CN115278526A

CN115278526A - Terminal positioning method and device, electronic equipment and storage medium

Info

Publication number: CN115278526A
Application number: CN202211049399.3A
Authority: CN
Inventors: 方韵淇; 赵顾良
Original assignee: Shandong Inspur Science Research Institute Co Ltd
Current assignee: Shandong Inspur Science Research Institute Co Ltd
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2022-11-01

Abstract

The invention provides a terminal positioning method, a terminal positioning device, electronic equipment and a storage medium, wherein the terminal positioning method comprises the following steps: determining target azimuth information based on a direction of arrival positioning estimation algorithm under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, wherein the target azimuth information comprises azimuth information of the base station and azimuth information of the terminal; and sending the target azimuth information to the base station so that the base station can forward the target azimuth information to a server on a network side, and the server resolving the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal. The invention can realize the high-efficiency positioning of the terminal in millimeter wave communication under the NLOS path scene.

Description

Terminal positioning method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a terminal positioning method and apparatus, an electronic device, and a storage medium.

Background

From mobile internet to internet of things, position is essential information, and for applications based on terminal position (such as navigation, health care monitoring and indoor positioning), only higher-precision positioning information can bring higher value, so that people are increasingly interested in high-precision positioning.

The sixth generation (6G) wireless communication technology is expected to be a technical breakthrough for ultra-high precision wireless positioning due to its very high carrier frequency (such as millimeter wave frequency band) and the equipped large-scale antenna array. Millimeter-scale wavelengths may enable a large number of antennas to be integrated onto an antenna array having a portable size, but this may also result in severe free-space path loss, especially for Non-Line of Sight (NLOS) paths. The directional transmission supported by the existing beam forming technology is a solution for energy-saving transmission, and is used for compensating path loss in millimeter wave communication. By appropriately adjusting the phase shift of each antenna element, the transmitted energy can be concentrated in a narrow beam between the transmitter and the receiver. However, due to the short millimeter wave wavelength, the directional link is easily blocked by obstacles such as human body, walls, and furniture. Once the Line of Sight (LOS) path is blocked, the blocked link may not be recoverable regardless of the adjustment of the beam direction. Thus, blocking is a key obstacle for millimeter wave communication positioning applications.

Therefore, how to realize efficient positioning of a terminal in millimeter wave communication in an NLOS path scenario has become an urgent technical problem to be solved in the industry.

Disclosure of Invention

The invention provides a terminal positioning method, a terminal positioning device, electronic equipment and a storage medium, which are used for realizing efficient positioning of a terminal in millimeter wave communication under an NLOS path scene.

The invention provides a terminal positioning method, which comprises the following steps:

determining target azimuth information based on a direction of arrival positioning estimation algorithm under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, wherein the target azimuth information comprises azimuth information of the base station and azimuth information of the terminal;

and sending the target azimuth information to the base station so that the base station forwards the target azimuth information to a server on a network side, and the server calculates the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

According to a terminal positioning method provided by the present invention, in a case where the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, before measuring and calculating target azimuth information based on a direction-of-arrival positioning estimation algorithm, the method further includes:

under the condition that the base station and a terminal are in a non-line-of-sight communication path, receiving a target single-sideband signal transmitted by the base station, and reflecting the target single-sideband signal to the terminal so that the terminal can generate and transmit access request information accessed to the base station based on master information block MIB information and scheduling block SIB1 information obtained by analyzing the target single-sideband signal;

receiving the access request information of the terminal, and forwarding the access request information to the base station to enable the terminal to access the base station;

under the condition that the terminal is accessed to the base station, receiving Downlink Control Information (DCI) sent by the base station, analyzing the DCI, and determining time-frequency resource information corresponding to a Physical Downlink Shared Channel (PDSCH) indicated by the DCI;

acquiring a channel Sounding Reference Signal (SRS) of the terminal, and performing direction-of-arrival positioning estimation on the SRS to determine a target weight;

and reflecting the time-frequency resource information corresponding to the PDSCH to the terminal based on the reflection angle corresponding to the target weight, completing the beam forming of the terminal, and establishing a communication link between the base station and the terminal.

The invention also provides a terminal positioning method, which comprises the following steps:

under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information measured and calculated by an intelligent super-surface in a wireless coverage area of the base station based on a direction of arrival positioning estimation algorithm, and the target azimuth information comprises azimuth information of the intelligent super-surface and the base station and azimuth information of the intelligent super-surface and the terminal;

and resolving the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

According to the terminal positioning method provided by the invention, the preset positioning method comprises at least one of a downlink arrival time difference DL-TDOA positioning method, an uplink arrival time difference UL-TDOA positioning method, an uplink arrival azimuth UL-AOD positioning method, a Multi-Cell round trip time Multi-Cell RTT positioning method and a downlink enhanced Cell identifier E-CID positioning method.

According to a terminal positioning method provided by the invention, the preset positioning method information comprises a downlink arrival time difference DL-TDOA positioning method; the intelligent super-surface comprises a first intelligent super-surface and a second intelligent super-surface, and the first intelligent super-surface and the second intelligent super-surface are positioned on different directions of the base station; the method further comprises the following steps:

under the condition that the base station and the terminal are in a non-line-of-sight communication path, the wireless links are established among the base station, the first intelligent super surface and the terminal, and the wireless links are established among the base station, the second intelligent super surface and the terminal, receiving downlink positioning reference signal time difference (DL-RSTD) information and the target azimuth angle information sent by the base station;

the DL-RSTD information is determined by the terminal calculating the arrival time of a first Positioning Reference Signal (PRS) and a second Positioning Reference Signal (PRS); the first Positioning Reference Signal (PRS) is a PRS sent by the base station to the terminal through the first intelligent super surface; the second Positioning Reference Signal (PRS) is a PRS sent by the base station to the terminal through the second intelligent super surface;

and resolving the position of the terminal based on the DL-RSTD information and the target azimuth angle information according to the DL-TDOA positioning method to complete the positioning of the terminal.

According to a terminal positioning method provided by the present invention, after calculating the position of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method, the method further includes:

rasterizing an area where the terminal is located to obtain a plurality of raster areas;

establishing a complex gain matrix based on the complex gain of each grid region corresponding to the received signal;

establishing a target function by taking the norm minimization of the complex gain matrix as a target, and determining a target constraint condition by taking the allowable mismatching degree between the actual receiving signal and the reconstructed signal at the position of the terminal as being smaller than a target threshold value; the reconstruction signal is the sum of the receiving signals corresponding to each grid region; the target threshold is determined based on a rayleigh distribution function;

and establishing a convex optimization problem model of the terminal position estimation based on the objective function and the target constraint condition, solving the convex optimization problem model to obtain target grid points in the region where the terminal is located, and positioning the terminal based on the target grid points.

The present invention also provides a terminal positioning device, including:

a first processing module, configured to determine target azimuth information based on a direction of arrival positioning estimation algorithm when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, where the target azimuth information includes azimuth information of the base station and azimuth information of the terminal;

and the first positioning module is used for sending the target azimuth information to the base station so that the base station can forward the target azimuth information to a server on a network side, and the server determines the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

The present invention also provides a terminal positioning device, including:

a first receiving module, configured to receive target azimuth information sent by a base station when the base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established; the target azimuth information is azimuth information measured and calculated by an intelligent super-surface in a wireless coverage area of the base station based on a direction of arrival positioning estimation algorithm, and the target azimuth information comprises azimuth information of the intelligent super-surface and the base station and azimuth information of the intelligent super-surface and the terminal;

and the second positioning module is used for determining the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the terminal positioning method.

The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of positioning a terminal as described in any of the above.

The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method for positioning a terminal as described in any one of the above.

According to the terminal positioning method, the device, the electronic equipment and the storage medium provided by the invention, under the condition that the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, by adopting a direction-of-arrival positioning estimation algorithm, the azimuth angle information of a plane normal of the super-surface and the base station and the azimuth angle information of the super-surface and the terminal can be measured and calculated by an intelligent super-surface, so that target azimuth angle information is obtained, and the target azimuth angle information is sent to the base station, so that the base station forwards the target azimuth angle information to a server on a network side, the server can calculate the position of the terminal based on the target azimuth angle information and a preset positioning method, and therefore, the efficient positioning of the terminal in millimeter wave communication can be realized in an NLOS path scene.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic flow chart of a terminal positioning method provided by the present invention;

fig. 2 is one of the scene diagrams of the terminal positioning method provided by the present invention;

fig. 3 is a second schematic view of a terminal positioning method according to the present invention;

fig. 4 is a second flowchart of the terminal positioning method provided by the present invention;

FIG. 5 is a schematic structural diagram of a terminal positioning device according to the present invention;

fig. 6 is a second schematic structural diagram of a terminal positioning device provided in the present invention;

fig. 7 is a schematic physical structure diagram of an electronic device provided in the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.

In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terminal positioning method, apparatus, electronic device and storage medium of the present invention are described below with reference to fig. 1 to 6.

A smart super Surface (RIS), also known as a "Reconfigurable smart Surface" or a "smart reflective Surface", may be used to establish an LOS link between a transmitter and a receiver, reconfiguring the radio propagation environment through a software-controlled reflective link. In particular, an RIS is a planar array of a large number of reconfigurable passive elements (e.g., low-cost printed dipoles), each of which is capable of independently producing amplitude and/or phase changes to an incident signal, thereby collectively achieving passive beamforming without any cooperation. By appropriately adjusting the passive beamforming, the RIS reflected signal can cancel or add with the other path's signal to enhance the desired signal power at the receiver, or to destructively cancel unwanted signals, such as co-channel interference. Since the RIS is a passive configuration, no energy consumption is generated in the process of reflecting signals, so it can be densely deployed to meet the requirement of large-scale wireless network communication.

Fig. 1 is a schematic flow diagram of a terminal positioning method provided by the present invention, and as shown in fig. 1, an execution subject of the method is an intelligent hyper-surface RIS, and the method may include: step 110 and step 120.

Step 110, determining target azimuth information based on a direction of arrival positioning estimation algorithm under the condition that a base station and a terminal are in a non-line-of-sight (NLOS) communication path and a communication link between the base station and the terminal is established, wherein the target azimuth information comprises azimuth information of the base station and azimuth information of the terminal;

specifically, the NLOS communication path described in the embodiment of the present invention refers to indirect point-to-point communication between a receiver and a transmitter, that is, two line-of-sight of communication are blocked by an obstacle in the middle, so that each other cannot see the other, and a range of a fresnel region larger than 50% is blocked.

The Direction Of Arrival (DOA) positioning estimation algorithm described in the embodiments Of the present invention estimates the position Of a radiation source by measuring the DOA or Angle Of Arrival (AOA) Of a radiation signal. The technical principle is that an array antenna of a receiver on an RIS and a DOA estimation technology are utilized to determine a direction of arrival line from the receiver to a signal source, and finally triangulation is carried out by utilizing DOA estimated by a plurality of receivers, wherein the intersection point of the direction lines is the estimated position of a radiation source.

The target azimuth information described in the embodiment of the present invention refers to information that can represent the azimuth relationship between the RIS and the base station and the terminal in space, and may include azimuth information of the RIS and the base station and azimuth information of the RIS and the terminal, which may be obtained by calculating the direction angle and the pitch angle of the base station and the terminal with respect to the RIS normal line, respectively, the azimuth information of the RIS and the base station includes direction angle and pitch angle information of the base station with respect to the RIS normal line, and the azimuth information of the RIS and the terminal includes direction angle and pitch angle information of the terminal with respect to the RIS normal line.

Fig. 2 is one of the scene schematic diagrams of the terminal positioning method provided by the present invention, and as shown in fig. 2, in the scene of the embodiment of the present invention, a base station 201 (hereinafter, simply described as base station a), an RIS202 (hereinafter, simply described as RIS B), an RIS203 (hereinafter, simply described as RIS C), and a terminal 204 (hereinafter, simply described as terminal D) may be included. In the case where the base station a is in NLOS communication path with the terminal D to be positioned, one or more RIS may be provided, such as RIS B and RIS C, which are respectively in LOS positional relationship with the terminal D, and the base station a is within ± θ/± Φ in the maximum available yaw horizontal angle/vertical angle of the RIS B, RIS C.

Optionally, when the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, before calculating target azimuth information based on a direction-of-arrival positioning estimation algorithm, the method further includes:

under the condition that a base station and a terminal are in a non-line-of-sight communication path, receiving a target single-sideband signal sent by the base station, and reflecting the target single-sideband signal to the terminal, so that the terminal generates and sends access request information accessed to the base station based on master information block MIB information and scheduling block SIB1 information obtained by analyzing the target single-sideband signal;

receiving access request information of a terminal, and forwarding the access request information to a base station to enable the terminal to access the base station;

under the condition that a terminal is accessed to a base station, downlink Control Information (DCI) sent by the base station is received, the DCI is analyzed, and time-frequency resource information corresponding to a Physical Downlink Shared Channel (PDSCH) indicated by the DCI is determined;

acquiring a channel Sounding Reference Signal (SRS) of a terminal, and performing direction-of-arrival positioning estimation on the SRS to determine a target weight;

and reflecting the time frequency resource information corresponding to the PDSCH to the terminal based on the reflection angle corresponding to the target weight, completing the beam forming of the terminal, and establishing a communication link between the base station and the terminal.

Specifically, the Single Side Band (SSB) signal of the target described in the embodiment of the present invention is a path of SSB signal with the strongest signal received by the RIS when the base station performs broadcasting using the SSB broadcast beam group.

The weight described in the embodiment of the invention refers to a phase weight required by the RIS to forward the time-frequency resource information corresponding to the PDSCH to the terminal, and the phase weight is used for beamforming from the RIS to the terminal.

As shown in fig. 2, the RIS B and RIS C first need to analyze system Information, such as Management Information Base (MIB), i.e., master Information block Information, and scheduling block SIB1 Information, sent by the Base station a through a receiver carried by the RIS, and then configure a reflection/refraction azimuth angle and a scanning period of the RIS on a corresponding SSB time-frequency resource according to an SSB broadcast beam scanning mode of the Base station a.

In an embodiment of the present invention, base station a performs split-beam broadcast on the radio coverage area using a SSB broadcast beam set, which may be denoted as { SSB 0, SSB 1, SSB 2, \8230 \\ 8230; }. The RIS B is fixedly deployed in the coverage area of the base station to receive the target SSB signal as an SSB i signal, namely, the SSB i signal received by the RIS B and sent by the base station is the strongest, the RIS B uses a preset specific weight and a preset period configuration on a corresponding SSB time-frequency resource to enable the SSB i signal to cover a base station blind area which cannot be covered due to the shielding of an obstacle, namely, the target SSB signal SSB i signal can be reflected to a terminal D.

It should be noted here that, similarly to the ssbi Signal, a Signal such as a Channel State Information-Reference Signal (CSI-RS) using a broadcast beam is also reflected or refracted by the RIS to the same base station shadow area in the same manner, and a User Equipment (UE), that is, a terminal D, in the base station shadow area can receive the ssbi Signal sent from the RIS, and obtain Information of a master Information block MIB by analyzing the ssbi Signal, and solve Information of a scheduling block SIB1 therein.

Then, the terminal D generates access request information for accessing the base station based on the received MIB information and SIB1 information, and initiates a random access request. The RIS performs corresponding beam weight matching for uplink signal transmission according to downlink incident DoA estimation and reflection/refraction angle retroestimation, so that the access request information of the terminal is received and forwarded to the base station to help the terminal complete random access.

Further, when the terminal accesses the base station, the RIS receives Downlink Control Information (DCI) sent by the base station, parses the DCI, and determines Physical Downlink Shared Channel (PDSCH) Information corresponding to the terminal indicated by the DCI, and specifically, when the base station uses CORESET to send first, and sends the PDSCH indicated by the DCI after several slots, the RIS may determine the resource location of the PDSCH through blind detection. Wherein, CORESET is called "Control resource set", which is a set of Physical resources in a specific area in a Downlink resource grid, and is used for carrying parameters of a Physical Downlink Control Channel (PDCCH)/DCI.

Further, the RIS obtains a Sounding Reference Signal (SRS) of the terminal UE, and performs DOA estimation on the SRS to obtain azimuth information between the RIS normal and the terminal UE, including direction angle and pitch angle information, so as to calculate a PDSCH deflection angle based on the direction angle and pitch angle information between the RIS and the terminal UE, and according to the PDSCH deflection angle, may determine a target weight, configure the target weight to a time-frequency resource corresponding to the PDSCH, and reflect video resource information corresponding to the PDSCH to the terminal based on a reflection angle corresponding to the target weight, thereby completing beam shaping of the RIS to the terminal, so as to establish a communication link from the RIS to the terminal, form a base station-RIS-terminal communication link, and complete establishment of the communication link between the base station and the terminal.

According to the method provided by the embodiment of the invention, the RIS is additionally arranged in the wireless coverage area of the base station, so that a stable LOS communication link can be established between the base station and the terminal UE by bypassing obstacles, and the weight coefficient of an RIS element is adjusted to realize efficient reflection/refraction beam forming, thereby being beneficial to realizing efficient positioning of the terminal in millimeter wave communication under an NLOS path scene.

Further, in the embodiment of the present invention, in a case where the base station and the terminal are in a non-line-of-sight NLOS communication path and a communication link between the base station and the terminal is established, the RIS may determine a direction angle and a pitch angle of the base station and the terminal with respect to its normal based on a DOA positioning estimation algorithm, to obtain target azimuth information.

And step 120, sending the target azimuth information to the base station so that the base station forwards the target azimuth information to a server on the network side, and the server resolving the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

Specifically, the preset positioning method described in the embodiment of the present invention refers to a preset multi-class positioning method. The preset positioning method may include at least one of a downlink time difference of arrival DL-TDOA positioning method, an uplink time difference of arrival UL-TDOA positioning method, an uplink azimuth angle of arrival UL-AOD positioning method, a Multi-Cell round trip time RTT positioning method, and a downlink enhanced Cell identity E-CID positioning method.

In the embodiment of the present invention, the server on the network side refers to a server on the network side for location information service and performing terminal location, and may be described as a location server hereinafter.

For a Downlink Time Difference of Arrival (DL-TDOA) Positioning method, based on a Downlink Positioning Reference Signal (PRS), a terminal UE performs Downlink Reference Signal Time Difference (DL-RSTD) measurement on the PRS of each base station, and reports the measurement result to a location server, which resolves the location of the terminal UE.

In the Uplink Time Difference of Arrival (UL-TDOA) positioning method, the base station measures an Uplink Relative Time of Arrival (UL-RTOA) by using an enhanced SRS transmitted from the terminal UE, reports the measurement result to the location server, and calculates the location of the terminal UE.

For an Uplink Angle-of-Arrival (UL-AOA) positioning method, a base station gNB measures an Angle of Arrival according to a beam where a terminal UE is located, sends a measurement report to a location server, and calculates the location of the terminal UE.

For a Multi-cell Round Trip Time (Multi-cell RTT) positioning method, the gNB and the terminal UE perform a Round Trip Time Rx-Tx Time difference measurement on a signal of each cell. Measurement reports from the UE and the gNB are reported to the location server to determine the round trip time of each cell and obtain the UE location.

For the Enhanced cell ID (E-CID) positioning method, the terminal UE measures Radio Resource Management (RRM) of each gNB, such as DL-RSRP, and sends a measurement report to the location server to resolve the location of the terminal UE.

Further, in the embodiment of the present invention, for DL-TDOA positioning, a terminal UE is required to measure PRSs of more than two base stations/TRPs to perform DL-RSTD measurement, that is, in a manner of measuring a time difference of arrival of two received DL-PRSs with one of the two measured prps as a reference TRP, the present embodiment can support the following several scenarios:

scene one: as shown in FIG. 2, the terminal UE is only in a single wireless link of "base station A-RIS B-UE D", and at this time, the location server calculates the position of the terminal UE according to the arrival time of PRS, the angle of the broken line of "base station A-RIS B-UE D" and the recorded location information when RIS B deploys.

Scene two: as shown in FIG. 2, the terminal UE is simultaneously in the "base station A-RIS B-UE D" radio link and the LOS radio link of another base station A'. At this time, the terminal UE can simultaneously receive the PRSs sent by the base station a and the base station a', perform DL-RSTD measurement on the PRSs of each base station, report the measurement result to the location server, and resolve the location of the terminal UE. In this scenario, the measurement reporting mode of the terminal UE is not changed due to the addition of the RIS. The positioning calculation under the scene can be completed only by considering the target azimuth angle information measured and calculated by the RIS B by the position server. The scene is also suitable for the positioning process of 1 base station transmitting PRS signals through an RIS and a plurality of base stations transmitting PRS signals through a direct-view path.

Scene three: as shown in FIG. 2, the terminal UE is simultaneously in the "base station A-RIS B-UE D" radio link and the non-NLOS radio link of the other "base station B-RIS C-UE D". Similar to the above method, the measurement reporting method of the UE can still be consistent when the UE is located in the direct view of the two base stations, and does not need to be changed. And the terminal UE executes DL-RSTD measurement on the PRS of each base station, reports the measurement result to a position server, and the position server resolves the position of the terminal UE. The positioning calculation under the scene can be completed only by considering the target azimuth angle information measured and calculated by the RIS B and the RIS C by the position server. The scene is also suitable for the positioning process of a plurality of base stations by transmitting PRS signals through the RIS.

Scene four: as shown in FIG. 2, the terminal UE is simultaneously in the radio link of "base station A-RIS B-UE D" and the radio link of "base station A-RIS C-UE D". Here, it should be noted that RIS B and RIS C are located in different positioning beam directions of base station a, respectively. In this scenario, the UE is required to distinguish the two positioning beams of the base station a, perform DL-RSTD measurement on PRS (PRS) of different beams of the same base station, and report the measurement result to the location server. This scenario will put incremental requirements on the capabilities of the terminal UE. There is also a default condition that the terminal UE can establish another connection with base station a via RIS C at the same time as the connection with base station a via RIS B, i.e. the same base station dual link mode. And a space resource multiplexing mode of the base station A, the RIS B and the RIS C is utilized to obtain higher positioning precision. When the terminal UE supports the scenario, the method is also suitable for a multi-base station positioning process for adding scenario two and scenario three.

Therefore, in the embodiment of the invention, when a scene I, a scene II and a scene III are used, the existing terminal can be used for realizing the DL-TDOA positioning based on the RIS under the condition of non-direct-view diameter, and if the terminal UE supports the double-link mode that the same base station passes through different RISs, the positioning of a scene IV can be realized.

Further, in the embodiment of the present invention, for the UL-TDOA location method, as shown in fig. 2, a plurality of base stations perform UL-RTOA measurement by measuring the enhanced SRS transmitted by the terminal UE, and simultaneously, calculate target azimuth information of "RIS-UE" and "RIS-base station" modulated by the corresponding RIS to the uplink signal transmitted by the terminal UE, report the target azimuth information to the location server, and calculate the location of the terminal UE.

In the embodiment of the invention, for the UL-AOA positioning method, the gNB measures the arrival angle according to the beam where the terminal UE is located, and sends the measurement report to the location server. Similar to the UL-TDOA processing method, in the positioning method, target azimuth information of "RIS-UE" and "RIS-bs" modulated by corresponding RIS to the uplink signal transmitted by the terminal UE is calculated, and is reported to the location server, so as to calculate the location of the terminal UE.

In an embodiment of the invention, for the Multi-cell RTT positioning method, the gNB and the terminal UE perform Rx-Tx time difference measurement on the signal of each cell. Measurement reports from the terminal UE and the gNB are reported to the location server to determine the round trip time of each cell and derive the UE location. The positioning method is similar to the aforementioned DL-TDOA positioning processing method, and may also support four scenarios in the DL-TDOA positioning method, which is not described herein again.

In the embodiment of the invention, for the E-CID positioning method, the terminal UE performs RRM measurement on each gNB, and a measurement report is sent to the location server. Similar to the UL-TDOA processing method, in the positioning method, the RIS also needs to calculate target azimuth information corresponding to "RIS-UE" and "RIS-bs" on the uplink signal sent by the terminal UE, report the target azimuth information to the location server, and calculate the location of the terminal UE.

The method provided by the embodiment of the invention can be well applied in adaptability with the existing terminal positioning methods in a positioning scene based on participation of RIS, has good applicability, does not need to greatly change the existing positioning system, and has strong practicability.

Further, in the embodiment of the present invention, after the RIS measures the target azimuth information, the RIS sends the target azimuth information to the base station. More specifically, first, the azimuth information of the terminal UE in the target azimuth information measured by the RIS may be expressed as { θ _ D, Φ _ D }, where θ _ D represents a direction angle of the terminal UE relative to the RIS normal, Φ _ D represents a pitch angle of the terminal UE relative to the RIS normal, and the RIS transmits an uplink signal sent by the terminal UE to the base station in a manner of direction angle and pitch angle index information by using its information modulation capability. After solving the direction angle and pitch angle index information of the terminal UE relative to the RIS normal line and obtaining the { theta _ D, phi _ D } information, the base station sends the information to a server on the network side, such as a position server, so that the server can perform terminal positioning calculation.

Secondly, the azimuth information of the base station in the target azimuth information measured by the RIS, that is, the azimuth information of the PDCCH and PDSCH sent by the base station to the terminal UE, may be represented as { θ _ a, Φ _ a }, and the RIS may also send the uplink signal sent by the terminal to the base station in the form of the azimuth and elevation index information through its information modulation capability. After solving the { theta _ A, phi _ A }, the base station also sends the { theta _ A, phi _ A } to a location server on the network side, and at the moment, the location server can carry out resolving of terminal location by adopting a location resolving algorithm based on two sets of azimuth angle information { theta _ D, phi _ D } and { theta _ A, phi _ A }, and based on the preset location method.

Fig. 3 is a second scenario schematic diagram of the terminal positioning method provided by the present invention, as shown in fig. 3, when the terminal is positioned, the location server on the network side calculates the extension line orientation from the terminal D to the RIS B line segment on the horizontal plane according to the direction angle θ between the antenna normal of the base station a and the RIS B reported by the base station a, the direction angle θ _ a between the base station a and the RIS B normal measured by the RIS B, and the direction angle θ _ D between the terminal D and the RIS B normal measured by the RIS B, and determines the position of the virtual base station 301 on the extension line according to the distance from the base station to the RIS B. It should be noted that, in the vertical direction, the pitch angle information Φ _ a and Φ _ D also need to be calculated in a similar manner to obtain a spatial three-dimensional position relationship between another virtual base station and the terminal D.

It can be understood that the spatial positions of the two virtual base stations can be determined in the three-dimensional space according to the target azimuth information, i.e., the direction angle and pitch angle information of the base station with respect to the normal of the RIS, and the direction angle and pitch angle information of the terminal with respect to the normal of the RIS.

Further, in this embodiment, the estimated position of the terminal is determined by performing three-dimensional spatial geometry calculation according to the determined spatial positions of the two virtual base stations, and then the positioning information obtained according to the preset positioning method, for example, when the preset positioning method is the UL-TDOA positioning method, the UL-RTOA information of the relative arrival time of the uplink measured by the base station can be obtained, and the estimated position of the terminal is further corrected, so that the position of the terminal is finally calculated, and the positioning of the terminal is realized.

It should be noted that, in the embodiment of the present invention, the RIS introduces a virtualization and coding method, and performs quantization coding on beams in a wireless coverage area according to the scale of an antenna array of the RIS, so as to determine index information of a direction angle and a pitch angle corresponding to target azimuth information after measuring and calculating the target azimuth information.

According to the terminal positioning method provided by the embodiment of the invention, under the condition that the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, by adopting a direction-of-arrival positioning estimation algorithm, the azimuth information of a plane normal of the intelligent super surface, the base station and the terminal can be measured and calculated by the intelligent super surface, so that the target azimuth information is obtained, and the target azimuth information is sent to the base station, so that the base station forwards the target azimuth information to a server on a network side, the server can calculate the position of the terminal based on the target azimuth information and a preset positioning method, and the efficient positioning of the terminal in millimeter wave communication can be realized in an NLOS path scene.

Fig. 4 is a second flowchart of the terminal positioning method provided by the present invention, as shown in fig. 4, an execution subject of the method may be a server on a network side, such as a location server, and the method includes: step 410 and step 420.

Step 410, receiving target azimuth information sent by a base station under the condition that the base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established; the target azimuth information is azimuth information measured and calculated by an intelligent super surface in a wireless coverage area of the base station based on a direction of arrival positioning estimation algorithm, and the target azimuth information comprises azimuth information of the intelligent super surface and the base station and azimuth information of the intelligent super surface and the terminal;

and step 420, resolving the position of the terminal based on the target azimuth information and a preset positioning method, and completing the positioning of the terminal.

Specifically, in the embodiment of the present invention, when the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, the RIS in the wireless coverage area of the base station may calculate a direction angle and a pitch angle of the base station and the terminal relative to a normal of the RIS and the terminal based on a DOA positioning estimation algorithm, obtain target azimuth information, forward the target azimuth information to the base station, and forward the target azimuth information to the location server by the base station, so that the location server may receive the target azimuth information sent by the base station.

Further, in the embodiment of the present invention, the location server may resolve the location of the terminal according to a preset location method based on the target azimuth information, so as to complete the location of the terminal. The preset positioning method may also include at least one of a DL-TDOA positioning method, an UL-TDOA positioning method, a DL-AOD positioning method, an UL-AOD positioning method, a Multi-Cell RTT positioning method, and an E-CID positioning method.

According to the method provided by the embodiment of the invention, under the condition that the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, the RIS can measure and calculate azimuth angle information between a plane normal and the base station and azimuth angle information between the plane normal and the terminal by adopting a direction-of-arrival positioning estimation algorithm to obtain target azimuth angle information, the target azimuth angle information is sent to the base station, the base station forwards the target azimuth angle information to a server on a network side, and the server can solve the position of the terminal based on a positioning calculation algorithm according to a preset positioning method after receiving the target azimuth angle information, so that the efficient positioning of the terminal in millimeter wave communication can be realized in an NLOS path scene.

Based on the content of the foregoing embodiment, as an optional embodiment, the preset positioning method information includes a downlink time difference of arrival DL-TDOA positioning method; the intelligent super-surface comprises a first intelligent super-surface and a second intelligent super-surface, and the first intelligent super-surface and the second intelligent super-surface are positioned on different directions of the base station; the method further comprises the following steps:

under the condition that the base station and the terminal are in a non-line-of-sight communication path, the wireless link is established among the base station, the first intelligent super surface and the terminal, and the wireless link is established among the base station, the second intelligent super surface and the terminal, downlink positioning reference signal time difference DL-RSTD information and target azimuth angle information sent by the base station are received;

the DL-RSTD information is determined by the terminal computing the time of arrival of the first positioning reference signal PRS and the second positioning reference signal PRS; a first Positioning Reference Signal (PRS) is a PRS which is sent to a terminal by a base station through a first intelligent super surface; a second Positioning Reference Signal (PRS) is sent to the terminal by the base station through a second intelligent super surface;

and resolving the position of the terminal based on the DL-RSTD information and the target azimuth angle information according to a DL-TDOA positioning method to complete the positioning of the terminal.

Specifically, in the embodiment of the present invention, the preset positioning method information includes a DL-TDOA positioning method; the RIS includes a first RIS and a second RIS, the first RIS and the second RIS being at different locations of the base station. As shown in fig. 2, the first RIS can be RIS B, and the second RIS can be RIS C; in this embodiment, the terminal UE is simultaneously in the radio link of "base station A-RIS B-UE D" and the radio link of "base station A-RIS C-UE D"; the first RIS and the second RIS are located at different positions of the base station, which means that the RIS B and the RIS C are respectively located in two positioning beam directions of the base station a, wherein the two positioning beams of the base station a are respectively a positioning beam for the first PRS measurement and a positioning beam for the second PRS measurement.

Further, under the condition that the base station A and the terminal UE are in a non-line-of-sight communication path, and the base station, the RIS B and the terminal UE have established a wireless link, namely the wireless link of the base station A-RIS B-UE D, and the base station A, the RIS C and the terminal UE have established a wireless link, namely the wireless link of the base station A-RIS C-UE D, the base station A sends the first PRS to the terminal UE through the RIS B, and sends the second PRS to the terminal UE through the RIS C, therefore, the terminal UE can execute DL-RSTD measurement of two positioning beams PRS of the base station A, calculate the time difference of the first PRS and the second PRS reaching the terminal UE, obtain DL-RSTD information, and send the DL-RSTD information to the location server, and the location server receives the DL-RSTD information sent by the base station.

Meanwhile, in the positioning mode, the RIS also needs to calculate the target azimuth information of the RIS, the base station and the terminal, namely the information of the direction angle and the pitch angle of the base station A and the terminal D relative to the RIS B and the information of the direction angle and the pitch angle of the base station A and the terminal D relative to the RIS C, and the information of the target azimuth angle is transmitted by the base station and reported to the position server.

Further, according to a mode of resolving the terminal position by a DL-TDOA positioning method, the position server can resolve the position of the terminal D based on a positioning resolving algorithm according to DL-RSTD information and target azimuth information, so as to realize the positioning of the terminal D.

According to the method provided by the embodiment of the invention, under the scene that the base station and the terminal are in an NLOS path and the same base station is in a double-link mode, the two independent wireless links consisting of the base station, the two RISs and the terminal D are established for data transmission, so that air interface resources can be fully utilized, spatial resource multiplexing is realized, and the positioning precision of the terminal is favorably improved.

Based on the content of the foregoing embodiment, as an optional embodiment, after calculating the location of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method, the method further includes:

rasterizing an area where the terminal is located to obtain a plurality of grid areas;

establishing a complex gain matrix based on the complex gain of the corresponding received signal of each grid area;

establishing a target function by taking the norm minimization of the complex gain matrix as a target, and determining a target constraint condition by taking the allowable mismatching degree between an actual received signal and a reconstructed signal at the position of a terminal as being smaller than a target threshold; reconstructing a signal to be the sum of the received signals corresponding to each grid region; the target threshold is determined based on a rayleigh distribution function;

and establishing a convex optimization problem model of terminal position estimation based on the objective function and the objective constraint condition, solving the convex optimization problem model to obtain the objective grid points in the region where the terminal is positioned, and positioning the terminal based on the objective grid points.

Specifically, in the embodiment of the present invention, in the positioning process based on participation of RIS, due to the influence of factors such as timing error of the communication system, in general, in actual implementation, optimization methods such as iterative approximation need to be further adopted to improve the accuracy of terminal positioning.

In this embodiment, as shown in fig. 2, a base station a sends PRS signals from two beam directions of RIS B and RIS C, respectively, and a terminal UE performs DL-RSTD measurement on PRS of different beams of the same base station and reports the measurement result to a location server. Because the two beams are spatially independent and the two RIS are not associated, and the influence of factors such as noise is added, the PRS of the two beams received by the terminal UE is not influenced by white gaussian noise, and the two noises are orthogonal. The envelope of the sum of the gaussian white noise signals is made to obey a rayleigh distribution.

After the position server calculates the position of the terminal, the area where the position of the terminal is located can be determined, the position server further needs to perform rasterization processing on the area, and the position server can perform parameter estimation on the grid position where the terminal is located according to the obtained report information each time. The convex optimization method can be utilized when the terminal UE supports a dual link mode in which the same base station is subject to different RIS.

Further, rasterizing an area where the terminal UE is located may obtain a plurality of grid areas, where a grid set obtained by rasterizing the location of the terminal UE in the base station blind area is:

wherein p is _ij The positioning grid of the terminal UE is represented, and Q = m × n grids are provided in total. And setting the terminal UE to be positioned in a certain grid, and establishing a convex optimization problem model according to the sparsity of the terminal UE to be positioned in the grid.

In a measurement period, the location server obtains a location measurement report of the UE, and the location server has the location identifier of the UE in a few grids. In this scenario, the conventional method is that, according to the sparsity theory, the rows correspond sparsely

The norm, which is the sum of the square of the terms and the root of each row of the matrix, is formulated as:

in the formula, x _ql Representing the complex gain of each grid region for the received signal.

According to the above, the complex gain x of the received signal is corresponded to each grid region _ql A complex gain matrix P is established, wherein P is a sparse matrix satisfying row sparsity.

Further, the norm minimization of the complex gain matrix P is used as the target, and the target function is established to be min _P ||P|| _2,1 And is combined withDetermining a target constraint condition with the allowable mismatch between the actual received signal and the reconstructed signal at the position of the terminal UE being smaller than a target threshold, whereby based on the target function and the target constraint condition, the following convex optimization problem model can be established:

min _P ||P|| _2,1 ；

wherein the content of the first and second substances,

represents the channel between the base station to the RIS,

an array manifold representing the RIS,

represents the angle of arrival, which is determined by the terminal UE position coordinates and the position coordinates of the RIS.

This is a second order cone programming problem, with the optimization variable being the complex gain matrix P. Wherein the content of the first and second substances,

is a reconstructed signal representing all the grids p _ij In response to the sum of the received signals,

representing the actual received signal at the location of the terminal UE. E is a set threshold value representing a received signal

And reconstructing the signal

The maximum allowable mismatch between them is a constraint on noise. Since the noise is gaussian and is borderless, it needs to set a higher probability to constrain it to the boundary, which can be expressed by the formula:

wherein the probability gamma can be set to 0.99 and the noise n _l Is a mean of 0 and a variance of σ ² Length of N _B White gaussian noise.

For the positioning information obtained from RIS B and the positioning information obtained from RIS C, it is assumed that white gaussian noise between the two positioning information is orthogonal. The envelope of the sum of two orthogonal gaussian white noise signals follows a rayleigh distribution. Let F (x) be the distribution function of the Rayleigh distribution accumulated at x, F ^-1 As its inverse function, the threshold can then be calculated by the probability γ, as follows:

and the calculation complexity is reduced by using an iterative method. And setting an initial grid precision, solving the optimization problem, obtaining a new position grid and solving again. Assume the accuracy of the initial grid is m _res And the iteration index is k, the grid of the k-th refinement is P _k Then there is

Wherein, T represents the grid refinement precision,

representing each sub-optimized location grid point can be expressed as:

in this embodiment, the grid refinement process can be repeated for the optimized value at the k-1 st time

And the k-th optimized value

And stopping the grid refinement when the difference value is smaller than the threshold value (the optimized value is automatically generated in the tool box after each solution).

The specific formula can be expressed as follows:

where β represents a set threshold.

In this embodiment, based on the convex optimization positioning algorithm, the optimal grid point in the area where the terminal UE is located is solved iteratively, so as to obtain the target grid point, and the position of the terminal is finally determined based on the target grid point, so that the algorithm finally realizes accurate positioning of the terminal UE.

According to the method provided by the embodiment of the invention, after the position of the terminal is solved by the position server, the region where the position of the terminal is located is subjected to rasterization processing, a convex optimization problem of parameter estimation is established, a target grid point is obtained by refining the grid process, the grid point where the terminal is located is determined, the terminal is accurately positioned, the positioning precision of the terminal is improved, and the positioning accuracy of the terminal is improved.

The following describes the terminal positioning device provided by the present invention, and the terminal positioning device described below and the terminal positioning method described above may be referred to correspondingly.

Fig. 5 is a schematic structural diagram of a terminal positioning device provided in the present invention, as shown in fig. 5, including:

a first processing module 510, configured to determine target azimuth information based on a direction-of-arrival positioning estimation algorithm when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, where the target azimuth information includes azimuth information of the base station and azimuth information of the terminal;

the first positioning module 520 is configured to send the target azimuth information to the base station, so that the base station forwards the target azimuth information to a server on the network side, and the server determines the position of the terminal based on the target azimuth information and a preset positioning method, thereby completing positioning of the terminal.

The terminal positioning apparatus described in this embodiment may be used to implement the terminal positioning method embodiment, and the principle and technical effect are similar, which are not described herein again.

According to the terminal positioning device provided by the invention, under the condition that the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, by adopting a direction-of-arrival positioning estimation algorithm, the azimuth angle information of a plane normal of the super-surface and the base station and the azimuth angle information of the super-surface and the terminal can be measured and calculated by an intelligent super-surface, so that the target azimuth angle information is obtained, and the target azimuth angle information is sent to the base station, so that the base station forwards the target azimuth angle information to a server on a network side, the server can solve the position of the terminal based on the target azimuth angle information and a preset positioning method, and therefore, the efficient positioning of the terminal in millimeter wave communication can be realized under an NLOS path scene.

Fig. 6 is a second schematic structural diagram of a terminal positioning device provided by the present invention, as shown in fig. 6, including:

a first receiving module 610, configured to receive target azimuth information sent by a base station when the base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established; the target azimuth information is azimuth information measured and calculated by an intelligent super-surface in a wireless coverage area of the base station based on a direction of arrival positioning estimation algorithm, and the target azimuth information comprises azimuth information of the intelligent super-surface and the base station and azimuth information of the intelligent super-surface and the terminal;

and a second positioning module 620, configured to determine a position of the terminal based on the target azimuth information and a preset positioning method, and complete positioning of the terminal.

The terminal positioning apparatus described in this embodiment may be configured to implement the above terminal positioning method embodiment, and the principle and technical effect are similar, which are not described herein again.

In the terminal positioning device of the embodiment of the invention, under the condition that the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, the RIS can measure and calculate azimuth angle information between a plane normal and the base station and azimuth angle information between the plane normal and the terminal by adopting a direction-of-arrival positioning estimation algorithm to obtain target azimuth angle information, the base station transmits the target azimuth angle information to a server on a network side, and the server can solve the position of the terminal based on a positioning calculation algorithm according to a preset positioning method after receiving the target azimuth angle information, thereby realizing efficient positioning of the terminal in millimeter wave communication under an NLOS path scene.

Fig. 7 is a schematic physical structure diagram of an electronic device provided in the present invention, and as shown in fig. 7, the electronic device may include: a processor (processor) 710, a communication Interface (Communications Interface) 720, a memory (memory) 730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call logic instructions in the memory 730 to execute the terminal location method provided by the above methods, where the method includes: determining target azimuth information based on a direction of arrival positioning estimation algorithm under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, wherein the target azimuth information comprises azimuth information of the base station and azimuth information of the terminal; and sending the target azimuth information to the base station so that the base station can forward the target azimuth information to a server on a network side, and the server resolving the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

Or, the method comprises: under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, receiving target azimuth information sent by the base station; the target azimuth information is azimuth information measured and calculated by an intelligent super-surface in a wireless coverage area of the base station based on a direction of arrival positioning estimation algorithm, and the target azimuth information comprises azimuth information of the intelligent super-surface and the base station and azimuth information of the intelligent super-surface and the terminal;

In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, a computer is capable of executing the terminal positioning method provided by the above methods, and the method includes: under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, determining target azimuth information based on a direction-of-arrival positioning estimation algorithm, wherein the target azimuth information comprises azimuth information of the base station and azimuth information of the terminal; and sending the target azimuth information to the base station so that the base station can forward the target azimuth information to a server on a network side, and the server resolving the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for positioning a terminal provided by the above methods, the method comprising: determining target azimuth information based on a direction of arrival positioning estimation algorithm under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, wherein the target azimuth information comprises azimuth information of the base station and azimuth information of the terminal; and sending the target azimuth information to the base station so that the base station can forward the target azimuth information to a server on a network side, and the server resolving the position of the terminal based on the target azimuth information and a preset positioning method to complete the positioning of the terminal.

The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A terminal positioning method is characterized by comprising the following steps:

2. The method for positioning a terminal according to claim 1, wherein in the case that the base station and the terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, before estimating target azimuth information based on a direction-of-arrival positioning estimation algorithm, the method further comprises:

3. A terminal positioning method is characterized by comprising the following steps:

under the condition that a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, receiving target azimuth angle information sent by the base station; the target azimuth information is azimuth information measured and calculated by an intelligent super-surface in a wireless coverage area of the base station based on a direction of arrival positioning estimation algorithm, and the target azimuth information comprises azimuth information of the intelligent super-surface and the base station and azimuth information of the intelligent super-surface and the terminal;

4. The method of claim 3, wherein the predetermined positioning method comprises at least one of a DL-TDOA positioning method, UL-AOD positioning method, multi-Cell round trip time (Multi-Cell RTT) positioning method and E-CID positioning method.

5. The terminal positioning method according to claim 4, wherein the preset positioning method information comprises a downlink time difference of arrival (DL-TDOA) positioning method; the smart super-surface comprises a first smart super-surface and a second smart super-surface, the first smart super-surface and the second smart super-surface being at different orientations of the base station; the method further comprises the following steps:

the DL-RSTD information is determined by the terminal calculating times of arrival of a first Positioning Reference Signal (PRS) and a second Positioning Reference Signal (PRS); the first Positioning Reference Signal (PRS) is a PRS sent by the base station to the terminal through the first intelligent super surface; the second Positioning Reference Signal (PRS) is a PRS sent by the base station to the terminal through the second intelligent super surface;

6. The method of claim 5, further comprising, after resolving the location of the terminal based on the DL-RSTD information and the target azimuth information according to the DL-TDOA positioning method:

7. A terminal positioning device, comprising:

a first processing module, configured to determine target azimuth information based on a direction-of-arrival positioning estimation algorithm when a base station and a terminal are in a non-line-of-sight communication path and a communication link between the base station and the terminal is established, where the target azimuth information includes azimuth information of the base station and azimuth information of the terminal;

8. A terminal positioning device, comprising:

and the second positioning module is used for determining the position of the terminal based on the target azimuth information and a preset positioning method so as to complete the positioning of the terminal.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the terminal location method according to any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the terminal location method according to any one of claims 1 to 6.