CN101754362A - DOA estimation method in dual-polarized smart antenna system - Google Patents
DOA estimation method in dual-polarized smart antenna system Download PDFInfo
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Abstract
The invention discloses a DOA estimation method in a dual-polarized smart antenna system, which comprises that channel estimation is respectively carried out to antennas in two polarized directions to obtain spatial correlation matrixes in the corresponding polarized directions, and the receiving power of all the arrival angle directions is determined through the EBB or the GOB algorithm corresponding to each polarized direction; the corresponding maximum wave beam gain of the polarized direction is determined according to the spatial correlation matrix of the polarized direction and the receiving power of all the arrival angle directions corresponding to each polarized direction; and the maximum wave beam gain corresponding to the two polarized directions is combined, and the DOA information of a user is determined. The method can obtain more accurate DOA information.
Description
Technical field
The present invention relates to the DOA estimation technique, the DOA method of estimation in particularly a kind of dual-polarized smart antenna system.
Background technology
Smart antenna is the key technology of TD-SCDMA system.In antenna system, estimate to determine the position at the current place of user by DOA.
Carrying out the DOA estimation approach at present has two kinds, is based on the algorithm of EBB respectively and based on the algorithm of GOB.In these two kinds of algorithms, channel estimating is at first carried out in the base station, utilize channel estimation results computer memory correlation matrix then, utilize spatial correlation matrix to calculate received power on all angle of arrival directions again, select the DOA estimated result of maximum as the user from the received power that calculates.Wherein, only be, calculate the mode difference that arrives received power on the angular direction based on the EBB algorithm with based on the difference of GOB algorithm.
In the single-polarized antenna system, the base station end has one group of antenna that polarised direction is identical, needs to maintain a certain distance between each antenna, and wherein, group internal antenna number is many more, and system gain is big more.But along with further developing of TD-SCDMA system, reach certain system gain, utilize the smart antenna of single polarization to make that the area of antenna for base station is bigger, inconvenience is installed, wind area is big, has potential safety hazard, dual-polarization intelligent antenna therefore occurred.In dual-polarized smart antenna system, the base station end has the antenna of two kinds of polarised directions, wherein, still need maintain a certain distance between the identical antenna of polarised direction, and still, the distance between the different antenna of polarised direction can be very near, as shown in Figure 1.Like this, reach identical system gain, the area of antenna will be significantly smaller than the area of antenna in the single-polarized antenna system in the dual-polarized smart antenna system.
But the DOA that exists at present estimation all is the DOA under the single polarization smart antenna to be estimated, DOA algorithm for estimating under the dual-polarization intelligent antenna does not also have, if dual-polarization intelligent antenna continues to utilize original algorithm, on the one hand, estimate owing to only utilized the information of a polarised direction to carry out DOA, must cause causing the decline of estimated accuracy owing to the information of having wasted another polarised direction; The dual-polarized characteristic of electromagnetic wave fails to be fully utilized on the other hand, so that obtain customer position information more accurately.
Summary of the invention
In view of this, the invention provides the DOA method of estimation in a kind of dual-polarized smart antenna system, the information that can make full use of dual-polarization intelligent antenna is carried out DOA estimation accurately.
For achieving the above object, the present invention adopts following technical scheme:
DOA method of estimation in a kind of dual-polarized smart antenna system comprises:
Antenna to two polarised directions carries out the spatial correlation matrix that channel estimating obtains corresponding polarised direction respectively, and corresponding each polarised direction, utilizes EBB or GOB algorithm to determine the received power of each angle of arrival direction;
Corresponding each polarised direction is determined the maximum beam gain of this polarised direction correspondence according to the received power of the spatial correlation matrix of this polarised direction and described each angle of arrival direction;
Maximum beam gain to two polarised direction correspondences merges processing, determines user's DOA information.
Preferably, describedly determine that according to the spatial correlation matrix of this polarised direction and the received power of described each angle of arrival direction the maximum beam gain of this polarised direction correspondence comprises:
In the received power of described each angle of arrival direction of this polarised direction, determine maximal received power, and described maximal received power is carried out normalized according to the spatial correlation matrix of this polarised direction, obtain the beam gain on this polarised direction, with its maximum beam gain as described this polarised direction correspondence.
Preferably, describedly determine that according to the spatial correlation matrix of this polarised direction and the received power of described each angle of arrival direction the maximum beam gain of this polarised direction correspondence comprises:
In the received power of described each angle of arrival direction of this polarised direction, determine maximal received power, and described maximal received power is carried out normalized, obtain the beam gain on this polarised direction according to the spatial correlation matrix of this polarised direction;
It is average that beam gain on described this polarised direction is carried out recurrence, with the maximum beam gain of recurrence average result as described this polarised direction correspondence.
Preferably, describedly determine that according to the spatial correlation matrix of this polarised direction and the received power of described each angle of arrival direction the maximum beam gain of this polarised direction correspondence comprises:
Spatial correlation matrix according to this polarised direction carries out normalized respectively to the received power of described each angle of arrival direction of this polarised direction, obtains the beam gain of each angle of arrival direction of this polarised direction;
The beam gain of each angle of arrival direction of this polarised direction is carried out recurrence respectively on average obtain average beam gain, and from all average beam gain, select the maximum beam gain of maximum as described this polarised direction correspondence.
Preferably, the mode of described normalized is:
Wherein, χ
lBe the beam gain that calculates, σ
l 2Be the received power of angle of arrival direction l, K
aBe the spatial correlation matrix line number of this polarised direction, r
Xx, k, kDiagonal entry for the spatial correlation matrix of this polarised direction.
Preferably, the described average mode of recurrence of carrying out is:
Wherein, χ
l(n) beam gain that calculates for present frame,
Be the beam gain recurrence average result of former frame,
Be the beam gain recurrence average result of present frame, p is the forgetting factor of determining according to the translational speed of terminal.
Preferably, the mode that merges processing is: high specific merges, five equilibrium merges or selectivity merges.
Preferably, when the ratio of the maximum beam gain of two polarised direction correspondences during less than predetermined threshold value, the high specific of then sampling merges or five equilibrium merges and carries out described merging and handle; When the ratio of the maximum beam gain of two polarised direction correspondences during more than or equal to predetermined threshold value, then merge mode by selectivity, select higher value in the maximum beam gain of two polarised direction correspondences as user's DOA information.
Preferably, when the sampling high specific merges, determine the maximal received power of two polarised directions in the present frame, and, the maximum beam gain of two polarised directions is carried out high specific merge according to the ratio of maximal received power.
As seen from the above technical solution, among the present invention, at first the antenna of two polarised directions is carried out the spatial correlation matrix that channel estimating obtains corresponding polarised direction respectively according to current frame signal, and corresponding each polarised direction, utilize EBB or GOB algorithm to determine the received power of each angle of arrival direction; Then, corresponding each polarised direction is determined the maximum beam gain of this polarised direction correspondence according to the received power of the spatial correlation matrix of this polarised direction and described each angle of arrival direction; At last, the maximum beam gain of two polarised direction correspondences is merged processing, determine user's DOA information.By the way, make full use of the information of two polarised directions, thereby obtain DOA information more accurately.
Description of drawings
Fig. 1 is the schematic diagram of dual-polarized smart antenna system.
Fig. 2 is that the signal under the different polarised directions is propagated schematic diagram.
Fig. 3 is the DOA method of estimation overview flow chart in the dual-polarized smart antenna system among the present invention.
Fig. 4 is the DOA method of estimation overview flow chart in the dual-polarized smart antenna system in the embodiment of the invention one.
Fig. 5 is the DOA method of estimation overview flow chart in the dual-polarized smart antenna system in the embodiment of the invention two.
Embodiment
For making purpose of the present invention, technological means and advantage clearer, the present invention is described in further details below in conjunction with accompanying drawing.
On the one hand, proved between the different polarized waves (for example perpendicular polarization and horizontal polarization) to exist polarization isolation, be exactly that the horizontal line poliarizing antenna receives horizontal polarized wave particularly, and do not receive the vertical line polarized wave; Otherwise vertical polarized antenna receives vertically polarized wave, and does not receive horizontal polarized wave, and this is because the polarised direction of antenna is mutually orthogonal with reception polarization of electromagnetic wave direction.
On the other hand, is incoherent according to document from horizontal polarization path between the terminal to base station and perpendicular polarization path, through after the random reflected repeatedly, the signal on the different polarised directions differential seat angle of polarised direction (can't whether be 90 degree) just became separate during wireless signal transmitted.Signal is through after the repeatedly reflection and scattering of environment, obtains having the multipath signal of different amplitudes, time delay and the angle of arrival at receiving terminal, as shown in Figure 2.
As seen from Figure 2, because the characteristic of electromagnetic transmission, the electric wave of different polarised directions there are differences through the multipath distribution character behind the identical space channel, the AOA or the DOA in their main footpaths are different, if we estimate respectively the main footpath DOA of opposed polarity, then the DOA estimated result that obtains is carried out suitable merging processing and then can access more accurate customer position information, therefore basic thought of the present invention is: determine the DOA information of two polarised directions respectively, determine final DOA information by merging to handle again.
Fig. 3 is the DOA method of estimation overview flow chart in the dual-polarized smart antenna system among the present invention.As shown in Figure 3, this method comprises:
So far, DOA method of estimation flow process of the present invention finishes.In the said method flow process, it is multiple that step 302 determines that the mode of maximum beam gain can have, and the mode that merges processing in the step 303 also can have multiple, below by the specific embodiment specific implementation of the present invention that is elaborated.
Embodiment one:
In the present embodiment, be that example describes with the EBB algorithm.
Fig. 4 is the DOA method of estimation particular flow sheet of dual-polarized smart antenna system in the embodiment of the invention one.As shown in Figure 4, this method comprises:
In this step, the method for specifically carrying out channel estimating can adopt existing various estimation mode, just repeats no more here.
The mode of determining spatial correlation matrix is identical with existing mode, i.e. R
Xx=HH
HCorresponding each polarised direction of this step is calculated spatial correlation matrix R separately respectively
Xx1 and R
Xx2.
Specifically utilize the EBB algorithm to determine that the mode of best figuration weight vectors is identical with existing mode, just repeat no more here.Corresponding each polarised direction of this step is calculated separately best figuration weight vectors W1 and W2 respectively.
In the DOA of single-polarized antenna estimated, the base station end can be preset a plurality of angle of arrival directions, and corresponding each angle of arrival direction is preserved a maximum weighted vector.Among the present invention, still adopt with single-polarized antenna DOA and estimate identical mode, default a plurality of angle of arrival direction l, and corresponding each angle of arrival direction is preserved a maximum weighted vector s
l, be referred to as the antenna adjustments vector.In this step, determine that the mode of each angle of arrival direction received power is identical with existing EBB algorithm, promptly utilize formula (1) that the antenna adjustments vector of all angle of arrival correspondences is traveled through, determine the directive gain (being received power) of all angle of arrival directions:
Wherein, σ
l 2Be the received power of angle of arrival direction l, W is the best figuration weight vectors of the corresponding polarised direction determined in the step 303.
In this step, the processing of two polarised directions is identical, is that example describes with one of them polarised direction.Particularly, corresponding arbitrary polarised direction A selects maximal received power σ in the received power of each angle of arrival direction that this polarised direction is determined
L 2, utilize formula (2) to this maximal received power σ
L 2Carry out normalized, thereby determine the beam gain of corresponding angle of arrival direction:
Wherein, χ
LBe the beam gain that calculates, σ
L 2Be maximal received power, K
aBe the spatial correlation matrix line number of polarised direction A, r
Xx, k, kDiagonal entry for the spatial correlation matrix of polarised direction A.
Simply, the beam gain that aforementioned calculation can be obtained is as the maximum beam gain of polarised direction A, in like manner, can obtain the maximum beam gain of two polarised directions, directly enter step 307 then and carry out the merging processing of the maximum beam gain of two polarised directions, determine final DOA estimated result.
Perhaps, estimate for fear of the mistake that the deterioration of channel circumstance causes, can be after this step, it is average further to carry out recurrence by the step 406 pair beam gain that obtains above, to obtain comparatively stable and accurate beam gain, beam gain after utilizing recurrence average is then carried out the merging processing of maximum beam gain again as the maximum beam gain of corresponding polarised direction by step 407.
In this step, the average mode of concrete recurrence can for:
Wherein, χ
L(n) be the beam gain of the present frame that obtains in the step 405,
Be the beam gain recurrence average result of former frame,
Be the beam gain recurrence average result of present frame, p is the forgetting factor of determining according to the translational speed of terminal.In the specific implementation process, can carry out a DOA estimation by every N frame, promptly utilize the beam gain χ of the 0th frame to the (N-1) frame
L(0) to χ
L(N-1) carry out recursive operation according to formula (3), obtain
Identical to the recursive operation principle on two polarised directions, general recursive operation result separately is as the maximum beam gain on the corresponding polarised direction then.
Step 407 merges processing to the maximum beam gain under the different polarised directions, determines final DOA information.
In this step, the mode that merges processing can adopt existing any merging processing mode.Among the present invention with wherein three kinds be example explanation, be respectively: high specific merges, five equilibrium merges or selectivity merges.Wherein, different merging processing mode implementation complexity differences, application scenarios is difference to some extent also.
Preferably, when the maximum beam gain under two polarised directions differs big, can adopt selectivity to merge mode, choose higher value in the maximum beam gain of two polarised directions as final DOA information.Maximum beam gain under two polarised directions differs hour, can adopt the mode that high specific merges or five equilibrium merges.Wherein, when high specific merged, according to the maximal received power ratio of two polarised directions, the high specific that carries out maximum beam gain merged.
During specific implementation, can preset a threshold value, when the ratio of the maximum beam gain under two polarised directions during less than predetermined threshold value, the high specific of then sampling merges or five equilibrium merges processing; When the ratio of the maximum beam gain of two polarised direction correspondences during, then adopt selectivity merging mode to merge processing more than or equal to predetermined threshold value.
In above-mentioned three kinds of merging modes, the realization that selectivity merges is the simplest, only needs to select the higher value in the two to get final product, and only need compare operation.But this merging mode has only been utilized the information of a polarised direction after all, so has been applicable to that relatively the maximum beam gain of two polarised directions differs bigger situation, for example, and ten thousand/relation doubly etc.The high specific merging merges with five equilibrium to be compared, and high specific merges realizes comparatively complexity, but can obtain DOA information more accurately, therefore, can be on the basis of the required precision of taking all factors into consideration DOA and hardware handles ability, the selection suitable manner merges processing.
Through promptly obtaining final DOA information after the above-mentioned merging processing.So far, the DOA method of estimation flow process in the present embodiment finishes.
Embodiment two:
In the present embodiment, be that example describes with the GOB algorithm.
Fig. 5 is the DOA method of estimation particular flow sheet of dual-polarized smart antenna system in the embodiment of the invention two.As shown in Figure 5, this method comprises:
Step 501～502 to two polarised directions, are carried out channel matrix H 1 and H2 that channel estimating obtains corresponding polarised direction respectively, utilize the channel matrix of two polarised directions to determine the spatial correlation matrix of corresponding polarised direction again.
The specific implementation of step 501～502 is identical with the processing of step 401～402 among the embodiment one, just repeats no more here.
With similar among the embodiment one, the base station end of present embodiment is preset a plurality of angle of arrival direction l, and corresponding each angle of arrival direction is preserved a maximum weighted vector s
l, i.e. antenna adjustments vector.Utilize the GOB algorithm to determine the received power of each angle of arrival direction, concrete mode is identical with existing mode, i.e. basis
Determine the directive gain (being received power) of each angle of arrival direction.
In this step, the processing of two polarised directions is identical, is that example describes with one of them polarised direction.Particularly, corresponding arbitrary polarised direction A utilizes formula (4) that the received power of each angle of arrival direction of this polarised direction is carried out normalized, thereby determines the beam gain of each angle of arrival direction:
Wherein, χ
lBe the beam gain of angle of arrival direction l, σ
l 2Be the received power of angle of arrival direction l, K
aBe the spatial correlation matrix line number of polarised direction A, r
Xx, k, kDiagonal entry for the spatial correlation matrix of polarised direction A.
In this step, the average mode of concrete recurrence can for:
Wherein, χ
l(n) be the beam gain of angle of arrival direction l in the present frame that obtains in the step 504,
Be the beam gain recurrence average result of angle of arrival direction l in the former frame,
Be the beam gain recurrence average result of angle of arrival direction l in the present frame, p is the forgetting factor of determining according to the translational speed of terminal.Similar among specific implementation and the embodiment one, difference only is, corresponding each polarised direction in this step, and needs calculate the recurrence average result of each angle of arrival direction.Like this, promptly obtain the recurrence average result of the beam gain of each angle of arrival direction in two polarised directions, be called the average beam gain of angle of arrival direction.
Next, corresponding each polarised direction is selected the maximum beam gain of the maximum of average beam gain as this polarised direction.
Step 506 merges processing to the maximum beam gain under the different polarised directions, determines final DOA information.
The specific implementation of this step is identical with the specific implementation of step 407 among the embodiment one, just repeats no more here.
So far, the DOA method of estimation flow process in the present embodiment finishes.
In above-mentioned two embodiment, determine that the mode of maximum beam gain of two polarised directions is different.Wherein, among the embodiment one, be the maximal received power of at first determining all angle of arrival directions, then the beam gain of the angle of arrival direction of this maximal received power correspondence carried out recurrence and on average determine average beam gain, and should average beam gain as maximum beam gain; And among the embodiment two, then be beam gain and the average beam gain of at first determining each angle of arrival direction according to the received power of each angle of arrival direction, the maximum of selecting average beam gain is as maximum beam gain.
Determine mode for these two kinds different maximum beam gain, corresponding each polarised direction, only need be among the embodiment one at an angle of arrival direction calculating beam gain and average beam gain, then need be among the embodiment two at all angle of arrival direction calculating beam gain and average beam gain, therefore, mode among the embodiment one realizes simply, but the selection of maximum beam gain do not have among the embodiment two accurately.In the practical application, can select suitable manner to handle according to the required precision of hardware handles ability and DOA information.
In addition, embodiment one is that example is carried out with the EBB algorithm, and embodiment two is that example is carried out with the GOB algorithm.In fact, embodiment one also can adopt the GOB algorithm to carry out, and embodiment two also can adopt the EBB algorithm to carry out.
According to the DOA method of estimation of the invention described above, carried out field testing, test result is as shown in table 1.Wherein, the result of mean value for obtaining according to DOA method of estimation of the present invention, the GPS orientation angle is customer position information accurately.By this test result as seen, under the situation that line of sight exists, adopt trueness error that the DOA of this algorithm estimates less than 2%; In addition, when many UE existed simultaneously, the precision that DOA estimates did not descend.
| Single UE line of sight | 3UE line of sight/dispersion | |
| Mean value | ??88.57 | ??89.45 |
| The GPS orientation angle | ??87 | ??89 |
| Error (%) | ??1.89 | ??0.5 |
Table 1
As seen by above-mentioned, DOA estimation mode of the present invention has made full use of the difference of polarization of ele propagation characteristic, and the estimated accuracy of customer position information is improved.
Being preferred embodiment of the present invention only below, is not to be used to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the DOA method of estimation in the dual-polarized smart antenna system is characterized in that this method comprises:
Antenna to two polarised directions carries out the spatial correlation matrix that channel estimating obtains corresponding polarised direction respectively, and corresponding each polarised direction, utilizes EBB or GOB algorithm to determine the received power of each angle of arrival direction;
Corresponding each polarised direction is determined the maximum beam gain of this polarised direction correspondence according to the received power of the spatial correlation matrix of this polarised direction and described each angle of arrival direction;
Maximum beam gain to two polarised direction correspondences merges processing, determines user's DOA information.
2. method according to claim 1 is characterized in that, describedly determines that according to the spatial correlation matrix of this polarised direction and the received power of described each angle of arrival direction the maximum beam gain of this polarised direction correspondence comprises:
In the received power of described each angle of arrival direction of this polarised direction, determine maximal received power, and described maximal received power is carried out normalized according to the spatial correlation matrix of this polarised direction, obtain the beam gain on this polarised direction, with its maximum beam gain as described this polarised direction correspondence.
3. method according to claim 1 is characterized in that, describedly determines that according to the spatial correlation matrix of this polarised direction and the received power of described each angle of arrival direction the maximum beam gain of this polarised direction correspondence comprises:
In the received power of described each angle of arrival direction of this polarised direction, determine maximal received power, and described maximal received power is carried out normalized, obtain the beam gain on this polarised direction according to the spatial correlation matrix of this polarised direction;
It is average that beam gain on described this polarised direction is carried out recurrence, with the maximum beam gain of recurrence average result as described this polarised direction correspondence.
4. method according to claim 1 is characterized in that, describedly determines that according to the spatial correlation matrix of this polarised direction and the received power of described each angle of arrival direction the maximum beam gain of this polarised direction correspondence comprises:
Spatial correlation matrix according to this polarised direction carries out normalized respectively to the received power of described each angle of arrival direction of this polarised direction, obtains the beam gain of each angle of arrival direction of this polarised direction;
The beam gain of each angle of arrival direction of this polarised direction is carried out recurrence respectively on average obtain average beam gain, and from all average beam gain, select the maximum beam gain of maximum as described this polarised direction correspondence.
5. according to arbitrary described method in the claim 2 to 4, it is characterized in that the mode of described normalized is:
Wherein, χ
lBe the beam gain that calculates, σ
l 2Be the received power of angle of arrival direction l, K
aBe the spatial correlation matrix line number of this polarised direction, r
Xx, k, kDiagonal entry for the spatial correlation matrix of this polarised direction.
6. according to claim 3 or 4 described methods, it is characterized in that the described average mode of recurrence of carrying out is:
Wherein, χ
l(n) beam gain that calculates for present frame,
Be the beam gain recurrence average result of former frame,
Be the beam gain recurrence average result of present frame, p is the forgetting factor of determining according to the translational speed of terminal.
7. according to arbitrary described method in the claim 1 to 4, it is characterized in that the mode that merges processing is: high specific merges, five equilibrium merges or selectivity merges.
8. method according to claim 7 is characterized in that, when the ratio of the maximum beam gain of two polarised direction correspondences during less than predetermined threshold value, the high specific of then sampling merges or five equilibrium merges and carries out described merging and handle; When the ratio of the maximum beam gain of two polarised direction correspondences during more than or equal to predetermined threshold value, then merge mode by selectivity, select higher value in the maximum beam gain of two polarised direction correspondences as user's DOA information.
9. method according to claim 7, it is characterized in that, when the sampling high specific merges, determine the maximal received power of two polarised directions in the present frame, and, the maximum beam gain of two polarised directions is carried out high specific merge according to the ratio of maximal received power.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102891817A (en) * | 2011-07-22 | 2013-01-23 | 中兴通讯股份有限公司 | Channel equalization method, base station and system |
| CN112769505A (en) * | 2020-12-31 | 2021-05-07 | Oppo广东移动通信有限公司 | Method and device for determining antenna arrival angle, storage medium and electronic equipment |
| WO2022206643A1 (en) * | 2021-03-31 | 2022-10-06 | 华为技术有限公司 | Method for estimating angle of arrival of signal and electronic device |
| CN115334527A (en) * | 2021-05-11 | 2022-11-11 | 大唐移动通信设备有限公司 | Positioning method, positioning device and processor-readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1740812A (en) * | 2005-06-17 | 2006-03-01 | 武汉大学 | Near-field calibrating method for high frequency surface wave radar uniform straight line array receiving channel |
| CN101252382B (en) * | 2008-03-17 | 2012-01-25 | 成都国恒空间技术工程有限公司 | Wide frequency range signal polarizing and DOA estimating method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102891817A (en) * | 2011-07-22 | 2013-01-23 | 中兴通讯股份有限公司 | Channel equalization method, base station and system |
| CN102891817B (en) * | 2011-07-22 | 2017-06-13 | 中兴通讯股份有限公司 | A kind of channel equalization method, base station and system |
| CN112769505A (en) * | 2020-12-31 | 2021-05-07 | Oppo广东移动通信有限公司 | Method and device for determining antenna arrival angle, storage medium and electronic equipment |
| CN112769505B (en) * | 2020-12-31 | 2022-10-21 | Oppo广东移动通信有限公司 | Method and device for determining antenna arrival angle, storage medium and electronic equipment |
| WO2022206643A1 (en) * | 2021-03-31 | 2022-10-06 | 华为技术有限公司 | Method for estimating angle of arrival of signal and electronic device |
| CN115334527A (en) * | 2021-05-11 | 2022-11-11 | 大唐移动通信设备有限公司 | Positioning method, positioning device and processor-readable storage medium |
| CN115334527B (en) * | 2021-05-11 | 2024-04-23 | 大唐移动通信设备有限公司 | Positioning method, positioning device and processor readable storage medium |
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