CN100415044C - Method for realizing wireless terminal positioning in multiple sector cells - Google Patents
Method for realizing wireless terminal positioning in multiple sector cells Download PDFInfo
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- CN100415044C CN100415044C CNB2005100588688A CN200510058868A CN100415044C CN 100415044 C CN100415044 C CN 100415044C CN B2005100588688 A CNB2005100588688 A CN B2005100588688A CN 200510058868 A CN200510058868 A CN 200510058868A CN 100415044 C CN100415044 C CN 100415044C
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Abstract
The present invention discloses a radio terminal positioning method in a multi-sector area. The method comprises the following steps: a radio network controller RNC determines a area of UE; the RNC judges whether the area of the UE is a multi-sector area by area prestoring information, and if the area of the UE is not the multi-sector area, the UE is positioned in the area; if the area of the UE is the multi-sector area, the following step is carried out; a sector of the UE is determined, and the UE is positioned in the sector. The present invention measures adjacent areas of the area of the UE, obtained identifiers of the adjacent areas of the area of the UE are matched with identifiers of the adjacent areas of each sector of the area of the UE, and thereby, the sector of the UE is judged. The method reduces positioning ranges and enhances the positioning accuracy.
Description
Technical field
The present invention relates to wireless location technology, refer to a kind of method that in multi-sector cell, realizes based on the wireless terminal location of cell localization mode (CELL_ID) or enhancement type district location (CELL_ID+RTT) mode especially.
Background technology
Positioning service is important business in the radio honeycomb communication system, and main location technology has three kinds in the third generation wireless communication system (3G): agps system (A-GPS) location, observation arrive time difference (OTDOA) location and CELL_ID+RTT location.
The A-GPS location needs the built-in GPS receiver of wireless terminal (UE), cooperates with network and finishes the location, and positioning accuracy is the highest, and needs wireless terminal can face three satellites simultaneously; OTDOA location is by measuring the distance between wireless terminal and three base stations, adopt the method for hyperbolic fix to finish the location, needing mobile phone to support the OTDOA measurement; CELL_ID+RTT location is the Enhancement Method of CELL_ID location, and the sub-district by determining the wireless terminal place and the distance of antenna for base station are finished the location of wireless terminal.
The CELL_ID location identifies the UE position according to UE residing sub-district or base station node B in network.UE might be in the sub-district any position, so the CELL_ID positioning accuracy depends on the size of sub-district fully.In the most of zone except that dense city, the radius of society of cdma system is generally all more than 1km, particularly suburb and rural area even reach tens kilometers, this moment, the CELL_ID locating accuracy can not be better than 500m, and such precision can not satisfy most of user's requirement far away.Therefore on the basis of CELL_ID localization method, some improvement technology occurred, as the CELL_ID+RTT technology, promptly the distance of sub-district by determining the wireless terminal place and antenna for base station is finished the location to wireless terminal.Though this improvement technology can improve positioning accuracy to a certain extent, improve effect and not obvious.
The situation of the corresponding a plurality of sectors of a logic district in real network, usually occurs, see shown in Figure 1.According to the minimum principle in space, when positioning UE, the former sector that does not belong to this sub-district can be included in this sub-district, cause the sector enlarged areas, reduced locating accuracy.Situation such as Fig. 1, suppose the sector angle of the sector angle of sub-district 3 correspondences less than sub-district 2 correspondences, then with the sector A of sub-district 1, the sector of sector B and sub-district 3 is merged into a contiguous sector, shown in dash area among Fig. 1, and the zone that the contiguous sector after merging is regarded this sub-district correspondence as handled.
Fig. 2 is the flow chart of wireless terminal location method under the CELL_ID+RTT locate mode in the prior art multi-sector cell, suppose that core network (CN) is to the request of radio network controller (RNC) initiation positioning UE, in conjunction with Fig. 1, suppose that UE is in the sub-district 1, concrete steps comprise:
Step 200:RNC determines sub-district, UE place.
In this step, after the request of CN initiation positioning UE, RNC at first can select a kind of preferred orientation according to Location Request, and the application relates to the CELL_ID+RTT locate mode, so, suppose that here the locate mode that RNC selects is the CELL_ID+RTT locate mode.
Afterwards, the local state measurement information that whether has UE of RNC inquiry is not if there is RNC also to need this UE is initiated paging, finish the state transitions of UE, make UE from idle condition, as URA_PCH state or IDLE state transitions to state of activation, as Cell_DCH state or Cell_FACH state.After the UE completion status shifts, can report the transfer success message to RNC, this transfer success message comes from the residing sub-district of UE, so RNC can determine the residing sub-district of UE according to shifting success message; If there is the state measurement information of UE RNC this locality, then determine the residing sub-district of UE according to this state measurement information.
Step 201:RNC is by measuring the distance of determining between UE and the base station.
In this step, RNC sends the return journey time (RTT) to NodeB and measures request, and that RTT measures is the hourage T of wireless signal from NodeB to UE
Always, this T
AlwaysComprise the skyborne transmission time T of wireless signal
PassAnd UE is from receiving that wireless signal is to the processing time T the return wireless signal
The placeNodeB receives request, after finishing RTT and measuring, the RTT measurement result is reported RNC.
RNC sends the second class time difference of user equipment receiving transmission (Rx-Tx Type2) to UE and measures request, and what Rx-Tx Type2 measured is that UE is from receiving that wireless signal is to the processing time T the return wireless signal
The placeUE receives request, after finishing Rx-Tx Type2 and measuring, Rx-Tx Type2 measurement result is reported RNC.
RNC calculates the signal transmission time T of UE to RNC according to RTT measurement report and Rx-Tx Type2 measurement report
Pass, T
Pass=(T
Always-T
The place)/2.Here why be divided by two because hourage T
AlwaysIt is a round process.RNC according to the UE that calculates to the signal transmission time of RNC and the skyborne propagation velocity v of wireless signal that prestores, calculating UE to the NodeB antenna apart from d.This is apart from d=T
Pass* v.
In the present embodiment, determined that by the state measurement of step 200 sub-district, UE place is sub-district 1, determined then that by the range measurement of step 201 distance between UE and the NodeB antenna is d, the metrical information of these UE is stored in the database of RNC.Here need explanation a bit, when UE came back to idle condition, the resultant and UE metrical information that be stored in RNC of step 200 and step 201 will be deleted from the database of RNC automatically.
In this step, RNC carries out CELL_ID+RTT and handles according to the prestored information apart from d and sub-district 1 that calculates, and draws the final positioning result of UE, and RNC reports CN with the final positioning result of UE.
Wherein, CELL_ID+RTT handles and to comprise: according to calculate apart from d, be pre-stored in the coordinate of the NodeB among the RNC and the geometry of respective cell and determine the final positioning result of UE.Such as, when the sub-district that prestores was an omni cell, the positioning result that finally reports was that the coordinate with NodeB is the center, is a circle of radius apart from d, promptly the residing position of UE is on this circle; For another example, when the sub-district that prestores was a sector, the positioning result that finally reports was that the coordinate with NodeB is the center, is one section circular arc of radius apart from d, and promptly the residing position of UE is on this section circular arc, and the opening direction of circular arc is consistent with the sub-district direction that prestores.
In the present embodiment, sub-district, UE place 1 comprises sector A and sector B, according to the minimum principle in space, when positioning UE, can be with the sector A of sub-district 1, the sector of sector B and sub-district 3 is merged into a contiguous sector, shown in dash area among Fig. 1, and the zone that the contiguous sector after merging is regarded this sub-district correspondence as is handled.So the positioning result that obtains at last is: the residing position of UE is the center in the sector after this merging with NodeB, is on the circular arc of radius apart from d.
Above-mentioned is the method for wireless terminal location under the CELL_ID+RTT locate mode in the prior art multi-sector cell, from said method as can be seen, because not having specifically to distinguish UE is the sector A that is positioned at sub-district 1, still be positioned at the sector B of sub-district 1, feasible orientation range to UE enlarges, thereby has reduced positioning accuracy.
In addition, in the prior art multi-sector cell under the CELL_ID locate mode method of wireless terminal location be Fig. 2 flow process wherein a part, save step 201 wherein and get final product, last positioning result is exactly that UE is arranged in sub-district 1.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of method that realizes wireless terminal location in multi-sector cell, and this method can be dwindled orientation range, improves positioning accuracy.
For achieving the above object, technical scheme of the present invention specifically is achieved in that
A kind of method that in multi-sector cell, realizes wireless terminal UE location, this method may further comprise the steps:
A. radio network controller (RNC) is determined sub-district, UE place;
B. according to the described cell information that prestores, RNC judges whether this sub-district, UE place is multi-sector cell, if not then positioning UE is in this sub-district; If then enter step C;
C. according to metrical information, determine the adjacent area sign of UE; The adjacent area sign of the UE that the obtains adjacent area sign with each sector of the sub-district, UE place that prestores is complementary, if the adjacent area of certain sector sign is identical with the adjacent area sign of UE, then definite UE is in this sector, and positioning UE is in this sector.
In steps A, the method for sub-district, described definite UE place is: the local metrical information that whether has UE of RNC inquiry, if do not have, then RNC initiates paging to UE, and determines sub-district, UE place according to the transfer success message of paging; If have, then determine sub-district, UE place according to the metrical information that is stored in the UE of RNC.
Among the step C, before the described adjacent area sign of determining UE according to metrical information, this method also comprises: the local metrical information that whether has UE of RNC inquiry, if do not have, then RNC initiates paging to UE, and determines sub-district, UE place according to the transfer success message of paging; If have, then determine sub-district, UE place according to the metrical information that is stored in the UE of RNC.
Described metrical information comprises state measurement information and the distance measurement information that obtains after the paging;
Described RNC is after UE initiates paging in the local metrical information of not depositing UE of RNC inquiry, and this method also comprises: RNC initiates range measurement to determine the distance between this UE and the NodeB antenna to UE;
Among the step B, described positioning UE is after described sub-district, and this method also comprises: determine the position of UE in described sub-district according to this UE and the distance between the NodeB antenna that this UE place cell information that prestores and described range measurement obtain;
Among the step C, described positioning UE is after described sector, and this method also comprises: determine the position of UE in described sector according to this UE and the distance between the NodeB antenna that this sector auxiliary information that prestores and described range measurement obtain.
This UE place cell information that described basis prestores and the distance between this UE and the NodeB antenna determine that the method for the position of UE in described sub-district is:
According to the geometry of coordinate that is pre-stored in the base station among the RNC and sub-district, UE place, determine that the position of this wireless terminal is, with the base station coordinates center, gained UE is on the circle or one section circular arc of radius to the distance of NodeB antenna.
Distance between this sector auxiliary information that described basis prestores and this UE and the NodeB antenna determines that the method for the position of UE in described sector is:
According to the geometry of coordinate that is pre-stored in the NodeB among the RNC and sector, UE place, determine that the position of this wireless terminal is: be the center with the base station coordinates, gained UE is on one section circular arc of radius to the distance of NodeB antenna.
Described range measurement comprises: return journey time RTT measures and Rx-Tx Type2 measures;
The method of the distance between described definite UE and the NodeB antenna is: calculate in the RTT measurement report poor to processing time of wireless signal of UE in skyborne transmission time of wireless signal and Rx-Tx Type2 measurement report, gained difference and two merchant, long-pending with gained quotient and the skyborne propagation velocity of wireless signal that prestores as the distance of UE to the NodeB antenna.
As seen from the above technical solution, this method that in multi-sector cell, realizes wireless terminal location of the present invention, by measurement to the adjacent area of sub-district, UE place, the adjacent area sign of this sub-district, UE place of obtaining is mated with the adjacent area sign of each sector, sub-district, UE place that is pre-stored in network side, judge the residing sector of UE, and then position according to sector parameters.This method has been dwindled orientation range, has improved positioning accuracy.
Description of drawings
Fig. 1 is the network diagram of corresponding a plurality of sectors, a sub-district;
Fig. 2 is the flow chart of wireless terminal location method under the CELL_ID+RTT locate mode in the prior art multi-sector cell;
Fig. 3 is the network diagram of one embodiment of the invention;
Fig. 4 is the flow chart of wireless terminal location method under the CELL_ID+RTT locate mode in the multi-sector cell of the present invention;
Fig. 5 is the flow chart of wireless terminal location method under the CELL_ID locate mode in the multi-sector cell of the present invention.
Embodiment
Core concept of the present invention is: RNC is according to the nearby region measurement report of sub-district, UE place, the adjacent area sign in the nearby region measurement report and the adjacent area sign of each sector, sub-district, UE place that is pre-stored in network side are mated, judge the residing sector of UE, and then position according to this sector parameters, dwindle orientation range, improved positioning accuracy.
For making purpose of the present invention, technical scheme and advantage clearer, below with reference to the accompanying drawing preferred embodiment that develops simultaneously, the present invention is described in more detail.
Fig. 3 is the network diagram of one embodiment of the invention, and in the network shown in Figure 3, a logic district 1 comprises sector A and two sectors of sector B in base station 1; An omni cell 5 is arranged in base station 2, and sub-district 5 is adjacent areas of the sector A of sub-district 1; An omni cell 6 is equally also arranged in base station 3, and sub-district 6 is adjacent areas of the sector B of sub-district 1.Whether the relation information between these sub-districts and the sub-district, and the information parameter of each sub-district are that the sign etc. of multi-sector cell, sub-district all just deposits in the network side data storehouse when networking as the sub-district.Below in conjunction with Fig. 3, respectively to based on the CELL_ID locate mode with based under the CELL_ID+RTT locate mode, the method for wireless terminal location is described in detail in the multi-sector cell.
Embodiment one: under the CELL_ID+RTT locate mode, and wireless terminal location method in the multi-sector cell.
Fig. 4 is the flow chart of wireless terminal location method under the CELL_ID+RTT locate mode in the multi-sector cell of the present invention, suppose that CN initiates the positioning UE request to RNC, in conjunction with network configuration shown in Figure 3, suppose that UE is arranged in the sector A of sub-district 1, the concrete job step of the present invention is as follows:
Step 400: determine the distance between sub-district, UE place and UE and the NodeB.
This step is in full accord with prior art step 200～step 201, no longer repeats here.By measuring, can draw UE in the present embodiment and be positioned at sub-district 1, and hypothesis to draw UE be d to the distance of NodeB antenna.
Step 401: judge whether sub-district, UE place is many sectors, if then enter step 402; Otherwise, enter step 407.
This step is according to the cell information that is pre-stored in RNC, and whether sub-district, resulting UE place 1 is multi-sector cell in the determining step 400.The result who judges in the present embodiment is that sub-district 1 is a multi-sector cell.
In this step, because might be before entering step 404, UE have just entered idle condition again, so in steps 402 and step 403.
RNC initiates paging to this UE, finishes the state transitions of UE, makes UE from idle condition, as URA_PCH state or IDLE state transitions to state of activation, as Cell_DCH state or Cell_FACH state.After the UE completion status shifts, can report the transfer success message to RNC, this transfer success message comes from the residing sub-district of UE, so RNC can determine the residing sub-district of UE according to shifting success message;
Afterwards, RNC sends RTT to NodeB and measures request, sends Rx-Tx Type2 to UE and measures request, and calculate the signal transmission time T of UE to RNC according to RTT measurement report and Rx-Tx Type2 measurement report
Pass
At last, according to the T that calculates
PassWith the skyborne propagation velocity v of the wireless signal that prestores, calculate UE to the NodeB antenna apart from d.This is apart from d=T
Pass* v.
Paging in this step and method of measurement and process and prior art are in full accord.
Step 404～step 405: inquiry UE metrical information, obtain the adjacent area sign, and the adjacent area sign that obtains is mated with the adjacent area sign of each sector of the sub-district, UE place that prestores, determine the sector at UE place at last according to matching result.
In this step, the adjacent area that can get UE from metrical information is sub-district 5, RNC extracts sub-district 5 from metrical information sign is marking matched with the adjacent area of each sector of the sub-district, UE place 1 that prestores, from the adjacent area of the sector A of Fig. 3 visible cells 1 is sub-district 5, can draw by coupling, the sign of the sub-district 5 in the adjacent area of sector A sign and the measurement report is identical, so draw the sector A that UE is positioned at sub-district 1.
Step 406: the information of obtaining sector, UE place.
In this step, RNC accesses the parameter of the sub-district 1 sector A that prestores from database, such as the geometry of this sector, and the opening direction of sector etc.
Step 407: the information of obtaining sub-district, UE place.
In this step, RNC accesses the parameter of the sub-district 1 that prestores from database, and such as the geometry of sub-district 1, sub-district 1 is omnidirectional or fan-shaped, if fan-shaped, fan-shaped opening direction etc.
Step 408:RNC determines the UE positioning result and reports.
In this step, RNC positions according to the coordinate of the NodeB that prestores and the parameter of sub-district, UE place or sector: if the sub-district is single sector, then last positioning result is on the circle or circular arc of radius with distance d for being the center with NodeB; If the sub-district is many sectors, then last positioning result is for being the center with NodeB, is on one section circular arc of certain sector of sub-district of radius with distance d.
In the present embodiment, the last positioning result of UE is, it is the center that UE is positioned at NodeB, is on one section circular arc among the sector A of sub-district 1 of radius apart from d.
From method of the present invention, be not difficult to find out that under the CELL_ID+RTT locate mode, UE is positioned under the situation of multi-sector cell, the positioning result that obtains at last is narrower than the orientation range of existing method, has improved the positioning accuracy to UE.
Embodiment two: under the CELL_ID locate mode, and wireless terminal location method in the multi-sector cell.
Fig. 5 is the flow chart of wireless terminal location method under the CELL_ID5 locate mode in the multi-sector cell of the present invention, suppose that CN initiates the positioning UE request to RNC, in conjunction with network configuration shown in Figure 3, suppose that UE is arranged in the sector A of sub-district 1, the concrete job step of the present invention is as follows:
Step 500: determine sub-district, UE place.
This step is in full accord with prior art step 200, no longer repeats here.Can draw UE in the present embodiment and be positioned at sub-district 1.
Step 501: judge whether sub-district, UE place is many sectors, if then enter step 502; Otherwise, enter step 507.
This step is according to the cell information that is pre-stored in RNC, and whether sub-district, resulting UE place 1 is multi-sector cell in the determining step 500.The result who judges in the present embodiment is that sub-district 1 is a multi-sector cell.
Step 502～step 503: judge whether RNC has the measurement report information of UE, if do not have, RNC initiates to enter step 504 after the paging to UE; If have, then enter step 504.
In this step, because might be before entering step 504, UE have just entered idle condition again, so in steps 502 and step 503.The paging method in this step and the process of process and step 200 are in full accord, no longer repeat.
Step 504～step 505: inquiry UE measurement report, obtain the adjacent area sign, and the adjacent area sign that obtains is mated with the adjacent area sign of each sector of the sub-district, UE place that prestores, determine the sector at UE place at last according to matching result.
In this step, the adjacent area that can get UE from measurement report is sub-district 5, RNC extracts sub-district 5 from measurement report sign is marking matched with the adjacent area of each sector of the sub-district, UE place 1 that prestores, from the adjacent area of the sector A of Fig. 3 visible cells 1 is sub-district 5, can draw by coupling, the sign of the sub-district 5 in the adjacent area of sector A sign and the measurement report is identical, so draw the sector A that UE is positioned at sub-district 1.
Step 506: the information of obtaining sector, UE place.
In this step, RNC accesses the parameter of the sub-district 1 sector A that prestores from database, such as the geometry of this sector, and the opening direction of sector etc.
Step 507: the information of obtaining sub-district, UE place.
In this step, RNC accesses the parameter of the sub-district 1 that prestores from database, and such as the geometry of sub-district 1, sub-district 1 is omnidirectional or fan-shaped, if fan-shaped, fan-shaped opening direction etc.
Step 508:RNC determines the UE positioning result and reports.
In this step, RNC positions according to the coordinate of the NodeB that prestores and the parameter of sub-district, UE place or sector: if the sub-district is single sector, then last positioning result is that UE is positioned at this sub-district; If the sub-district is many sectors, then last positioning result is certain sector that UE is positioned at this sub-district.
In the present embodiment, the last positioning result of UE is that UE is arranged in the sector A of sub-district 1.
From method of the present invention, be not difficult to find out that under the CELL_ID locate mode, UE is positioned under the situation of multi-sector cell, the positioning result that obtains at last is narrower than the orientation range of existing method, has improved the positioning accuracy to UE.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (8)
1. in multi-sector cell, realize the method that wireless terminal UE locatees for one kind, it is characterized in that this method may further comprise the steps:
A. radio network controller (RNC) is determined sub-district, UE place;
B. according to the described cell information that prestores, RNC judges whether this sub-district, UE place is multi-sector cell, if not then positioning UE is in this sub-district; If then enter step C;
C. according to metrical information, determine the adjacent area sign of UE; The adjacent area sign of the UE that the obtains adjacent area sign with each sector of the sub-district, UE place that prestores is complementary, if the adjacent area of certain sector sign is identical with the adjacent area sign of UE, then definite UE is in this sector, and positioning UE is in this sector.
2. method according to claim 1 is characterized in that, in steps A, the method of sub-district, described definite UE place is: the local metrical information that whether has UE of RNC inquiry, if do not have, then RNC initiates paging to UE, and determines sub-district, UE place according to the transfer success message of paging; If have, then determine sub-district, UE place according to the metrical information that is stored in the UE of RNC.
3. method according to claim 1, it is characterized in that, among the step C, before the described adjacent area sign of determining UE according to metrical information, this method also comprises: the local metrical information that whether has UE of RNC inquiry, if do not have, then RNC initiates paging to UE, and determines sub-district, UE place according to the transfer success message of paging; If have, then determine sub-district, UE place according to the metrical information that is stored in the UE of RNC.
4. according to claim 2 or 3 described methods, it is characterized in that described metrical information comprises the state measurement information that obtains after the paging.
5. according to claim 2 or 3 described methods, it is characterized in that described metrical information comprises state measurement information and the distance measurement information that obtains after the paging;
Described RNC is after UE initiates paging in the local metrical information of not depositing UE of RNC inquiry, and this method also comprises: RNC initiates range measurement to determine the distance between this UE and the NodeB antenna to UE;
Among the step B, described positioning UE is after described sub-district, and this method also comprises: determine the position of UE in described sub-district according to this UE and the distance between the NodeB antenna that this UE place cell information that prestores and described range measurement obtain;
Among the step C, described positioning UE is after described sector, and this method also comprises: determine the position of UE in described sector according to this UE and the distance between the NodeB antenna that this sector auxiliary information that prestores and described range measurement obtain.
6. method according to claim 5 is characterized in that, this UE place cell information that described basis prestores and the distance between this UE and the NodeB antenna determine that the method for the position of UE in described sub-district is:
According to the geometry of coordinate that is pre-stored in the base station among the RNC and sub-district, UE place, determine that the position of this wireless terminal is, with the base station coordinates center, gained UE is on the circle or one section circular arc of radius to the distance of NodeB antenna.
7. method according to claim 5 is characterized in that, the distance between this sector auxiliary information that described basis prestores and this UE and the NodeB antenna determines that the method for the position of UE in described sector is:
According to the geometry of coordinate that is pre-stored in the NodeB among the RNC and sector, UE place, determine that the position of this wireless terminal is: be the center with the base station coordinates, gained UE is on one section circular arc of radius to the distance of NodeB antenna.
8. method according to claim 5 is characterized in that, described range measurement comprises: return journey time RTT measures and Rx-Tx Type2 measures;
The method of the distance between described definite UE and the NodeB antenna is: calculate in the RTT measurement report poor to processing time of wireless signal of UE in skyborne transmission time of wireless signal and Rx-Tx Type2 measurement report, gained difference and two merchant, long-pending with gained quotient and the skyborne propagation velocity of wireless signal that prestores as the distance of UE to the NodeB antenna.
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| CN101370226B (en) * | 2007-08-17 | 2012-08-08 | 华为技术有限公司 | Method and customer equipment for measuring and reading control signal channel |
| CN101600149B (en) * | 2009-06-01 | 2012-05-09 | 中兴通讯股份有限公司 | Obtaining and locating method, locating service device and system of subdistrict position |
| CN102026210B (en) * | 2009-09-21 | 2013-06-05 | 鼎桥通信技术有限公司 | Radio resource management methods for cell portion |
| CN102104955A (en) * | 2009-12-18 | 2011-06-22 | 中兴通讯股份有限公司 | Method for positioning terminal and used radio network controller |
| CN102547754B (en) * | 2010-12-28 | 2015-07-22 | 中兴通讯股份有限公司 | Synthetic method of power distribution sectors in wireless network and base station |
| CN105101089B (en) * | 2015-07-31 | 2020-01-10 | 腾讯科技（深圳）有限公司 | Method, related device and system for realizing positioning |
| CN112269159A (en) * | 2020-11-26 | 2021-01-26 | Oppo（重庆）智能科技有限公司 | Indoor positioning method and device, server and readable storage medium |
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