CN113810991A

CN113810991A - Positioning method and device

Info

Publication number: CN113810991A
Application number: CN202010551526.4A
Authority: CN
Inventors: 范慧芳; 顾祥新
Original assignee: Beijing Ziguang Zhanrui Communication Technology Co Ltd
Current assignee: Beijing Ziguang Zhanrui Communication Technology Co Ltd
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2021-12-17

Abstract

The embodiment of the application discloses a positioning method and a positioning device, wherein the method comprises the following steps: the method comprises the steps that first terminal equipment obtains first information, the first information is used for assisting in calibrating position information of the first terminal equipment, the first information comprises information of at least one reference terminal equipment, and the reference terminal equipment is terminal equipment supporting an NR-RAT-dependent positioning method; the first terminal device transmits the first information. According to the method and the device, the position information of the terminal equipment is subjected to auxiliary calibration by acquiring the information of the reference terminal equipment, and the positioning precision of the terminal equipment is further improved.

Description

Positioning method and device

Technical Field

The present application relates to the field of mobile communications technologies, and in particular, to a positioning method and apparatus.

Background

In the 5th Generation, hereinafter referred to as 5G, also referred to as New Radio, New air interface, or NR, for short, a policy regulatory requirement and a commercial application requirement are defined. Taking users covering 80% as positioning reference, the policy supervision has a slightly low requirement on positioning accuracy, and requires that the positioning error of the horizontal position is less than 50 meters, the positioning error of the vertical direction is less than 5 meters, and the positioning delay is less than 30 seconds; the commercial application puts higher requirements on the positioning accuracy, and the requirements are that the positioning error of the horizontal position is less than 3 meters indoors and less than 10 meters outdoors, the positioning error of the vertical direction is less than 3 meters, and the positioning time delay is less than 1 second. Based on this need, the proposed solutions are roughly of the following 3 types:

(1) a Radio Access Technology (RAT) based positioning Technology specifically includes: enhanced Cell ID (E-CID) positioning, Observed Time Difference of Arrival (OTDOA) positioning, Uplink Time Difference of Arrival (UTDOA) positioning, hybrid positioning of E-CID and OTDOA, and hybrid positioning of OTDOA and UTDOA.

(2) The positioning technology of the independent RAT specifically includes: an Assisted-Global Navigation Satellite System (a-GNSS) positioning method, a Bluetooth (Bluetooth) -based positioning method, a WiFi-based positioning method, an Inertial Measurement Unit (IMU) method based on a positioning sensor, a hybrid positioning method of an a-GNSS and an IMU, a hybrid positioning method of an a-GNSS and a WiFi, and the like.

(3) The RAT and independent RAT based hybrid positioning technology specifically comprises: A-GNSS and OTDOA hybrid positioning method, A-GNSS and UTDOA hybrid positioning method and the like.

Currently, the positioning requirements determined in Release17 version 5G are divided into two major scenarios, a general business scenario and an Industrial Internet of Things (IIoT) scenario. Aiming at a common commercial scene, the required positioning precision is required to be less than 1m, and the positioning time delay is less than 100 ms; for the IIoT scene, the positioning precision needs to be less than 0.2cm, and the positioning delay needs to be less than 10 ms. For subsequent versions of 5G, such as B5G, 6G, and 7G, applications based on positioning will be more and more, the accuracy requirement of the system on positioning will be higher and higher, and the current meter level will be fine to centimeter level or even millimeter level, and can be flexibly selected according to application requirements and scenarios. However, the positioning accuracy of the conventional positioning technology cannot meet the application requirements of the 5G subsequent version, and therefore, the improvement of the positioning accuracy is an urgent problem to be solved.

Disclosure of Invention

The embodiment of the application provides a positioning method and a positioning device, which can calibrate position information of terminal equipment according to first information and improve positioning accuracy of the terminal equipment.

In a first aspect, an embodiment of the present application provides a positioning method, where the method includes:

a first terminal device acquires first information, wherein the first information is used for assisting in calibrating position information of the first terminal device, the first information comprises information of at least one reference terminal device, and the reference terminal device is a terminal device supporting an NR-RAT-dependent positioning method;

and the first terminal equipment sends the first information.

In a second aspect, an embodiment of the present application provides a positioning apparatus, including:

an obtaining unit, configured to obtain first information, where the first information is used to assist in calibrating location information of the first terminal device, where the first information includes information of at least one reference terminal device, and the reference terminal device is a terminal device that supports an NR-RAT-dependent positioning method;

and the transceiving unit is used for transmitting the first information.

In a third aspect, an embodiment of the present application provides a terminal device, where the terminal device includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for performing some or all of the steps described in the method of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps described in the method of the first aspect.

In a fifth aspect, the present application provides a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, where the computer program is operable to cause a computer to perform some or all of the steps described in the method according to the first aspect of the present application. The computer program product may be a software installation package.

It can be seen that, in the embodiment of the present application, a first terminal device obtains first information, where the first information is used to assist in calibrating location information of the first terminal device, the first information includes information of at least one reference terminal device, and the reference terminal device is a terminal device that supports an NR-RAT-dependent positioning method; the first terminal device transmits the first information. According to the method and the device, the position information of the terminal equipment is subjected to auxiliary calibration by acquiring the information of the reference terminal equipment, and the positioning precision of the terminal equipment is further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1A is a block diagram illustrating an architecture of a wireless communication system according to an embodiment of the present application;

fig. 1B is a block diagram of another wireless communication system according to an embodiment of the present application;

fig. 2A is a schematic diagram illustrating a method for enhancing cell identity positioning according to an embodiment of the present application;

FIG. 2B is a schematic diagram illustrating a method for observing positioning of time difference of arrival according to an embodiment of the present application;

fig. 2C is a schematic diagram illustrating an uplink time difference of arrival positioning method according to an embodiment of the present application;

FIG. 2D is a schematic diagram illustrating an assisted GPS positioning method according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application;

fig. 4 is a schematic flow chart of another positioning method provided in the embodiments of the present application;

FIG. 5 is a block diagram illustrating functional units of a positioning apparatus according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

The technical solution in the present application will be described below with reference to the accompanying drawings.

It should be understood that the technical solution of the embodiment of the present application may be applied to a Global System for Mobile Communication (CSM), a Code Division Multiple Access (CDMA) System, a Wideband Code Division Multiple Access (WCDMA) System, a Worldwide Interoperability for Microwave Access (Wi-MAX) System, a Long Term Evolution (Long Term Evolution, LTE) System, a 5G Communication System (e.g., New Radio, NR)), a Communication System in which Multiple Communication technologies are merged (e.g., a Communication System in which an LTE technology and an NR technology are merged), or various future Communication systems, e.g., a 6G Communication System, a 7G Communication System, and the like, and the embodiment of the present application is not limited thereto. The technical scheme of the embodiment of the application can also be applied to device-to-device (D2D) communication, machine-to-machine (M2M) communication, Machine Type Communication (MTC), and communication in a vehicle network system. The communication modes in the vehicle network system are collectively called vehicle-to-aircraft (V2X), and X represents anything. For example, the V2X communication includes: vehicle to vehicle (V2V), vehicle to roadside infrastructure (V2I), vehicle to pedestrian (V2P) or vehicle to network (V2N), etc.

For the understanding of the embodiments of the present application, a communication system suitable for the embodiments of the present application will be described in detail with reference to fig. 1A and 1B.

Referring to fig. 1A, fig. 1A is a schematic diagram of a wireless communication system 100 according to an embodiment of the present disclosure. As shown in fig. 1A, the wireless communication system 100 may include at least one terminal device, such as the terminal device 111 through the terminal device 113 shown in fig. 1A. The wireless communication system 100 may also include at least one network device, such as the network device 121 shown in fig. 1A. The network equipment and the terminal equipment can be both provided with a plurality of antennas, and the network equipment and the terminal equipment can communicate by using a multi-antenna technology.

One network device may manage one or more cells, and an integer number of terminal devices may be in a cell. Optionally, the network device 121 and the terminal devices 111 to 113 form a single-cell communication system, and the cell is denoted as cell #1 without loss of generality. Network device 121 may serve a terminal device in cell #1 (e.g., terminal device 111).

It should be noted that a cell may be understood as a serving cell of a network device, that is, an area within a coverage area of a wireless network of the network device.

It should be understood that, for convenience of understanding only, the network device 121 and the terminal devices 111 to 113 are schematically illustrated in fig. 1A, but this should not limit the present application, and a greater number of network devices may also be included in the wireless communication system, and a greater or lesser number of terminal devices may also be included, and the same network device may communicate with different terminal devices, or different network devices may communicate with different terminal devices, which is not limited in the present application.

Referring to fig. 1B, fig. 1B is another schematic diagram of another wireless communication system 100 according to an embodiment of the present application. As shown in fig. 1B, the technical solution of the embodiment of the present application may also be applied to D2D communication.

With the development of wireless communication technology, the demand for high data rate and user experience is increasing, and the demand for proximity services to understand and communicate with people or things around is increasing, so D2D technology is increasing. The application of the D2D technology can reduce the burden of a cellular network, reduce the battery power consumption of a terminal device, improve the data rate and well meet the requirement of proximity services. The D2D technology can allow a plurality of terminal devices supporting the D2D function to transmit and receive signals with or without a network infrastructure. In view of the characteristics and advantages of the D2D technology, a vehicle networking application scenario based on the D2D technology is provided. For example, under the network of LTE technology proposed by the 3rd generation partnership project (3 GPP), the car networking technology of V2X is proposed. The V2X communication refers to communication between the vehicle and anything outside, and includes communication of V2V, communication of V2P, communication of V2I, and communication of V2N.

As shown in fig. 1B, the wireless communication system 100 includes a plurality of terminal devices, such as the terminal device 114 through the terminal device 116 in fig. 1B. Communication may be made directly between terminal device 114 to terminal device 116. For example, terminal device 114 and terminal device 115 may transmit data to terminal device 116 separately or simultaneously. The wireless communication device also includes one or more network devices, such as network device 122 in fig. 1B. Terminal devices 114 through 116 may all communicate with network device 122, e.g., in fig. 1B, network device 122 communicates with terminal device 116.

Fig. 1B schematically illustrates the terminal device 114 to the terminal device 116 and the network device 122 for ease of understanding only, but this should not limit the present application, and a greater number of network devices may also be included in the wireless communication system, and a greater or lesser number of terminal devices may also be included in the wireless communication system, which is not limited in the present application.

In the embodiment of the application, a unidirectional communication link from a network device to a terminal device is defined as a downlink, data transmitted on the downlink is downlink data, and the transmission direction of the downlink data is called as a downlink direction; the unidirectional communication link from the terminal device to the network device is an uplink, the data transmitted on the uplink is uplink data, the transmission direction of the uplink data is referred to as an uplink direction, and the communication link from the terminal device to the terminal device is a Sidelink (SL) or a Sidelink.

The term "connect" in the embodiments of the present application refers to various connection manners, such as direct connection or indirect connection, to implement communication between devices, which is not limited in this embodiment of the present application.

It should be understood that the network device in the wireless communication system may be any device having a wireless transceiving function. The network devices include, but are not limited to: a Base Station (BS), an evolved Node B (eNB), a Radio Network Controller (RNC), a Node B (NB), a Base Station Controller (BSC), a Base Transceiver Station (BTS), a home Base Station (e.g., home evolved NodeB or home Node B, HNB), a baseband unit (BBU), an Access Point (AP) in a wireless fidelity (WIFI) system, a wireless relay Node, a wireless backhaul Node, a Transmission Point (TP) or a Transmission and Reception Point (TRP), etc., may also be an int 5G, such as NR, a gbb in a system, or a Transmission Point (TRP or TP), one or a group of Base stations in a 5G system may also include an antenna (NB), or a group of antennas (NB) of a Network panel, or a Network panel, such as a Base Band Unit (BBU), or a Distributed Unit (DU).

In some deployments, the gNB may include a Centralized Unit (CU) and a DU. The gNB may also include a Radio Unit (RU). The CU implements part of the function of the gNB, and the DU implements part of the function of the gNB, for example, the CU implements the function of a Radio Resource Control (RRC) layer and a Packet Data Convergence Protocol (PDCP) layer, and the DU implements the function of a Radio Link Control (RLC), a Media Access Control (MAC) layer and a Physical (PHY) layer. Since the information of the RRC layer eventually becomes or is converted from the information of the PHY layer, the higher layer signaling, such as the RRC layer signaling, may also be considered to be transmitted by the DU or the DU + CU under this architecture. It is to be understood that the network device may be a CU node, or a DU node, or a device including a CU node and a DU node. In addition, a CU may be divided into Network devices in an Access Network (RAN), or may be divided into Network devices in a Core Network (Core Network, CN), which is not limited in this application.

It is also understood that the terminal devices in the wireless communication system include wireless communication enabled devices, which may be deployed on land, including indoors or outdoors, hand-held, wearable, or vehicle-mounted; can also be deployed on the water surface (such as a ship and the like); and may also be deployed in the air (e.g., airplanes, balloons, satellites, etc.). The terminal device may be a mobile phone (mobile phone), a tablet computer (pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an Augmented Reality (AR) terminal device, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (smart grid), a wireless terminal in smart home (smart home), and the like. The terminal device may also be a handheld device with wireless communication functionality, a vehicle mounted device, a wearable device, a computer device or other processing device connected to a wireless modem, a terminal device in a future 5G Network or a terminal device in a future evolved Public Land Mobile Network (PLMN), etc. The terminal devices in different networks may be called different names, for example: a user equipment, an access terminal, a subscriber unit, a subscriber Station, a Mobile Station (MS), a remote Station, a remote terminal, a Mobile device, a user terminal, a Wireless communication device, a user agent or a user equipment, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) Station, a Personal Digital Assistant (PDA), a terminal device in a 5G network or a future evolution network, etc., which are not limited in this embodiment.

Hereinafter, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

1) SL: SL communication is a wireless communication directly between two or more terminal devices. In SL communication, two or more terminal devices in geographical proximity to each other may communicate directly without going through an eNodeB or BS or core network. Thus, data transmission in SL communication is different from typical cellular network communication (e.g., sending data to a BS (i.e., uplink transmission) or receiving data from a BS (i.e., downlink transmission)). In SL communication, data is transmitted directly from a source terminal device (i.e., a transmitting terminal device) to a target terminal device (i.e., a receiving terminal device) through a unified air interface such as a PC5 interface, without passing through a BS.

2) A location server: the Location server may be a physical or logical entity (e.g., an Enhanced Serving Mobile Location center (E-SMLC)), a Location server (Location Management Function), a SUPL SLP (SUPL (Secure User Plane Location, Secure User Plane Location) Location Platform), a Location related Function for a target terminal, a Location measurement result obtained from one or more Location units and an auxiliary information provided for the Location units to obtain the measurement result, and a final Location estimation result may be calculated or a final Location estimation result may be verified. In subsequent releases, the network element may be modified to other names, which is not limited in this embodiment.

3) Positioning based on mobile communication systems has formed a rich solution, including positioning technologies based on radio access networks, such as OTDOA, E-CID, UTDOA, etc., and positioning technologies independent of radio access networks, such as a-GNSS, Wi-Fi positioning, bluetooth positioning, barometric sensor positioning, and inertial sensor positioning, etc. The high-precision positioning in the prior art comprises the following three positioning methods:

(1) E-CID positioning method: as shown in fig. 2A, the terminal device is located on a circle with the base station as a center and the distance between the terminal device and the base station as a radius, and the base station can obtain the location information of the terminal device according to the Angle information of the Angle of Arrival (AoA). And the base station can obtain higher positioning precision facing to a high frequency band.

(2) OTDOA localization: as shown in fig. 2B, the terminal device calculates the position of the terminal device by detecting the time difference of downlink signals of the arrival of signals transmitted by three or more different base stations. And the terminal equipment can obtain higher positioning accuracy by combining angle information facing to a high frequency band.

(3) UTDOA localization: as shown in fig. 2C, the base station measures the difference in transmission time of the signal transmitted by the terminal device to reach different base stations to calculate the position of the terminal device. The UTDOA positioning method requires at least three base stations to participate, each base station is added with a Location Measurement Unit (LMU) for measuring the arrival time of an access signal sent by a terminal.

(4) AGNSS localization method: as shown in fig. 2D, when the terminal device needs to perform positioning, the network device may predict the operation conditions of the satellite (such as ephemeris, almanac, and differential calibration information) above the Location based on the geographic Location of the cell in which the terminal device is located, provide these auxiliary information to the terminal device through the cellular network, send the measurement information to a Location server network element or a positioning service center (E-SMLC) in the network, and calculate the current Location of the UE by the E-SMLC. Where the location server performs similar functions to those of the E-SMLC, and the E-SMLC is therefore replaced by a location server network element in 5G.

Currently, the positioning requirements identified in Release17 version 5G are divided into two major scenarios, a general business scenario and an IIoT scenario. Aiming at a common commercial scene, the required positioning precision is required to be less than 1m, and the positioning time delay is less than 100 ms; for the IIoT scene, the positioning precision needs to be less than 0.2cm, and the positioning delay needs to be less than 10 ms. For subsequent versions of 5G, such as 6G and 7G, applications based on positioning are more and more, the precision requirement of the system on positioning is higher and higher, the current meter level can be fine to centimeter level or even millimeter level, and flexible selection can be realized according to application requirements and scenes. However, the positioning accuracy of the existing positioning technology cannot meet the application requirements of the 5G subsequent version.

In order to solve the above problem, the present application provides a positioning method, where a first terminal device obtains first information, where the first information is used to assist in calibrating location information of the first terminal device, the first information includes information of at least one reference terminal device, and the reference terminal device is a terminal device that supports an NR-RAT-dependent positioning method; the first terminal device transmits the first information. The position information of the terminal equipment is subjected to auxiliary calibration by acquiring the information of the reference terminal equipment, so that the positioning precision of the terminal equipment is further improved.

It is to be understood that reference to "at least one" in the embodiments of the present application means one or more, and "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

And, unless stated to the contrary, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing a plurality of objects, and do not limit the sequence, timing, priority, or importance of the plurality of objects. For example, the first information and the second information are different information only for distinguishing them from each other, and do not indicate a difference in the contents, priority, transmission order, importance, or the like of the two kinds of information.

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 3, fig. 3 is a flowchart illustrating a positioning method according to an embodiment of the present disclosure, which is applied to the wireless communication system shown in fig. 1A or fig. 1B. As shown in fig. 3, the positioning method includes the following steps.

S310, the first terminal device obtains first information, the first information is used for assisting in calibrating position information of the first terminal device, the first information comprises information of at least one reference terminal device, and the reference terminal device is a terminal device supporting an NR-RAT-dependent positioning method.

The positioning method based on the wireless network has the problem of low accuracy of the positioning result due to the channel multipath effect. Therefore, in the embodiment of the present application, the first terminal device obtains information of other terminal devices (for example, Road Side Unit (RSU), TRP, etc.) that can provide positioning calibration around the first terminal device, and reports the information to the location server, so that the location server can calculate a positioning calibration value according to the information of the other terminal devices, thereby calibrating the calculated position of the first terminal device and providing positioning accuracy of the first terminal device.

Optionally, the first information includes at least one of: equipment identification number, position information and signal measurement result.

In this embodiment, the first information may include a device identification number corresponding to at least one reference terminal device, location information, and a signal measurement result. The device Identification Number may be Identification information for uniquely indicating the reference terminal device, for example, the device Identification may be an International Mobile Subscriber Identity (IMSI), a Globally Unique Temporary UE Identity (GUTI), an International Mobile Equipment Identity (IMEI), a Mobile Subscriber Identity Number (MSIN), or the like.

Where the location information is self-location information known to the reference terminal device, e.g., the reference terminal device is a Road Side Units (RSU), and the location information is known. The position information may also be any form of position information of any position coordinate system, for example, longitude and latitude information of the terminal device acquired when the terminal device is deployed; the location information may also be longitude and latitude information received through a GPS, which is not limited in the embodiment of the present application.

The Signal measurement result is obtained by the first terminal device measuring a Reference Signal sent by the Reference terminal device, and the Reference Signal may include a Sounding Reference Signal (SRS) and a Positioning Reference Signal (PRS). Further, the signal measurements may include at least one of: reference Signal Received Power (RSRP), Reference Signal Received Quality (RSRQ), and Signal to Interference plus Noise Ratio (SINR).

S320, the first terminal equipment sends the first information.

After the first terminal device obtains the first information, the first information may be reported to the location server, the location server may calculate a location calibration value of the terminal device according to the first information, and calibrate the location result or the location information calculated by the first terminal device according to the location calibration value.

The first Information may be carried in an existing Provide Location Information (device Location Information) of an LTE Positioning Protocol (LPP) message; the first information may also be carried in a measurement report (measurement report) message of a newly-established measurement reporting process in the LPP, which is not limited in this embodiment of the present application.

Optionally, the method further includes: and the first terminal equipment sends a positioning measurement result, wherein the positioning measurement result is obtained by the first terminal equipment based on the measurement of a supporting positioning method.

The positioning method can be divided into a UE-assisted positioning method and a UE-based method according to different positions of the final calculated positioning result. The UE-assisted positioning method is a method in which a terminal device provides positioning measurements to a location server, for example, the positioning measurements using the OTDOA positioning method are RSTD measurements. The location server may calculate the location information of the terminal device from the positioning measurement result. The UE-based positioning method is responsible for positioning related measurement and calculation of positioning result by the terminal device. The embodiment of the application adopts a UE-assisted positioning method.

Specifically, when the terminal device uses the UE-assisted positioning method, the terminal device further needs to report a positioning measurement result obtained by the positioning method to the location server. For example, when the first terminal device adopts an OTDOA positioning method, the first terminal device reports measured RSTD and measured DL-PRS RSRP to a location server; when the first terminal equipment adopts DL-A0D, the first terminal equipment reports RSRP obtained by measuring DL-PRS reference signals to the location server.

The position server calculates the position of the first terminal device according to the positioning measurement result reported by the first terminal device, and then searches for a reference terminal device which uses the same positioning method and the same configuration as the first terminal device from the first information according to the first information reported by the first terminal device. Since the first information includes the position information of the reference terminal device, and the reference terminal device supports wireless network-based positioning, the position server can calculate the position information of the reference terminal device by a wireless positioning method, and compare the calculated position information with the position information in the first information to obtain a positioning calibration value. And the position server uses the positioning calibration value to calibrate the calculated positioning result of the first terminal equipment to obtain the calibrated position information, so that the positioning precision of the first terminal equipment is improved.

Further, the location server may indicate at least one reference terminal device found from the first information, and the location server may select a reference terminal device corresponding to the highest signal measurement result from the at least one reference terminal device to calculate a positioning calibration value; the location server may also sort at least one reference terminal device in a descending order according to the signal measurement result of the reference terminal device, and select the reference terminal device with N before ranking to calculate the positioning calibration value, where the value of N may be selected by the UE itself or configured by the location server or the base station, and N is a positive integer greater than 1; the location server may also calculate a positioning calibration value according to at least one terminal device, which is not limited in this embodiment of the present application.

It should be noted that, when a plurality of reference terminal devices are selected to calculate the positioning calibration value, the location server may use an average value of differences between the calculated location information of the plurality of reference terminal devices and the location information in the first information as the positioning calibration value, or the location server may use a median value of differences between the calculated location information of the plurality of reference terminal devices and the location information in the first information as the positioning calibration value, which is not limited in this embodiment of the present application.

Referring to fig. 4, fig. 4 is a flowchart illustrating another positioning method according to an embodiment of the present application, where the positioning method is applied to the wireless communication system shown in fig. 1A or fig. 1B. As shown in fig. 4, the positioning method includes the following steps.

S410, the first terminal device receives second information from at least one second terminal device.

In this embodiment, one network device may associate a plurality of terminal devices, a second terminal device with wireless network positioning capability may periodically broadcast second information to indicate that it supports wireless network positioning capability, and a first terminal device with positioning requirement receives the second information broadcast by at least one second terminal device of a current cell or a neighboring cell.

Wherein the second information comprises at least one of: equipment identification number, position information and positioning capability indication information; the positioning capability indication information is used for indicating a positioning method supported by the second terminal equipment; the location information is determined based on the NR-RAT-dependent positioning method.

Further, the device identification number may be identification information for uniquely indicating the second terminal device, and the device identification may be IMSI, GUTI, IMEI, MSIN, or the like. The location information is known location information of a second terminal device, which may be, for example, a Road Side Units (RSU), and the location information is known. The position information may also be any form of position information of any position coordinate system, for example, longitude and latitude information of the terminal device acquired when the terminal device is deployed; the location information may also be longitude and latitude information received through a GPS, which is not limited in the embodiment of the present application. The positioning capability indication information may indicate the positioning method supported by the second terminal device in an enumeration manner, for example, if the second terminal device supports the NR-RAT-dependent positioning method, the positioning capability indication information includes NR-RAT-dependent; if the second terminal device does not support the NR-RAT-dependent positioning method, the positioning capability indication information does not include the NR-RAT-dependent. Further, if the second terminal device does not support the NR-RAT-dependent positioning method, the second terminal device may not send the second message.

Optionally, the second information may be carried in a discovery message of the side link.

In one possible example, the method further comprises: the first terminal device broadcasts third information through a side link, the third information includes a device identification number of the first terminal device and positioning capability request information, and the positioning capability request information is used for indicating a positioning method supported by the second terminal device.

Specifically, a first terminal device with a positioning requirement may broadcast a third message through the side link, where the third message is used to query the positioning capabilities of surrounding terminal devices, and after receiving the broadcasted third message, a second terminal device in the same cell or an adjacent cell reads and identifies a positioning method supported by the positioning capability request information indication in the third message. And if the positioning method supported by the second terminal equipment is the same as the positioning method indicated by the positioning capability request information, the second terminal equipment responds, namely the second terminal equipment sends second information to the first terminal equipment. For example, when the positioning capability request information indicates that the supported positioning method reported is NR-RAT-dependent, and when a second terminal device supporting the NR-RAT-dependent positioning method receives a third message, a second message is sent to the first terminal device, where the second message carries an NR-RAT-dependent indication.

Further, the location capability request information may be used to indicate an NR-RAT-dependent location method and an NR-RAT-Independent location method. The location capability request may use an enumeration method to indicate whether to report a supported NR-RAT-dependent or NR-RAT-independent location method.

The device identification number of the first terminal device is used to uniquely indicate identification information of the first terminal device, and the device identification number of the first terminal device may be a local area ID (identity), for example, a complete Layer-2 ID, or a part of the Layer-2 ID, for example, 16-Bit Most Significant Bit (MSB) or 16-Bit Least Significant Bit (Least Significant Bit, LSB) or 8-Bit Most Significant Bit (MSB) or 8-Bit Least Significant Bit (Least Significant Bit, LSB), which is not limited in this embodiment.

S420, the first terminal device obtains the first information based on second information, the first information is used for assisting in calibrating the position information of the first terminal device, the first information comprises information of at least one reference terminal device, and the reference terminal device is a terminal device supporting an NR-RAT-dependent positioning method.

Optionally, the obtaining, by the first terminal device, the first information based on the second information includes:

the first terminal equipment measures the quality of the signal bearing the second information to obtain a signal measurement result of the second information; the first terminal device determines a second terminal device corresponding to the signal measurement result larger than or equal to a preset threshold value as the reference terminal device; and the first terminal equipment acquires the information corresponding to the reference terminal equipment from the second information.

Specifically, the first terminal device receives second information sent by at least one second terminal device, and measures the signal quality of each piece of second information to obtain a signal measurement result of each piece of second information, where the signal measurement result may include at least one of the following: RSRP, RSRQ, SINR. Then, the first terminal device compares the signal measurement result of each piece of second information with a preset threshold, determines the second terminal device corresponding to the signal measurement result greater than or equal to the preset threshold as a reference terminal device, that is, the signal measurement result of the second information sent by the reference terminal device is greater than or equal to the preset threshold, and determines the device identification number, the location information and the measured signal measurement result corresponding to each piece of reference terminal device in the second information as the information included in the first information.

In one possible example, the second information may include a reference signal, which may be a PRS or SRS. The first terminal device may use a signal measurement result obtained by measuring the signal quality of the reference signal as the signal measurement result of the second information.

S430, the first terminal equipment sends the first information.

The specific implementation method of steps S420 to S430 may refer to the specific implementation of steps S310 to S320 in fig. 3, which is not described herein again.

It can be seen that, in the embodiment of the present application, a first terminal device receives second information from at least one second terminal device, the first terminal device obtains first information based on the second information, the first information is used to assist in calibrating location information of the first terminal device, the first information includes information of at least one reference terminal device, and the reference terminal device is a terminal device supporting an NR-RAT-dependent positioning method; the first terminal device transmits the first information. According to the method and the device, the position information of the terminal equipment is subjected to auxiliary calibration by acquiring the information of the reference terminal equipment based on the second information sent by the second terminal equipment, so that the positioning precision of the terminal equipment is further improved.

The above description has introduced the solution of the embodiment of the present application mainly from the perspective of the method-side implementation process. It is understood that the electronic device comprises corresponding hardware structures and/or software modules for performing the respective functions in order to realize the above-mentioned functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the various illustrative elements and algorithm steps described in connection with the embodiments provided herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiment of the present application, the electronic device may be divided into the functional units according to the method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

Referring to fig. 5, fig. 5 is a block diagram of functional units of a positioning apparatus 500 according to an embodiment of the present application, where the positioning apparatus 500 is applied to a terminal device, and the apparatus 500 includes: an acquisition unit 510 and a transceiving unit 520, wherein,

the obtaining unit 510 is configured to obtain first information, where the first information is used to assist in calibrating location information of the first terminal device, where the first information includes information of at least one reference terminal device, and the reference terminal device is a terminal device that supports an NR-RAT-dependent positioning method;

the transceiver 520 is configured to transmit the first information.

In a possible embodiment of the present application, the transceiver unit 520 is further configured to:

receiving second information from at least one second terminal device, the second information comprising at least one of: equipment identification number, position information and positioning capability indication information; the positioning capability indication information is used for indicating the positioning method supported by the second terminal equipment.

In a possible embodiment of the present application, the obtaining unit 510 is specifically configured to: the second information acquires the first information.

In a possible embodiment of the present application, the obtaining unit 510 is specifically configured to: measuring the signal quality of the second information to obtain a signal measurement result of the second information; determining a second terminal device corresponding to the signal measurement result larger than or equal to a preset threshold value as the reference terminal device; and acquiring information corresponding to the reference terminal equipment from the second information.

In a possible embodiment of the present application, the first information includes at least one of: the reference terminal equipment identification number, the position information and the signal measurement result.

In a possible embodiment of the present application, the transceiver unit 520 is further configured to: and broadcasting third information through a side link, wherein the third information comprises the equipment identification number of the first terminal equipment and positioning capacity request information, and the positioning capacity request information is used for indicating a positioning method supported by the reporting of the second terminal equipment.

In a possible embodiment of the present application, the transceiver unit 520 is further configured to: and sending a positioning measurement result, wherein the positioning measurement result is obtained by the first terminal device based on the measurement of the supporting positioning method.

In a possible embodiment of the present application, the second information is carried in a discovery message.

It can be seen that the positioning apparatus provided in this embodiment of the present application includes an obtaining unit 510 and a transceiving unit 520, where the obtaining unit 510 is configured to obtain first information, where the first information is used to assist in calibrating location information of the first terminal device, where the first information includes information of at least one reference terminal device, and the reference terminal device is a terminal device that supports an NR-RAT-dependent positioning method; the transceiver 520 is configured to transmit the first information. The position information of the terminal equipment is subjected to auxiliary calibration by acquiring the information of the reference terminal equipment, so that the positioning precision of the terminal equipment is further improved.

It can be understood that the functions of each program module of the positioning device in the embodiments of the present application can be specifically implemented according to the method in the above method embodiments, and the specific implementation process of the method can refer to the related description of the above method embodiments, which is not described herein again.

Referring to fig. 6, fig. 6 is a terminal device according to an embodiment of the present application, where the terminal device includes: one or more processors, one or more memories, one or more communication interfaces, and one or more programs;

the one or more programs are stored in the memory and configured to be executed by the one or more processors;

the program includes instructions for performing the steps of:

acquiring first information, wherein the first information is used for assisting in calibrating position information of the first terminal device, the first information comprises information of at least one reference terminal device, and the reference terminal device is a terminal device supporting an NR-RAT-dependent positioning method;

and sending the first information.

In a possible embodiment of the application, the program comprises instructions for further performing the steps of: receiving second information from at least one second terminal device, the second information comprising at least one of: equipment identification number, position information and positioning capability indication information; the positioning capability indication information is used for indicating the positioning method supported by the second terminal equipment.

In a possible embodiment of the present application, in obtaining the first information, the program includes instructions for further performing the steps of: and acquiring the first information based on the second information.

In a possible embodiment of the present application, in obtaining the first information based on the second information, the program includes instructions for further performing the steps of: measuring the signal quality of the second information to obtain a signal measurement result of the second information; determining a second terminal device corresponding to the signal measurement result larger than or equal to a preset threshold value as the reference terminal device; and acquiring information corresponding to the reference terminal equipment from the second information.

In a possible embodiment of the application, the program comprises instructions for further performing the steps of: and broadcasting third information through a side link, wherein the third information comprises the equipment identification number of the first terminal equipment and positioning capacity request information, and the positioning capacity request information is used for indicating a positioning method supported by the reporting of the second terminal equipment.

In a possible embodiment of the application, the program comprises instructions for further performing the steps of: and sending a positioning measurement result, wherein the positioning measurement result is obtained by the first terminal device based on the measurement of the supporting positioning method.

It should be noted that, for a specific implementation process in the embodiment of the present application, reference may be made to the specific implementation process described in the foregoing method embodiment, and details are not described herein again.

Embodiments of the present application also provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the methods as described in the above method embodiments.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash disk, ROM, RAM, magnetic or optical disk, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A method of positioning, the method comprising:

and the first terminal equipment sends the first information.

2. The method of claim 1, further comprising:

the first terminal device receives second information from at least one second terminal device, wherein the second information comprises at least one of the following: equipment identification number, position information and positioning capability indication information;

the positioning capability indication information is used for indicating the positioning method supported by the second terminal equipment.

3. The method of claim 2, wherein the first terminal device obtains the first information, comprising:

and the first terminal equipment acquires the first information based on the second information.

4. The method of claim 3, wherein the first terminal device obtains the first information based on the second information, and wherein the obtaining the first information comprises:

the first terminal equipment measures the quality of the signal bearing the second information to obtain a signal measurement result of the second information;

the first terminal device determines a second terminal device corresponding to the signal measurement result larger than or equal to a preset threshold value as the reference terminal device;

and the first terminal equipment acquires the information corresponding to the reference terminal equipment from the second information.

5. The method of any of claims 1-4, wherein the first information comprises at least one of: equipment identification number, position information and signal measurement result.

6. The method according to any one of claims 1-5, further comprising:

the first terminal device broadcasts third information through a side link, the third information includes a device identification number of the first terminal device and/or positioning capability request information, and the positioning capability request information is used for indicating a positioning method supported by the second terminal device.

7. The method of claim 6, further comprising:

and the first terminal equipment sends a positioning measurement result, wherein the positioning measurement result is obtained by the first terminal equipment based on the measurement of a supporting positioning method.

8. The method of any of claims 2-7, wherein the second information is carried in a discovery message.

9. A positioning device, the device comprising:

and the transceiving unit is used for transmitting the first information.

10. A terminal device, characterized in that the terminal device comprises a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for carrying out the steps in the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method according to any one of claims 1-8.