint feature. The fusion fingerprint library is a database for storing a corresponding relationship between a plurality of fusion fingerprint features and positioning information. In the embodiment, after the uplink signal measurement data and the terminal measurement data of the target terminal 101 are obtained respectively, the fusion fingerprint feature can be obtained according to the above data, so that the fusion fingerprint feature is matched with the pre-constructed fusion fingerprint library to obtain the final positioning result of the target terminal 101. Since the fusion fingerprint feature contains the uplink signal measurement data required by the control plane positioning and the terminal measurement data required by the user plane positioning, the control plane positioning and the user plane positioning are fused in the embodiment, so that the positioning accuracy is improved.

[0049] In the positioning method, the positioning platform 105 fuses the uplink signal measurement data of the target terminal 101 obtained from the target LMF 103 in response to a positioning request for the target terminal 101 by the control plane positioning and the terminal measurement data of the target terminal obtained from the SLP 104 by the user plane positioning, generates a fusion fingerprint feature of the target terminal 101 according to the uplink signal measurement data and the terminal measurement data, and matches the fusion fingerprint feature with a pre-constructed fusion fingerprint library to obtain a positioning result of the target terminal 101 according to a matching result. The application can obtain the uplink signal measurement data from the target LMF 103 by the control plane positioning and the terminal measurement data from the SLP 104 by the user plane positioning when positioning the target terminal 101, so as to generate the fusion fingerprint feature by using the measurement data and perform matching processing by the fusion fingerprint library to realize positioning. The fusion of the control plane positioning technology and the user plane positioning technology is realized by the method, and thus the positioning accuracy can be improved even in an area with low base station density.

[0050] In one embodiment, the target terminal 101 communicates with the target LMF 103 through an AMF. As shown in FIG. 3, step S201 can further include:

[0051] In step S301, PSL information carrying a terminal identifier of the target terminal 101 is sent to the AMF. The PSL information is used to instruct the AMF to determine the target LMF 103 from a plurality of LMFs according to the terminal identifier and set the target terminal 101 to a linked state of connecting to a network. In the case that the target terminal 101 is in the linked state, the target LMF 103 is used to obtain the uplink signal measurement data of the target terminal 101 through the AMF and return.

[0052] The AMF, Access and Mobility Management Function, is mainly used to control terminal access to a network, authenticate terminal identity, and keep connection when terminals move in different places. In the embodiment, the target terminal 101 communicates with the target LMF 103 through the AMF, and the selection of the target LMF 103 can also be performed by the AMF.

[0053] Specifically, when the fusion positioning platform 105 receives a positioning request of a target terminal 101 from a positioning application, the PSL information carrying the terminal identifier of the target terminal 101 can be sent to the AMF, the terminal identifier is used to identify the target terminal 101 that needs to be positioned, and the PSL information can be used to indicate that the AMF first determines the target LMF 103 from a plurality of LMFs according to the carried terminal identifier, and sets the state of the target terminal 101 to a linked state connected to the network, for example, the AMF can initiate a Network Triggered Service request to the target terminal 101, requiring the target terminal 101 to connect to the network. In the case that the target terminal 101 is in the linked state, the target LMF 103 can obtain the uplink signal measurement data of the target terminal 101 through the AMF and return it to the fusion positioning platform 105.

[0054] Step S302, in the case that the target terminal 101 is in the linked state, a terminal positioning request carrying a terminal identifier is sent to the SLP 104; the terminal positioning request is used to request the SLP 104 to obtain terminal measurement data of the target terminal 101 according to the terminal identifier and return.

[0055] In the case that the target terminal 101 is set to the linked state through the AMF, the fusion positioning platform 105 can also send a terminal positioning request carrying a terminal identifier to the SLP 104, and then the SLP 104 determines the target terminal 101 according to the terminal identifier and returns the terminal measurement data of the target terminal 101 after obtaining it.

[0056] The process of the SLP 104 obtaining the terminal measurement data can be that the SLP 104 initiates a positioning session using a SUPL INIT message, wherein the SUPL INIT message at least includes session-id, proxy and non-proxy mode indication, and positioning method, and then the SET of the target terminal 101 sends a SUPL POS INIT message to start a positioning session with the SLP. The SUPL POS INIT message at least contains SET capability, the SET capability includes supported positioning methods, and then the SET can send a SUPL POS message containing terminal positioning measurement result data, at least containing one of Bluetooth or WiFi data, and finally the SLP returns the Bluetooth / WiFi / magnetic measurement data to the fusion positioning platform to complete the return of the terminal measurement data.

[0057] In this embodiment, the fusion positioning platform 105 can set the target terminal 101 to be in the connected state of the network through the AMF, and then the target LMF 103 can obtain the uplink signal measurement data of the target terminal 101 through the AMF, and the SLP 104 can obtain the terminal measurement data and return. In this way, the target terminal 101 can be made to enter the connected state through the control plane positioning signaling, thereby avoiding the problem that the target terminal 101 cannot be offline for user plane positioning, and further improving the stability of positioning.

[0058] In one embodiment, the uplink signal measurement data includes uplink signal time of arrival data of the target terminal 101 sent by a plurality of target signal transceiver points, and the target signal transceiver points are set in the base station 102 interacting with the target terminal 101; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal 101; as shown in FIG. 4, step S202 can further include:

[0059] Step S401, obtaining uplink signal time of arrival characteristics of the target terminal corresponding to each target signal transceiver point according to the uplink signal time of arrival data measured by each target signal transceiver point.

[0060] Wherein the target signal transceiver point refers to a signal transceiver point set in the base station 102, for example, it can be a wireless measurement unit TRP set in the base station 102, and the uplink signal time of arrival data can be UL-TDOA measurement result data, and the uplink signal time of arrival characteristics refer to the characteristic representation of the uplink signal time of arrival data. After the terminal obtains the uplink signal time of arrival data measured by each target signal transceiver point, the corresponding uplink signal time of arrival characteristics can be generated.

[0061] For example, the uplink signal time of arrival characteristics can be represented as TRP[i]={TrpId,RTOA}, i=0,1,2..N, wherein i represents the i-th uplink signal time of arrival characteristics, TrpId represents the id information of a certain target signal transceiver point of the measured uplink signal time of arrival data, and RTOA represents the uplink signal time of arrival.

[0062] Step S402, obtaining wireless communication signal strength characteristics of the target terminal 101 corresponding to each wireless communication device according to each wireless communication signal strength data.

[0063] And the terminal measurement data can be the wireless communication signal strength data of each wireless communication device received by the target terminal 101, and the wireless communication signal strength characteristics are the characteristic data corresponding to the wireless communication signal strength.

[0064] For example, the wireless communication device can be a Bluetooth device, and the wireless communication signal strength data returned by the Bluetooth device can be represented as BT[i] = {BtId, Rssi}, i = 0, 1, 2..M, where i represents the wireless communication signal strength feature of the ith Bluetooth device, BtId represents the id of the Bluetooth device, and Rssi represents the signal strength of the Bluetooth signal.

[0065] In step S403, the fusion fingerprint feature is generated by using the uplink signal arrival time features and the wireless communication signal strength features.

[0066] Finally, the fusion fingerprint feature can be generated by using the uplink signal arrival time features and the wireless communication signal strength features. The fusion fingerprint feature can be obtained by splicing the uplink signal arrival time features and the wireless communication signal strength features.

[0067] For example, the fusion fingerprint feature can be a fusion wireless fingerprint composed of the Bluetooth / WiFi signals obtained and the time / intensity signals TRP[i] measured by the mobile network antennas through UTDOA positioning, and the form can be as follows:

[0068] UTDOA{TRP[i] = {TrpId, RTOA}, i = 0, 1, 2..N} + BT[i] = {BtId, Rssi}, i = 0, 1, 2..M

[0069] Another extended UTDOA+Bluetooth / WiFi fusion fingerprint feature:

[0070] UTDOA{TRP[i] = {TrpId, RTOA, RSCP}, i = 0, 1, 2..N} + BT[i] = {BtId, Rssi}, i = 0, 1, 2..M

[0071] The above BT information can also be WiFi or BT+WiFi combined data.

[0072] In the embodiment, the uplink signal measurement data can be the uplink signal arrival time data measured by the target signal transceiver point, and the terminal measurement data can be the wireless communication signal strength data of each wireless communication device. The fusion fingerprint can be generated by using the above data, so that the accuracy of the fusion fingerprint feature can be improved.

[0073] In some embodiments, step S401 can further include: obtaining, from the uplink signal arrival time data, target uplink signal arrival time data with the minimum data value; and obtaining, according to the transceiver point identifier of each target signal transceiver point and the difference between the uplink signal arrival time data measured by each target signal transceiver point and the target uplink signal arrival time data, the uplink signal arrival time feature of each target signal transceiver point.

[0074] The target uplink signal arrival time data refers to the uplink signal arrival time data with the minimum data value. In this embodiment, after obtaining each uplink signal arrival time data, the uplink signal arrival time data needs to be standardized and converted before the uplink signal arrival time feature of each target signal transceiver point is obtained. The standardization and conversion process is to obtain the difference between the uplink signal arrival time data measured by each target signal transceiver point and the target uplink signal arrival time data.

[0075] Specifically, after the fusion positioning platform 105 obtains each uplink signal arrival time data, it can filter out the target uplink signal arrival time data with the minimum data value from the uplink signal arrival time data, and then perform difference processing on each uplink signal arrival time data and the target uplink signal arrival time data. After that, the transceiver point identifier of each target signal transceiver point and each difference value can be combined to form the uplink signal arrival time feature of each target signal transceiver point.

[0076] For example, the target uplink signal arrival time data with the minimum data value can be represented as TRP[0].RTOA. After obtaining each uplink signal arrival time data, i.e., TRP[i].RTOA, difference processing can be performed, TRP'[i].RTOA = TRP[i].RTOA-TRP[0].RTOA, where TRP'[i].RTOA represents the standardized and converted uplink signal arrival time data. Then, the transceiver point identifier of each target signal transceiver point and the standardized and converted uplink signal arrival time data can be combined to form the uplink signal arrival time feature of each target signal transceiver point, which can be represented as TRP[i] = {TrpId, TRP'[i].RTOA}.

[0077] In this embodiment, the uplink signal arrival time feature can be composed of the transceiver point identifier of the target signal transceiver point and the standardized and converted uplink signal arrival time data, where the standardized and converted uplink signal arrival time data is the difference between the uplink signal arrival time data and the target uplink signal arrival time data. In this way, the operation efficiency of feature matching can be improved.

[0078] In some embodiments, step S203 can further include: obtaining a feature weight corresponding to each uplink signal arrival time feature according to a data value of each uplink signal arrival time data; wherein the data value and the feature weight are in a negative correlation relationship; performing weighted processing on each uplink signal arrival time feature included in the fusion fingerprint feature by using each feature weight to obtain weighted each uplink signal arrival time feature; and performing matching processing on each weighted uplink signal arrival time feature and each wireless communication signal strength feature included in the fusion fingerprint feature and the fingerprint included in the fusion fingerprint library to obtain the positioning result of the target terminal according to a matching result.

[0079] The feature weight refers to a weight value corresponding to each uplink signal arrival time feature. In this embodiment, the smaller the data value of the uplink signal arrival time data is, the closer the target terminal 101 is to the target signal transceiver point. At this time, the feature weight set can be larger, indicating that the feature is more important. Therefore, the data value and the feature weight are in a negative correlation relationship.

[0080] Specifically, after obtaining the fusion fingerprint feature, the fusion positioning platform 105 can also perform weighted processing on each uplink signal arrival time feature included in the fusion fingerprint feature. The weight of each uplink signal arrival time feature can be determined according to the data value of the uplink signal arrival time data, and the smaller the data value is, the larger the feature weight is. Then, each uplink signal arrival time feature can be weighted processed by using each feature weight to obtain weighted each uplink signal arrival time feature. Each weighted uplink signal arrival time feature and each wireless communication signal strength feature included in the fusion fingerprint feature are matched with the fingerprint included in the fusion fingerprint library, and the positioning result of the target terminal 101 is obtained according to the matching result.

[0081] In this embodiment, the fusion fingerprint feature can be composed of each uplink signal arrival time feature and each wireless communication signal strength feature, and when performing fingerprint matching, the uplink signal arrival time feature can be weighted processed, and the weighted uplink signal arrival time feature and each wireless communication signal strength feature are matched to obtain the final positioning result. The feature weight value and the data value of the uplink signal arrival time data are in a negative correlation relationship. In this way, the uplink signal arrival time feature with a shorter uplink signal arrival time data can have a greater feature importance, thereby further improving the accuracy of the positioning result of the target terminal.

[0082] In one embodiment, step S203 can further include: obtaining the magnetic field intensity feature of the target terminal 101 from the SLP 104, obtaining the first positioning result of the target terminal 101 according to the magnetic field intensity feature; matching the fusion fingerprint feature with the pre-constructed fusion fingerprint library, and obtaining the second positioning result of the target terminal according to the matching result; and obtaining the positioning result of the target terminal 101 according to the first positioning result and the second positioning result.

[0083] In the embodiment, the SLP 104 can obtain the magnetic field intensity feature from the target terminal 101 in addition to the terminal measurement data, where the magnetic field intensity feature can be the three-axis magnetic field intensity [Mx, My, Mz] of the location where the terminal is located measured by the magnetometer of the target terminal 101, and the first positioning result refers to the positioning result obtained according to the magnetic field intensity feature.

[0084] Specifically, the target terminal 101 can return the magnetic field intensity feature of the target terminal 101 together when returning the terminal measurement data to the SLP 104, and then the fusion positioning platform 105 can obtain the magnetic field intensity feature from the SLP 104, so as to obtain the position distribution probability of the target terminal 101 by using the magnetic field intensity feature alone as the first positioning result.

[0085] The second positioning result is the positioning result obtained by using the fusion fingerprint feature, and the fusion positioning platform 105 can calculate the terminal position distribution probability by matching the fusion fingerprint feature with the fusion fingerprint library after obtaining the fusion fingerprint feature, as the second positioning result, so as to obtain the final positioning result of the target terminal 101 by combining the first positioning result and the second positioning result, for example, the terminal position can be calculated by comprehensively considering the above two distributions and the probability is the largest.

[0086] In the embodiment, the magnetic field intensity feature of the target terminal 101 can also be used to obtain the positioning result of the target terminal 101, where the two terminal position distributions obtained by using the magnetic field intensity feature and the fusion fingerprint feature respectively are used as the first positioning result and the second positioning result, and then the final terminal position is obtained by using the first positioning result and the second positioning result, so as to further improve the accuracy of terminal positioning.

[0087] In one embodiment, step S202 can further include: obtaining the magnetic field intensity data of the target terminal 101 from the SLP 104; and generating the fusion fingerprint feature of the target terminal 101 according to the magnetic field intensity data, the uplink signal measurement data and the terminal measurement data.

[0088] The magnetic field intensity data is three-axis magnetic field intensity data provided by the target terminal 101, i.e., [Mx, My, Mz]. In this embodiment, the manner of combining the magnetic field intensity for terminal positioning is not to separately combine the magnetic field intensity features corresponding to the magnetic field intensity data with the fusion fingerprint features to obtain two positioning results, respectively, but to integrate the magnetic field intensity data into a part of the fusion fingerprint features to achieve the acquisition of the positioning result. Specifically, in this embodiment, the fusion fingerprint features can include the magnetic field intensity data in addition to the uplink signal measurement data and the terminal measurement data, i.e., the generated fusion fingerprint features are constructed based on the magnetic field intensity data, the uplink signal measurement data, and the terminal measurement data.

[0089] In this embodiment, the fusion fingerprint features are obtained based on the magnetic field intensity data, the uplink signal measurement data, and the terminal measurement data of the target terminal 101, so that the obtained positioning result not only considers the uplink signal measurement data and the terminal measurement data but also integrates the magnetic field intensity data, thereby improving the accuracy of terminal positioning.

[0090] In one embodiment, as shown in FIG. 5, a positioning system is also provided, which can include a fusion positioning platform 501, and a target LMF 502 and an SLP 503 corresponding to a target terminal and connected to the fusion positioning platform 501 in communication; wherein,

[0091] The fusion positioning platform 501 is configured to, in response to a positioning request for the target terminal, acquire uplink signal measurement data of the target terminal from the target LMF 502 by a control plane positioning manner, and acquire terminal measurement data of the target terminal from the SLP 503 by a user plane positioning manner.

[0092] The fusion positioning platform 501 is further configured to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data, perform matching processing on the fusion fingerprint feature and a pre-constructed fusion fingerprint library, and obtain a positioning result of the target terminal according to a matching result.

[0093] In this embodiment, the positioning system can include the fusion positioning platform 501, the target LMF 502 and the SLP 503 corresponding to the target terminal, wherein the target LMF 502 is mainly used to acquire control plane positioning measurement information of the target terminal, i.e., to acquire uplink signal measurement data of the target terminal, and the SLP 503 is mainly used to acquire user plane positioning measurement information of the target terminal, i.e., to acquire terminal measurement data of the target terminal.

[0094] Specifically, after the fusion positioning platform 501 receives a positioning request for a target terminal, uplink signal measurement data of the target terminal can be obtained from the target LMF 502 through a control plane positioning manner, and terminal measurement data of the target terminal can be obtained from the SLP 503 through a user plane positioning manner, and then the fusion positioning platform 501 can obtain a fusion fingerprint feature of the target terminal by combining the uplink signal measurement data and the terminal measurement data, and further obtain a positioning result of the target terminal by matching the fusion fingerprint feature with a pre-constructed fusion fingerprint library.

[0095] The positioning system can include the fusion positioning platform 501, and the target LMF 502 and the SLP 503 corresponding to the target terminal and connected to the fusion positioning platform in communication. When the fusion positioning platform 501 receives a positioning request for the target terminal, the fusion positioning platform 501 can obtain uplink signal measurement data of the target terminal from the target LMF 502 through a control plane positioning manner, and obtain terminal measurement data of the target terminal from the SLP 503 through a user plane positioning manner, so as to generate a fusion fingerprint feature by using the measurement data and perform matching processing through a fusion fingerprint library to realize positioning. In this way, the fusion of the control plane positioning technology and the user plane positioning technology is realized, and thus the positioning accuracy can be improved even in an area with a low base station density.

[0096] In one embodiment, the positioning system further includes an AMF, which is configured to communicate with the target terminal and the target LMF 502.

[0097] The fusion positioning platform 501 is further configured to send PSL information carrying a terminal identifier of the target terminal to the AMF.

[0098] The AMF is configured to determine the target LMF 502 from a plurality of LMFs according to the terminal identifier in the PSL information, and set the target terminal to a linked state connected to a network.

[0099] The target LMF 502 is further configured to obtain uplink signal measurement data of the target terminal through the AMF when the target terminal is in the linked state.

[0100] The fusion positioning platform 501 is further configured to send a terminal positioning request carrying the terminal identifier to the SLP 503 when the target terminal is in the linked state.

[0101] The SLP 503 is configured to obtain terminal measurement data of the target terminal according to the terminal identifier and return the terminal measurement data.

[0102] In this embodiment, the positioning system can further include an AMF, which is configured to communicate with the target terminal and the target LMF 502.

[0103] Specifically, the fusion positioning platform 501 can obtain the uplink signal measurement data by sending PSL information carrying the terminal identifier of the target terminal to the AMF, and then the AMF can determine the target LMF 502 from multiple LMFs according to the terminal identifier in the PSL information, and set the target terminal to be in a linked state connected to the network, so that the target LMF 502 can obtain the uplink signal measurement data of the target terminal through the AMF when the target terminal is in the linked state, and return to the fusion positioning platform 501.

[0104] And the fusion positioning platform 501 can obtain the terminal measurement data by the following way, since the fusion positioning platform 501 has set the target terminal to be in the linked state through the AMF, the fusion positioning platform 501 can also send a terminal positioning request carrying the terminal identifier to the SLP 503, so that the SLP 503 can obtain the terminal measurement data of the target terminal according to the terminal identifier and return to the fusion positioning platform 501.

[0105] In this embodiment, the positioning system can also include an AMF, and the fusion positioning platform 501 can set the target terminal to be in a linked state connected to the network through the AMF, and then the target LMF 502 can obtain the uplink signal measurement data of the target terminal through the AMF, and the SLP 503 can obtain the terminal measurement data and return, in this way, the target terminal can be made to enter the linked state through the control plane positioning signaling, so as to avoid the problem that the target terminal is offline and cannot be positioned in the user plane, and further improve the stability of positioning.

[0106] In some embodiments, the AMF is also used to send an Nlmf location determination request to the target LMF 502, and the target LMF 502 is also used to obtain the uplink signal measurement data of the target terminal from the base stations interacting with the target terminal through the AMF according to the Nlmf location determination request, and return the uplink signal measurement data to the fusion positioning platform 501.

[0107] In this embodiment, the target LMF 502 can realize the acquisition and return of the uplink signal measurement data by the following process, specifically, after the AMF determines the target LMF 502, it can also send an Nlmf location determination request, i.e. Nlmf Location DetermineLocation Request, to the target LMF 502, and then the target LMF 502 can obtain the uplink signal measurement data of the target terminal from the base stations interacting with the target terminal through the AMF after receiving the request, and return the uplink signal measurement data to the fusion positioning platform 501, wherein the return process can be that the target LMF 502 returns the uplink signal measurement data to the AMF, and the AMF returns it to the fusion positioning platform 501.

[0108] In this embodiment, the process of the target LMF 502 acquiring the uplink signal measurement data can be that the AMF sends an Nlmf Positioning Request to the target LMF 502, and then the target LMF 502 returns after acquiring the uplink signal measurement data from the base station interacting with the target terminal through the AMF. In this way, the target LMF 502 realizes the acquisition and return of the uplink signal measurement data.

[0109] In addition, the SLP 503 is also configured to send a SUPL INIT message to the target terminal according to the terminal identifier, the SUPL INIT message is used to request the target terminal to start a positioning session, and the target terminal is configured to return a SUPL POS INIT message to the SLP 503 in response to the request to start the positioning session, and return a SUPL POS message carrying terminal measurement data to the SLP 503.

[0110] The process of the SLP 503 acquiring the terminal measurement data can be implemented through the following steps. Specifically, after receiving the terminal positioning request initiated by the fusion positioning platform 501, the SLP 503 can send a SUPL INIT message to the target terminal according to the terminal identifier to request the target terminal to start a positioning session. After receiving the request, the target terminal can return a SUPL POS INIT message in response to the request to start the positioning session, and then the target terminal can return the terminal measurement data to the SLP 503 by sending a SUPL POS message carrying the terminal measurement data.

[0111] In this embodiment, the process of the SLP 503 acquiring the terminal measurement data can be that the SLP 503 sends a SUPL INIT message to the target terminal, and then the target terminal returns a SUPL POS message carrying the terminal measurement data. In this way, the SLP 503 realizes the acquisition of the terminal measurement data.

[0112] In one embodiment, a mobile communication network control plane and user plane fusion positioning system and method are also provided. When the control plane positioning is performed, the terminal is triggered to enter the linked state, and the SLP initiates the SUPL-based user plane positioning process to acquire the downlink measurement results of Bluetooth / WiFi / magnetic and other measurements measured by the terminal, and the uplink SRS signal measurement data based on UTDOA / AOA are combined and processed into a fusion fingerprint, and the positioning result is obtained through a specific algorithm for fusion fingerprint matching. By using the present application, high positioning accuracy can be obtained in the case of sparse 5G sites, and the terminal does not need to install a client to expand the application range. By using the method of the present application, the implementation cost of 5G positioning deployment is effectively reduced, the positioning experience is improved, and the method can be used in a wide area and is suitable for real-time navigation, vehicle personnel scheduling and other positioning application scenarios.

[0113] As shown in FIG. 6, the system mainly includes:

[0114] 1. Positioning terminal: used for sending SRS measurement signals, measuring Bluetooth / WiFi beacon data, and sending measurement data to the fusion positioning platform through the user plane SUPL protocol;

[0115] 2. Base station (gNB): interacts with the terminal to perform UTDOA, AOA, and other uplink positioning measurements;

[0116] 3. gNB, ng-eNB: base station, including the wireless measurement unit TRP of the base station, which measures the SRS signals of the terminal to obtain the time of arrival RTOA or angle of arrival AOA information;

[0117] 4. LMF: performs control plane positioning interaction and reports measurement results to the fusion positioning platform;

[0118] 5. AMF: selects the LMF during control plane positioning and routes and controls the interaction between the LMF and the gNB;

[0119] 6. Fusion positioning platform: connects the AMF / LMF to obtain uplink signal measurement results of UTDOA, connects the SLP through the user plane SUPL protocol to obtain Bluetooth / WiFi measurement results, and combines and processes the results into a fusion fingerprint to perform fusion positioning calculation through a specific algorithm and sends the results to the positioning SDK;

[0120] 7. SLP: SUPL-based positioning platform.

[0121] Specifically, as shown in FIG. 7, the positioning method can be implemented through the following steps:

[0122] 1. The fusion positioning platform receives a positioning request from a positioning application,

[0123] 2. The fusion positioning platform and the AMF / LMF interact to complete the control plane-based UTDOA / AOA positioning process, and the terminal enters the linked state:

[0124] 2.1. Send a PSL message to the AMF, carrying the terminal identifier. If the UE is in an idle state, the AMF needs to initiate a Network Triggered Service request to the UE to connect to the network and obtain the Cell information of the UE. If the UE is in a linked state, the AMF needs to instruct the gNodeB to initiate a Location Reporting process.

[0125] 2.2. The AMF selects an LMF that can provide services according to the request.

[0126] 2.3. AMF initiates a location request to LMF, Nlmf_Location_DetermineLocation Request.

[0127] 2.4. LMF interacts with gNB through NRPPa protocol and obtains uplink positioning measurement results, including but not limited to UL-TDOA, UL-AOA, RTT.

[0128] 2.5. gNB returns the measurement results to LMF.

[0129] 2.6. LMF returns the uplink measurement result data to AMF.

[0130] 2.7. AMF returns the uplink measurement result to SLP.

[0131] 3. After the fusion positioning platform activates the terminal to enter the linked state, it sends a positioning request to SLP, including the target terminal identifier (user number or IMSI or IP).

[0132] 3.1. SLP initiates a positioning session using the SUPL INIT message. The SUPL INIT message at least includes session-id, proxy and non-proxy mode indication, and positioning method.

[0133] 3.2. SET sends a SUPL POS INIT message to start a positioning session with SLP. The SUPL POS INIT message at least contains SET capability, and SET capability includes supported positioning methods.

[0134] 3.3. SET sends a SUPL POS message containing terminal positioning measurement data, at least including one of Bluetooth or WiFi data.

[0135] 3.4 SLP returns Bluetooth / WiFi / magnetic and other measurement data to the fusion positioning platform.

[0136] 4. The fusion positioning platform combines the terminal measurement data obtained through the SUPL protocol and the network measurement data obtained through gNB measurement into a fusion fingerprint feature.

[0137] 5. The fusion positioning platform uses the terminal measurement data and gNB measurement data to match in the fusion fingerprint library using a multi-dimensional fingerprint feature matching algorithm to obtain the terminal coordinates. The fusion positioning platform returns a positioning response message to the LCS Client, including the terminal coordinates.

[0138] Among them, each step contains the following details:

[0139] Step 3.4 Bluetooth signals returned by SUPL POS message include: BT[i] = {BtId, Rssi}, i = 0, 1, 2..M

[0140] WiFi signal data includes: WiFi[i] = {WiFiId, Rssi}, i = 0, 1, 2..N

[0141] Step 2.4 can specifically include: the LMF interacts with the serving base station of the terminal according to the UTDOA positioning process, and obtains the measurement results of the uplink SRS signal of the terminal by a plurality of signal (1 to 10) transceiver points TRP around the terminal, including the measurement time RTOA and the signal strength RSRP.

[0142] The measurement result is the measurement of the uplink SRS signal, including but not limited to the measurement of UTDOA and AOA technology, and the measurement result at least includes:

[0143] UL-TDOA measurement result data: TRP[i] = {TrpId, RTOA, RSCP}, i = 0, 1, 2

[0144] Optionally, the AOA measurement result data: TRP[i] = {TrpId, theta, I, Q}, i = 0, 1, 2..N, wherein theta is the measured angle of arrival, and I and Q are phase information of the arriving signal.

[0145] In step 4, the Bluetooth / WiFi signals obtained by the SLP user plane and the time / intensity signals TRP[i] measured by a plurality of mobile network antennas obtained by UTDOA positioning form a fusion wireless fingerprint, and each combination fingerprint feature at least includes:

[0146] UTDOA {TRP[i] = {TrpId, RTOA}, i = 0, 1, 2..N} + BT[i] = {BtId, Rssi}, i = 0, 1, 2..M

[0147] Another extension of the UTDOA+Bluetooth / WiFi fusion fingerprint feature:

[0148] UTDOA {TRP[i] = {TrpId, RTOA, RSCP}, i = 0, 1, 2..N} + BT[i] = {BtId, Rssi}, i = 0, 1, 2..M

[0149] The above BT information can also be WiFi or BT+WiFi combination data.

[0150] In addition, in step 4, conversion of UTDOA data is also included, and the TRP[i] data is standardized and converted for matching processing. Specifically, the minimum value of RTOA is taken as the center TRP0, and TRP[i].RTOA = TRP[i].RTOA-TRP[0].RTOA.

[0151] In step 4, the SLP uses the existing fingerprint positioning algorithm to generate a fusion wireless fingerprint database of UTDOA+downlink measurement signals (Bluetooth / WiFi / 4G / 5G) by using the existing fingerprint positioning calculation offline collection scheme.

[0152] In step 5, the matching method is that the TRP[i] with the minimum RTOA has the maximum weight, because the smaller the RTOA is, the closer the terminal is to the TRP.

[0153] In step 5, the mobile network (4G / 5G) signal strength can also be included.

[0154] In step 5, the fusion wireless fingerprint is used to perform matching processing in the fusion fingerprint database generated in the offline stage, and the terminal position coordinates are calculated. The processing method embodiments include KNN, WKNN, SVM, and other machine learning algorithms for feature data classification.

[0155] In step 4, the terminal also sends the magnetic field signals collected by the terminal to the SLP, and the terminal magnetometer can measure the three-axis magnetic field intensity [Mx, My, Mz] at the terminal location.

[0156] Further, the terminal acceleration, gyroscope, and other sensor information are also included.

[0157] In step 5, the fusion fingerprint positioning also uses the magnetic field strength features Mx, My, Mz for fusion positioning. Mx, My, Mz are the three-axis magnetic field components measured by the terminal at the location. In matching, the existing KNN, WKNN, SVM matching algorithms are used for multi-dimensional feature matching to obtain the fingerprint position with the maximum probability. For example, the following two specific examples can be included:

[0158] Example 1:

[0159] The magnetic field strength features are used alone to calculate the terminal position distribution probability, and then the extended UTDOA+Bluetooth / WiFi fusion fingerprint matching is used to calculate the terminal position distribution probability. The two distributions are combined to calculate the maximum probability as the terminal position.

[0160] The i-th fingerprint in the fingerprint library can include Tij, Sij, Wij and Bij, where Tij is the RTOA arrival time value of the terminal measured by the j-th 5G sub-TRP when the terminal is at the i-th collection position; Sij is the ULSS value of the terminal measured by the j-th 5G sub-TRP at the position; Wij is the signal strength of the j-th WiFi hotspot measured by the terminal at the position; and Bij is the signal strength of the j-th Bluetooth Beacon measured by the terminal at the position.

[0161] Example 2:

[0162] UTDOA / Bluetooth and magnetic field data are used to construct a combined fingerprint feature, a combined fingerprint library is generated through offline collection, and then KNN, WKNN and other fingerprint matching or AI matching technologies are used for matching to calculate the terminal position.

[0163] Through the embodiment, the fusion positioning platform is realized to exchange with the SLP and the LMF respectively, the downlink measurement data of the terminal and the uplink data measured by the base station are obtained based on the existing process, are combined into a fusion fingerprint, and uplink and downlink fusion fingerprint matching positioning is performed, so that the data quantity is effectively improved, the terminal measurement data is used to meet the positioning accuracy requirement in the case that the existing 5G sub-TRP density is insufficient, and the terminal can enter the linked state by using the control plane positioning signaling, so that the problem that the terminal cannot perform user plane positioning offline is avoided.

[0164] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the indication of the arrow, these steps are not necessarily executed in sequence according to the indication of the arrow. Unless otherwise explicitly stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0165] Based on the same inventive concept, the embodiments of the present application also provide a positioning device for implementing the positioning method as described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more positioning device embodiments provided below can refer to the limitations of the positioning method described above, which will not be described here again.

[0166] In one embodiment, as shown in FIG. 8, a positioning device is provided, including a measurement data acquisition module 801, a fusion fingerprint acquisition module 802 and a positioning result acquisition module 803, wherein:

[0167] The measurement data obtaining module 801 is configured to, in response to a positioning request for a target terminal, obtain uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal in a control plane positioning manner, and obtain terminal measurement data of the target terminal from an SLP in a user plane positioning manner;

[0168] The fusion fingerprint obtaining module 802 is configured to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data.

[0169] The positioning result obtaining module 803 is configured to perform matching processing on the fusion fingerprint feature and a pre-constructed fusion fingerprint library, and obtain a positioning result of the target terminal according to a matching result.

[0170] In an embodiment, the target terminal communicates with the target LMF through an AMF; the measurement data obtaining module 801 is further configured to send PSL information carrying a terminal identifier of the target terminal to the AMF; the PSL information is used to instruct the AMF to determine the target LMF from a plurality of LMFs according to the terminal identifier, and set the target terminal to a linked state of being connected to a network; in a case where the target terminal is in the linked state, the target LMF is configured to obtain the uplink signal measurement data of the target terminal through the AMF and return; in a case where the target terminal is in the linked state, a terminal positioning request carrying the terminal identifier is sent to the SLP; the terminal positioning request is used to request the SLP to obtain the terminal measurement data of the target terminal according to the terminal identifier and return.

[0171] In an embodiment, the uplink signal measurement data includes uplink signal time of arrival data of the target terminal sent by a plurality of target signal transceiver points, and the target signal transceiver points are arranged in a base station interacting with the target terminal; the terminal measurement data includes wireless communication signal strength data of each wireless communication device received by the target terminal; the fusion fingerprint obtaining module 802 is further configured to obtain uplink signal time of arrival features of the target terminal corresponding to each target signal transceiver point according to the uplink signal time of arrival data measured by each target signal transceiver point; obtain wireless communication signal strength features of the target terminal corresponding to each wireless communication device according to each wireless communication signal strength data; and generate the fusion fingerprint feature by using each uplink signal time of arrival feature and each wireless communication signal strength feature.

[0172] In an embodiment, the fusion fingerprint obtaining module 802 is further configured to obtain target uplink signal arrival time data with the smallest data value from the uplink signal arrival time data; and obtain uplink signal arrival time characteristics of each target signal transceiver point according to the transceiver point identifier of each target signal transceiver point and the difference between the uplink signal arrival time data measured by each target signal transceiver point and the target uplink signal arrival time data.

[0173] In an embodiment, the positioning result obtaining module 803 is further configured to obtain a feature weight corresponding to each uplink signal arrival time characteristic according to the data value of each uplink signal arrival time data; wherein the data value and the feature weight are in a negative correlation relationship; perform weighted processing on each uplink signal arrival time characteristic included in the fusion fingerprint characteristic by using each feature weight to obtain weighted each uplink signal arrival time characteristic; perform matching processing on each weighted uplink signal arrival time characteristic and each wireless communication signal strength characteristic included in the fusion fingerprint characteristic and the fingerprint included in the fusion fingerprint library, and obtain the positioning result of the target terminal according to the matching result.

[0174] In an embodiment, the positioning result obtaining module 803 is further configured to obtain the magnetic field strength characteristic of the target terminal from the SLP, obtain the first positioning result of the target terminal according to the magnetic field strength characteristic; perform matching processing on the fusion fingerprint characteristic and the pre-constructed fusion fingerprint library, obtain the second positioning result of the target terminal according to the matching result; and obtain the positioning result of the target terminal according to the first positioning result and the second positioning result.

[0175] In an embodiment, the fusion fingerprint obtaining module 802 is further configured to obtain the magnetic field strength data of the target terminal from the SLP; and generate the fusion fingerprint characteristic of the target terminal according to the magnetic field strength data, the uplink signal measurement data and the terminal measurement data.

[0176] Each module in the above positioning apparatus can be realized by software, hardware and combinations thereof in whole or in part. Each module can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0177] In an example embodiment, a computer device is provided, which can be a fusion positioning platform, and an internal structure diagram of the computer device can be as shown in FIG. 9. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store fusion fingerprint feature data. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with terminals outside through a network connection. The computer program is executed by the processor to implement a positioning method.

[0178] Those skilled in the art can understand that the structure shown in FIG. 9 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0179] In an example embodiment, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0180] In an example embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0181] In an example embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0182] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0183] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magneto resistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0184] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0185] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A positioning method, comprising: obtaining, in response to a positioning request for a target terminal, uplink signal measurement data of the target terminal from a target LMF corresponding to the target terminal by control plane positioning, and terminal measurement data of the target terminal from an SLP by user plane positioning; generating a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data; matching the fusion fingerprint feature with a pre-constructed fusion fingerprint library, and obtaining a positioning result of the target terminal according to a matching result.

2. The method of claim 1, wherein, The target terminal communicates with the target LMF through an AMF; the uplink signal measurement data of the target terminal is obtained from the target LMF corresponding to the target terminal by control plane positioning, and the terminal measurement data of the target terminal is obtained from the SLP by user plane positioning, comprising: sending PSL information carrying a terminal identifier of the target terminal to the AMF; the PSL information is used to instruct the AMF to determine the target LMF from a plurality of LMFs according to the terminal identifier, and set the target terminal to a linked state of connecting to a network; in a case where the target terminal is in the linked state, the target LMF is used to obtain the uplink signal measurement data of the target terminal through the AMF and return; in a case where the target terminal is in the linked state, sending a terminal positioning request carrying the terminal identifier to the SLP; the terminal positioning request is used to request the SLP to obtain the terminal measurement data of the target terminal according to the terminal identifier and return.

3. The method of claim 1, wherein, The uplink signal measurement data comprises uplink signal time of arrival data of the target terminal sent by a plurality of target signal transceiver points, and the target signal transceiver points are arranged in a base station interacting with the target terminal; the terminal measurement data comprises wireless communication signal strength data of each wireless communication device received by the target terminal; The fusion fingerprint feature of the target terminal is generated according to the uplink signal measurement data and the terminal measurement data, comprising: obtaining uplink signal time of arrival features of the target terminal corresponding to each target signal transceiver point according to the uplink signal time of arrival data measured by each target signal transceiver point; obtaining wireless communication signal strength features of the target terminal corresponding to each wireless communication device according to each wireless communication signal strength data; generating the fusion fingerprint feature by using each uplink signal time of arrival feature and each wireless communication signal strength feature.

4. The method of claim 3, wherein, The uplink signal time of arrival features of the target terminal corresponding to each target signal transceiver point are obtained according to the uplink signal time of arrival data measured by each target signal transceiver point, comprising: obtaining target uplink signal time of arrival data with the smallest data value from each uplink signal time of arrival data; According to the transceiver point identifier of each target signal transceiver point, and the difference between the uplink signal arrival time data measured by each target signal transceiver point and the target uplink signal arrival time data, the uplink signal arrival time characteristics of each target signal transceiver point are obtained.

5. The method of claim 4, wherein, The matching processing of the fusion fingerprint feature with the pre-constructed fusion fingerprint library, according to the matching result, the positioning result of the target terminal is obtained, including: According to the data value of each uplink signal arrival time data, the feature weight corresponding to each uplink signal arrival time feature is obtained; wherein the data value and the feature weight are in a negative correlation relationship; Using each feature weight, each uplink signal arrival time feature contained in the fusion fingerprint feature is weighted and processed to obtain each weighted uplink signal arrival time feature; The weighted uplink signal arrival time feature and each wireless communication signal strength feature contained in the fusion fingerprint feature are matched with the fingerprint contained in the fusion fingerprint library, and the positioning result of the target terminal is obtained according to the matching result.

6. The method of claim 1, wherein, The matching processing of the fusion fingerprint feature with the pre-constructed fusion fingerprint library, according to the matching result, the positioning result of the target terminal is obtained, including: Obtain the magnetic field intensity feature of the target terminal from the SLP, and obtain the first positioning result of the target terminal according to the magnetic field intensity feature; The matching processing of the fusion fingerprint feature with the pre-constructed fusion fingerprint library, according to the matching result, the positioning result of the target terminal is obtained, including: According to the first positioning result and the second positioning result, the positioning result of the target terminal is obtained.

7. The method of claim 1, wherein, The fusion fingerprint feature of the target terminal is generated according to the uplink signal measurement data and the terminal measurement data, including: Obtain the magnetic field intensity data of the target terminal from the SLP; According to the magnetic field intensity data, the uplink signal measurement data and the terminal measurement data, the fusion fingerprint feature of the target terminal is generated.

8. The method of claim 2, wherein, The SLP obtains the terminal measurement data of the target terminal according to the terminal identifier and returns, specifically including: The SLP sends a SUPL INIT message to the target terminal to start a positioning session; and Receive the SUPL POS message returned by the target terminal in response to the positioning session, which carries terminal measurement data.

9. The method of claim 2, wherein, The target LMF is used to obtain the uplink signal measurement data of the target terminal through the AMF, including: The AMF sends a NLMF position determination request to the target LMF; The target LMF responds to the NLMF position determination request and obtains uplink signal measurement data from the base station interacting with the target terminal.

10. A positioning system comprising: A fusion positioning platform, and a target LMF and SLP corresponding to a target terminal in communication connection with the fusion positioning platform; wherein, The fusion positioning platform is configured to acquire uplink signal measurement data of the target terminal from the target LMF in a control plane positioning manner and acquire terminal measurement data of the target terminal from an SLP in a user plane positioning manner in response to a positioning request for the target terminal; The fusion positioning platform is further configured to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data, perform matching processing on the fusion fingerprint feature and a pre-constructed fusion fingerprint library, and obtain a positioning result of the target terminal according to a matching result.

11. The system of claim 10, further comprising: An AMF, which is configured to communicate with the target LMF for the target terminal; The fusion positioning platform is further configured to send PSL information carrying a terminal identifier of the target terminal to the AMF; The AMF is configured to determine the target LMF from a plurality of LMFs according to the terminal identifier in the PSL information, and set the target terminal to a connected state of a linked state; The target LMF is further configured to acquire uplink signal measurement data of the target terminal through the AMF and return the uplink signal measurement data in a case where the target terminal is in the linked state; The fusion positioning platform is further configured to send a terminal positioning request carrying the terminal identifier to the SLP in a case where the target terminal is in the linked state; The SLP is configured to acquire terminal measurement data of the target terminal according to the terminal identifier and return the terminal measurement data.

12. The system of claim 11, wherein, The AMF is further configured to send an Nlmf Positioning Request to the target LMF; The target LMF is further configured to acquire uplink signal measurement data of the target terminal from a base station interacting with the target terminal through the AMF according to the Nlmf Positioning Request, and return the uplink signal measurement data to the fusion positioning platform.

13. The system of claim 11, wherein, The SLP is further configured to send a SUPL INIT message to the target terminal according to the terminal identifier; the SUPL INIT message is configured to start a positioning session request to the target terminal; The target terminal is configured to return a SUPL POS INIT message to the SLP in response to starting the positioning session request, and return a SUPL POS message carrying the terminal measurement data to the SLP.

14. A positioning apparatus, comprising: a measurement data acquisition module configured to acquire uplink signal measurement data of a target terminal from a target LMF corresponding to the target terminal in a control plane positioning manner and acquire terminal measurement data of the target terminal from an SLP in a user plane positioning manner in response to a positioning request for the target terminal; a fusion fingerprint acquisition module configured to generate a fusion fingerprint feature of the target terminal according to the uplink signal measurement data and the terminal measurement data. A positioning result acquisition module is configured to match the fused fingerprint feature with a pre-constructed fused fingerprint library, and obtain a positioning result of the target terminal according to a matching result.

15. A computer device comprising a memory and a processor, the memory storing a computer program, wherein, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 9.

16. A computer readable storage medium having stored thereon a computer program, wherein, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 9.

17. A computer program product comprising a computer program, wherein, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 9. The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 9.

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