CN104081842A - Positioning method, device and system - Google Patents
Positioning method, device and system Download PDFInfo
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- CN104081842A CN104081842A CN201280022292.8A CN201280022292A CN104081842A CN 104081842 A CN104081842 A CN 104081842A CN 201280022292 A CN201280022292 A CN 201280022292A CN 104081842 A CN104081842 A CN 104081842A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
Disclosed are a positioning method, device and system, which relate to the field of communications. Determining the corrected position of a user equipment (UE) according to moving state information about the UE and position measurement data of the UE can improve the accuracy of UE positioning. The method provided in the embodiments of the present invention includes: a network management device acquiring moving state information about a UE and position measurement data of the UE, wherein the moving state information about the UE is used for indicating that the UE is moving at a high speed, is moving at a medium speed or is generally moving; and the network management device acquiring the corrected position of the UE according to the moving state information about the UE and the position measurement data of the UE. The embodiments of the present invention can improve the acquired accuracy of UE positioning, further improving the accuracy of minimization of drive tests.
Description
A kind of method of positioning, equipment and systems technology field
The present invention relates to the communications field, more particularly to a kind of method of positioning, equipment and system.
Background technology
It is the technology that UE is positioned according to network configuration information to base station report measurement information, the position measurement that base station is reported according to UE to UE to minimize drive test (Minimization of Drive Tests, abbreviation MDT).
The position measurement that UE is reported is typically subject to influence of noise and positioning result is produced error, so it is generally necessary to handling UE position measurement, to improve positioning precision, such as the position measurement progress Kalman filtering to UE.In Kalman filtering process, UE motion disturbance variance Q there is very important effect for the precision gain of positioning result, in the prior art Q-as be rule of thumb respectively set as a constant.Inventor has found that at least there are the following problems in the prior art：
When being handled in existing MDT measurements UE measurement data, the not high positional information for causing UE needed for MDT measurements of UE positioning precisions is inaccurate, improves the cost of carrier network optimization.
The content of the invention
Embodiments of the invention provide a kind of method of positioning, equipment and system, UE position measurement are handled according to UE mobile status information, so as to improve positioning precision.
To reach above-mentioned purpose, the technical scheme that the embodiment of the present invention is used for,
In a first aspect, the embodiment of the present invention provides a kind of method of positioning, including：
Network management device obtains the mobile status information of user equipment (UE) and the position measurement of the UE, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile；The network management device obtains the correction position of the UE according to the mobile status information of the UE and the position measurement of the UE.
In the first possible implementation, according in a first aspect, the network management device is obtained
The mobile status information of the UE, including：
The network management device sends configured information to the UE, and the configured information is used to indicate that the UE records the mobile status information of the UE；
The network management device receives the mobile status information for the UE that the UE is sent.Second aspect there is provided a kind of method of positioning, including：
User equipment (UE) obtains the mobile status information of the UE；
The UE sends the mobile status information of the UE to network management device, to cause the network management device to obtain the correction position of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.
In the implementation of the energy of the first, according to second aspect, the user equipment (UE) is obtained before the mobile status information of the UE, and this method also includes：
The UE receives the configured information that the network management device is sent, and the configured information is used to indicate that the UE records the mobile status information of the UE.
The third aspect there is provided a kind of location equipment, including：
Acquiring unit, for obtaining the mobile status information of user equipment (UE) and the position measurement of the UE, and the position measurement of the mobile status information of the UE and the UE is transferred to positioning unit, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile；
Positioning unit, for receiving the mobile status information of the UE and the measurement data of the UE, and mobile status information and the position measurement of the UE according to the UE from the acquiring unit, obtains the correction position of the UE.
In the first possible implementation, according to the third aspect, the acquiring unit, including：Sending module, for sending configured information to the UE, the configured information is used to indicate that the UE records the mobile status information of the UE；
Receiving module, the mobile status information for receiving the UE.
Fourth aspect, a kind of user equipment (UE) of offer, including：
Acquiring unit, the mobile status information for obtaining the UE；
Transmitting element, mobile status information for sending from the UE to network management device, to cause the network management device to obtain the correction position coordinate of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；
Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.
In the first possible implementation, according to fourth aspect, the UE also includes：Receiving unit, for receiving the configured information that the network management device is sent, the configured information is used to indicate that the UE records the mobile status information of the UE.
There is provided a kind of alignment system in terms of 5th, including：The user equipment (UE) described in location equipment and any of the above-described described in any of the above-described.
Method, equipment and the system provided in an embodiment of the present invention for being used to position, UE position measurement is handled according to UE mobile status information to improve positioning precision, so as to which the more accurate positional informations of UE can be obtained in MDT measurements, the cost of carrier network optimization is reduced.Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, the required accompanying drawing used in embodiment or description of the prior art will be briefly described below, apparently, drawings in the following description are only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of localization method schematic flow sheet provided in an embodiment of the present invention；
Fig. 2 is acquisition UE mobile status information and the schematic flow sheet of position measurement；Fig. 3 is Kalman filtering simulation result figure；
Fig. 4 is another localization method schematic flow sheet provided in an embodiment of the present invention；
Fig. 5 is a kind of structural representation of location equipment provided in an embodiment of the present invention；
Fig. 6 is intended to for the structural diagrams of another location equipment provided in an embodiment of the present invention；Fig. 7 is the apparatus structure schematic diagram of another location equipment provided in an embodiment of the present invention；
Fig. 8 is a kind of structural representation of user equipment (UE) provided in an embodiment of the present invention；Fig. 9 is the structural representation of another user equipment (UE) provided in an embodiment of the present invention；Figure 10 is a kind of structural representation of alignment system provided in an embodiment of the present invention.
Embodiment is below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made belongs to the scope of protection of the invention.
On the one hand, the embodiments of the invention provide a kind of localization method, referring to Fig. 1, including：
101 :Network management device obtains the mobile status information of user equipment (UE) and the position measurement of the UE, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.
Exemplary, network management device obtains UE mobile status information, can include：Network management device sends configured information to the UE, and the configured information is used to indicate that the UE records the mobile status information of the UE；Network management device receives the mobile status information of the UE and the measurement data of the UE.The UE can be according to the speed during current moving state, determine presently described UE mobile status information, for example, the translational speed that high-speed mobile refers to UE is more than 80km/h, middling speed movement refers to UE translational speed between 30km/h ~ 80km/h（Such as 60km/h), the general mobile translational speed for referring to UE is less than 30km/h.It can be set, be not restricted here according to practical engineering experience for above-mentioned high-speed mobile, middling speed movement and general movement.UE mobile status information can be measured by the UE by logged MDT, recording and sending is to network management device.Network management device can be arranged on base station, or independent entity device, the present embodiment is illustrated by independent entity device of network management device.Exemplary, the position measurement that network management device obtains UE can include：Directly obtained from UE, for example, UE records the raw measurement data of the UE, the initial data is used for the position measurement for determining UE, and UE raw measurement data may be different according to the different of the location technology used.During for example with satellite positioning tech, the initial data can be UE attitude angle or UE to the distance of satellite；During using architecture, the initial data can be not distances of the UE to base station in the same time；During using MDT technologies, the initial data can be MDT measurement data；Adopt
Which kind of technical limit spacing UE raw measurement data is taken, is not restricted herein.The raw measurement data of the UE is recorded in UE and position measurement can be obtained according to the raw measurement data, and the position measurement is sent to network management device via base station；Or UE position measurement passes through other network entity indirect gains, for example, UE records the raw measurement data of the UE, and the raw measurement data is sent to base station, so that base station obtains position measurement according to the raw measurement data, and the position measurement is reported into network management device；Or directly obtained by the network management device, for example, UE records the raw measurement data of the UE, and the raw measurement data is sent to network management device through base station, network management device obtains position measurement according to the raw measurement data.
Specifically, the position measurement for the mobile status information and UE that network management device obtains UE can include：Network management device obtains UE mobile status information and UE raw measurement data via base station, and obtains position measurement according to the raw measurement data, and accordingly, network management device sends configured information to UE, can include：Network management device sends logged MDT to UE via base station and configures message, wherein, logged MDT configuration message includes the instruction of request record UE mobile status information.
Exemplary, network management device obtains the mobile status information of user equipment (UE) and the position measurement of the UE, can include：Network management device sends trace session activation to base station and disappeared,；
Base station selects UE according to trace session activation message, and sends logged MDT configuration message to UE；
UE is converted into progress logged MDT measurements after RRC Idle state according to logged MDT configuration message from RRC connected states, and records UE mobile status information and UE raw measurement data；
Mobile status information and UE raw measurement data that network management device reception UE is sent via base station, and according to UE raw measurement data acquisition UE position measurement.
The mobile status that UE is obtained to network management device with a specific example below believes, mobile status information and the UE process of position measurement illustrate, referring to Fig. 2, can include：
201 :NMS sends trace session activation message to base station.Exemplary, the trace session message can include logged MDT, and UE movement
The mark of status information and position measurement demand.
Exemplary, UE mobile status information can be used to refer to UE mobile status, for example, UE mobile status can include high-speed mobile, middling speed movement or general mobile, can divide UE mobile status according to motion state actual UE, for example, according to walking or it is vehicle-mounted divided when, it is believed that the translational speed that high-speed mobile refers to UE is more than 80km/h, middling speed movement refers to UE translational speed between 30km/h ~ 80km/h（Such as 60km/h) ,-as the mobile translational speed for referring to UE be less than 30km/h.
202:Base station carries out UE selections according to trace session activation message.
Exemplary, UE of the base station in trace session activation message mark selection UE.
203 :Base station sends logged MDT configuration informations according to trace session activation message to the UE of selection.
Exemplary, logged MDT configuration informations can include logged MDT, and UE mobile status information, the mark of raw measurement data demand.
Exemplary, logged MDT configuration informations are handed down to UE by base station in RRC connected states, wherein, the logged MDT configurations message includes the instruction that request records the mobile status information of the UE.
204:UE is converted into RRC Idle state by RRC connected states.
Exemplary, when UE receives the logged MDT configuration informations of base station transmission, RRC Idle state is converted into by RRC connected states, but UE will not discharge the logged MDT configuration informations received simultaneously, and be to continue with retaining, wherein, the logged MDT configurations message includes the instruction that request records the mobile status information of the UE.
205:UE carries out logged MDT measurements according to logged MDT configuration informations and records UE mobile status information and raw measurement data.
Exemplary, UE carries out logged MDT measurements in RRC Idle state.
Exemplary, the information exchange between the cell that UE can be by serving the UE obtains mobile status information.For example：The cell of the UE is served by parameterff(critical reselection frequency during high-speed mobile）, 1 CR-M (critical reselection frequencies when general mobile）, the L J- CR max (periods of reselection frequency）UE is sent to by system information broadcast, when Idle state UE statistics is at one section
Between 7 CRRCell reselection times N in max, UE is by comparing N with V CR-Hff, CR _ M size determine UE mobile status information, for example：If N >=NCR HUE mobile status informations are high-speed mobile；If NCR ff>Then UE mobile status informations are moved >=NCR M ^ for middling speed；If N TV^ M, UE mobile status information are general mobile. 206:UE switchs to RRC connected states by RRC Idle state.
Exemplary, RRC connections set up process and are：UE can send RRC connected states to base station side first and set up request message；RRC connected states are switched to by RRC Idle state after the RRC connected states for receiving the lateral UE transmissions in base station set up message.
207:UE sends logged MDT daily records to base station can use instruction.
Exemplary, logged MDT daily records can be sent to base station with indicating to may be embodied in RRC connected states to set up in completion message.
208:Base station sends UE information requirement message to UE.
209:UE sends the logged MDT daily records of mobile status information and raw measurement data comprising UE to base station.
210:Base station preserves the logged MDT daily records of the mobile status information comprising UE and raw measurement data that UE is sent.
211 :Base station sends the logged MDT daily records of mobile status information and raw measurement data comprising UE to network management device.
212:Network management device receives the logged MDT daily records of mobile status information and raw measurement data comprising UE, and obtains position measurement according to raw measurement data.
Above-mentioned example only represents that a kind of utilization logged MDT obtain UE mobile status information and a kind of method of measurement data, naturally it is also possible to select other any methods that can be realized, the present embodiment is to this without limiting.
102:The network management device obtains the correction position of the UE according to the mobile status information of the UE and the position measurement of the UE.Because UE is typically subject to noise jamming when obtaining raw measurement data, according to original measurement number
Positioning is carried out according to the position measurement directly obtained and there is certain error, it is therefore desirable to position measurement is handled according to UE mobile status to improve positioning precision.The localization method handled using UE mobile status position measurement is had feature database matching positioning, is positioned, positioned based on cell ID and using Kalman filtering positioning, be specifically described in detail so that Kalman filtering is positioned as an example below according to angle of arrival.Kalman filtering is a kind of efficient recursion filter（Autoregressive filter）It can be from one group of limited, coordinate position and speed that observation sequence to object space, comprising noise predicts object, the optimal estimation value at current time can be just calculated as long as knowing the optimal estimation value and the measured value at current time of last moment, therefore does not need the historical information of a large amount of hourly observations.
Kalman filtering assumes that system equation is：
X(k) = F-X(k-\) + - U(k) + W(k)
System measuring equation is：
Z (k)=n-x (k)+v (k) is moment system mode, is the controlled quentity controlled variable constantly to system,2(^) is the measured value at moment；F, B, H are systematic parameters；(k, W are system noise and measurement noise to W, for example, when carrying out Kalman filtering to UE positioning result, W can be expressed as the disturbance variance 2 of motion, W can be expressed as co-ordinate measurement accuracy variance ^.Calculating the optimal estimation value at current time according to the optimal estimation value of last moment and the measured value at current time can be realized by following step：
1) equation set up between last moment optimal estimation value and the predicted value at current time： X(k\k-\) = F-X(k-\\k-\) + -U(k).
Wherein, ^-il^- 1) it is last moment optimal estimation value, ^l1) be current time predicted value：
2) the system covariance updatedρ ΐπ):
P(k\k-\) = F-P(k-\\k-\)-F'+Q .
3) kalman gain is calculated（KalmanGain) ：
Kg(k)=chat-' H'
n-P(k\k-\)-w+R .
4) the optimum estimation value ^^ at current time is calculated
5) covariance at current time optimum estimation value ^l is updated75^^), wherein I is unit battle array：
P (k k)=[l-Kg (k) -1i]-P (k k-l) is in Kalman filtering process is carried out to UE positioning result, Q and R configuration has very important effect for the precision gain of the positioning result after Kalman filtering, and positioning precision can be improved by disturbing variance Q according to UE mobile status information dynamic configuration.
Exemplary, Kalman filtering is carried out to UE position measurement according to UE mobile status information, UE correction position coordinate is obtained（Here, UE correction position coordinate is the optimal estimation value of each moment UE positions, and the optimal estimation value at current time can be obtained according to the optimal estimation value of last moment）, can include：
(1) system equation and measuring system equation at UE moment to moment are determined；Exemplary, following system equation can be set up：
vy(k)
Wherein, for UE predicted position coordinate vector component, the predicted position coordinate vector component in y-direction for being UE in the x direction, the speed that ^ is UE vector component in the X direction, the vector component of the speed for being UE in y-direction, t is system equation renewal time interval, a is I moment UE acceleration, axFor vector component, a of acceleration a in the X directionyFor the vector components of acceleration a in y-direction.Exemplary, acceleration a is considered as the noise disturbance amount to system herein, and assumes between the moment, and acceleration a keeps constant, i.e., UE acceleration a is constant within the time；
Exemplary, following measuring system equation can be set up：
Wherein, be k moment UE measurement position coordinate vector component in the x direction, be the vector component of k moment UE measurement position coordinate in y-direction, φ, be the k moment direct measurement error, measurement position coordinate（That is position measurement）Obtained by UE raw measurement data.
(2) the disturbance variance Q of motion is obtained in the system equation at moment to moment and UE mobile status information according to UE;For example, according to step（1) system equations of the UE at the moment to moment provided in can calculate the disturbance variance Q of UE motion, as follows,
Wherein,σ.For acceleration a standard deviation, according to the experience in actually measurement, minimize
Vehicle-mounted and walking the acceleration a excursions of MDT measurements are between 0 ~ 6m/.σ.Can basis
UE mobile status information is set.For example, according to the difference of topography and geomorphology, acceleration a standard deviationσ.Can be configured as follows：When UE mobile status is high-speed mobile（About more than 80kmph）When,σ.It is configured to 4 ~ 5m/;When UE mobile status moves for middling speed（Between about 30km/h ~ 80km/h, such as 60km/h or so）When,σ.2 ~ 3m/ is configured to when UE mobile status is general mobile（About below 30kmph）When,σ.It is configured to 0 ~ 1 m/.
(3) at least shelter states the correction position coordinate that UE obtains the UE in the disturbance variance Q of the system equation, measuring system equation and motion at -1 moment to moment.
Exemplary, according to step（ 1 ) 、 （2) above-mentioned Kalman filtering step 1 can be determined)-step 5) in each real variable be respectively：
Wherein,σ" it is direct measurement error η standard deviation, a fixed empirical value can be configured as according to the curvature of UE movement locus in Practical Project.
Above variable is substituted into the step 1 of above-mentioned Kalman filtering)-step 5) in can obtain UE father's positive position coordinate.Positioning precision can be improved according to the disturbance variance Q that UE mobile status information dynamic configuration is moved.
It is the simulation result of Kalman filterings of the UE under different mobile status informations referring to Fig. 3, wherein transverse axis isσ., the longitudinal axis is the error between correction position coordinate and measurement position coordinate, wherein, measurement position coordinate is obtained by UE measurement data.As shown in Fig. 3 Α, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 100km/h, now UE is high-speed mobile,σ.It is configured to error during 5m/ or so minimum；As shown in Figure 3 B, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 60km/h, now UE is middling speed movement,σ.It is configured to error during 2-3m/ minimum；As shown in Figure 3 C, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 10km/h, now UE is general movement,σ.It is configured to error during 0-lm/ minimum.From the figure 3, it may be seen that the acceleration standard deviation determined according to UE mobile status information.Carry out the disturbance variance Q of dynamic configuration motion, the error of Kalman filtering can be made minimum, so as to improve UE positioning precision.
The embodiment of the present invention provides the method for positioning, UE position measurement is handled according to UE mobile status information to improve positioning precision, the precision of UE positional information needed for MDT measurements can be improved, the cost of carrier network optimization is reduced.For example according to UE movement
Status information carrys out dynamic configuration Kalman filtering parameter, improve positioning precision, prior art is overcome when carrying out Kalman filtering to measurement data, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.
It is the schematic diagram of another localization method provided in an embodiment of the present invention, as illustrated, may comprise steps of referring to Fig. 4：
401 :User equipment (UE) obtains the mobile status information of the UE；
402:The UE sends the mobile status information of the UE to network management device, to cause the network management device to obtain the correction position of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；
Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.
Exemplary, before step 401, this method can also include：The configured information that the network management device is sent is received, the configured information is used to indicate that the UE records the mobile status information of the UE.
The method provided in an embodiment of the present invention for being used to position, by the mobile status information that UE is sent to network management device, so that network management device is handled to improve positioning precision UE position measurement according to UE mobile status information, the positioning precision of UE positional information needed for MDT measurements can be improved to reduce the cost of carrier network optimization.For example according to UE mobile status information come dynamic configuration Kalman filtering parameter, improve positioning precision, prior art is overcome when carrying out Kalman filtering to measurement data, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.The embodiment of the present invention furthermore present the device embodiment for realizing each step and method in above method embodiment, base station or UE that the embodiment of the present invention can be applied in various communication systems.
It is a kind of structure chart of location equipment provided in an embodiment of the present invention referring to Fig. 5, the location equipment includes：Acquiring unit 501, processing unit 502, wherein, acquiring unit 501, for obtaining the mobile status information of user equipment (UE) and the position measurement of the UE, and the position measurement of the mobile status information of the UE and the UE is transferred to positioning unit 502, wherein, the mobile status information of the UE is described to indicate
UE is high-speed mobile, middling speed movement or general mobile.
Exemplary, acquiring unit 501 obtains UE mobile status information, can include：Location equipment sends configured information to the UE, and the configured information is used to indicate that the UE records the mobile status information of the UE；Acquiring unit 501 receives the mobile status information of the UE and the measurement data of the UE.Location equipment can be arranged on base station, or independent entity device, the present embodiment is illustrated by independent entity device of location equipment.
Exemplary, the position measurement that acquiring unit 501 obtains UE can include：Directly obtained from UE, for example, UE records the raw measurement data of the UE, the initial data is used for the position measurement for determining UE.The raw measurement data of the UE is recorded in UE and position measurement can be obtained according to the raw measurement data, and the position measurement is sent to network management device via base station；Or UE position measurement passes through other network entity indirect gains, for example, UE records the raw measurement data of the UE, and the raw measurement data is sent to base station, so that base station obtains position measurement according to the raw measurement data, and the position measurement is reported into network management device；Or directly obtained by the network management device, for example, UE records the raw measurement data of the UE, and the raw measurement data is sent to network management device through base station, network management device obtains position measurement according to the raw measurement data.
Further, referring to Fig. 6, the acquiring unit 501 can include：
Sending module 5011, for sending configured information to the UE, the configured information is used to indicate that the UE records the mobile status information of the UE；Exemplary, sending module 5011 can be specifically for, sends logged MDT to UE via base station and configures message, wherein, logged MDT configuration message includes the instruction of request record UE mobile status information.
Receiving module 5012, the mobile status information for receiving the UE that the UE is sent.Positioning unit 502, for receiving the mobile status information of the UE and the position measurement of the UE from the acquiring unit 501, and mobile status information and the position measurement of the UE according to the UE obtains the correction position of the UE.Because UE is typically subject to noise jamming when obtaining raw measurement data, the position measurement directly obtained according to raw measurement data carries out positioning and there is certain error, it is therefore desirable to position measurement is handled according to UE mobile status to improve positioning precision.The localization method handled using UE mobile status position measurement is had feature database matching positioning, determined according to angle of arrival
Position, based on cell ID position and using Kalman filtering positioning, be specifically described in detail so that Kalman filtering is positioned as an example below.Kalman filtering is a kind of efficient recursion filter（Autoregressive filter）It can be from one group of limited, coordinate position and speed that observation sequence to object space, comprising noise predicts object, the optimal estimation value at current time can be just calculated as long as knowing the optimal estimation value and the measured value at current time of last moment, therefore does not need the historical information of a large amount of hourly observations.
Kalman filtering assumes that system equation is：
X(k) = F-X(k-\) + - U(k) + W(k)
System measuring equation is：
Z (k)=n-x (k)+v (k) is moment system mode, is the controlled quentity controlled variable constantly to system,2(^) is the measured value at moment；F, B, H are systematic parameters；(k, W are system noise and measurement noise to W, for example, when carrying out Kalman filtering to UE positioning result, W can be expressed as the disturbance variance 2 of motion, W can be expressed as co-ordinate measurement accuracy variance ^.Then calculating the optimal estimation value at current time according to the optimal estimation value of last moment and the measured value at current time can be realized by following step：
1) equation set up between last moment optimal estimation value and the predicted value at current time： X(k\k-\) = F-X(k-\\k-\) + -U(k).
Wherein, ^-il^- 1) it is last moment optimal estimation value, ^l1) be current time predicted value：
2) the system covariance updatedρ ΐπ):
P(k\k-\) = F-P(k-\\k-\)-F'+Q .
3) kalman gain is calculated（KalmanGain) ：
Kg(k)=chat-' H'
n-P(k\k-\)-w+R .
4) the optimum estimation value ^^ at current time is calculated
X(k\k) = X(k\k-l) + Kg(k)-[Z(k)-1i-X(k\k-l)].
5) covariance at current time optimum estimation value ^l is updated75^^), wherein I is unit battle array：
P (k k)=[l-Kg (k) -1i]-P (k k-) is in Kalman filtering process is carried out to UE positioning result, Q and R configuration has very important effect for the precision gain of the positioning result after Kalman filtering, and positioning precision can be improved by disturbing variance Q according to UE mobile status information dynamic configuration.
Exemplary, positioning unit 502 carries out Kalman filtering according to UE mobile status information to UE position measurement, obtains UE correction position coordinate（Here, UE correction position coordinate is the optimal estimation value of each moment UE positions, and the optimal estimation value at current time can be obtained according to the optimal estimation value of last moment）.
Further, referring to Fig. 6, positioning unit 502 can include：
Determining module 5021：System equation and measuring system equation for determining UE k-l moment to the k moment；
Exemplary, following system equation can be set up：
vy(k)
Wherein, for UE predicted position coordinate vector component, the predicted position coordinate vector component in y-direction for being UE in the x direction, the speed that ^ is UE vector component in the X direction, the vector component of the speed for being UE in y-direction, t is system equation renewal time interval, a is I moment UE acceleration, axFor vector component, a of acceleration a in the X directionyFor the vector components of acceleration a in y-direction.Exemplary, acceleration a is considered as the noise disturbance amount to system herein, and assumes between the moment, and acceleration a keeps constant, i.e., UE acceleration a is constant within the time；
Exemplary, following measuring system equation can be set up：
Wherein, it is k moment UE measurement position coordinate vector component in the X direction, is k
The vector component of moment UE measurement position coordinate in y-direction, (J () is the direct measurement error at k moment, measurement position coordinate to n（That is position measurement）Obtained by UE raw measurement data.First acquisition module 5022:Disturbance variance Q for obtaining motion in the system equation at moment to moment and UE mobile status information according to UE;
For example, the system equation according to the UE provided according to determining module 5021 at -1 moment to moment can calculate the disturbance variance Q of UE motion, it is as follows,
Wherein,σ.For acceleration a standard deviation, according to the experience in actually measurement, vehicle-mounted and walking the acceleration a excursions of MDT measurements are minimized between 0 ~ 6m/.σ.Can basis
UE mobile status information is set.For example, according to the difference of topography and geomorphology, acceleration a standard deviationσ.Can be configured as follows：When UE mobile status is high-speed mobile（About more than 80kmph）When,σ.It is configured to 4 ~ 5m/;When UE mobile status moves for middling speed（Between about 30km/h ~ 80km/h, such as 60km/h or so）When,σ.It is configured to 2 ~ 3m/ y2;When UE mobile status is general mobile（About below 30km/h）When,σ.It is configured to 0 ~ l m/.Second acquisition module 5023：Correction position coordinate for obtaining the UE in the disturbance variance Q of the system equation, measuring system equation and motion at -1 moment to moment according at least to the UE.
Exemplary, above-mentioned Kalman filtering step 1 can be determined according to determining module 5021, the first acquisition module 5022)-step 5) in each real variable be respectively：
Wherein,σ" it is direct measurement error η standard deviation, a fixed empirical value can be configured as according to the curvature of UE movement locus in Practical Project.
Above variable is substituted into the step 1 of above-mentioned Kalman filtering)-step 5) in can obtain UE father's positive position coordinate.Positioning precision can be improved according to the disturbance variance Q that UE mobile status information dynamic configuration is moved.
It is the simulation result of Kalman filterings of the UE under different mobile status referring to Fig. 3, wherein transverse axis isσ., the longitudinal axis is the error between correction position coordinate and measurement position coordinate, wherein, measurement position coordinate is obtained by UE measurement data.As shown in Fig. 3 Α, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 100km/h, now UE is high-speed mobile,σ.It is configured to error during 5m/ or so minimum；As shown in Figure 3 B, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 60km/h, now UE is middling speed movement,σ.It is configured to error during 2-3m/ minimum；As shown in Figure 3 C, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 10km/h, now UE is general movement,σ.It is configured to error during 0-lm/ minimum.From the figure 3, it may be seen that the acceleration standard deviation determined according to UE mobile statusσ.Carry out the disturbance variance Q of dynamic configuration motion, the error of Kalman filtering can be made minimum, so as to improve UE positioning precision.
Location equipment provided in an embodiment of the present invention, is handled UE measurement data to improve positioning precision according to UE mobile status information so that UE positional information is more accurate needed for MDT measurements, reduces the cost of carrier network planning.For example in Kalman filtering, network pipe
Manage equipment to configure the disturbance variance Q of motion according to UE mobile status information and carry out Kalman filtering to UE measurement data, and then the UE positioning precisions gain based on Kalman Filter Technology is maximized.When overcoming in the prior art according to Kalman filtering, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.In hardware realization, above sending module can be emitter or transceiver, and above receiving module can be receiver or transceiver, and the sending module and receiving module can integrate composition Transmit-Receive Unit, and transceiver is embodied as corresponding to hardware；Above acquiring unit and positioning unit can be embedded in or independently of in the processor of location equipment in the form of hardware, it can also be stored in a software form in the memory of location equipment, in order to which processor calls the corresponding operation of execution above modules, the processor can be CPU（CPU), microprocessor, single-chip microcomputer etc..It is a kind of structural representation of location equipment provided in an embodiment of the present invention with reference to Fig. 7, as shown in fig. 7, the location equipment includes：Emitter 701, receiver 702, memory 703 and the processor 704 being connected respectively with emitter 701, receiver 702 and memory 703.Certainly, location equipment can also including input/output unit etc. universal component, no longer any limitation herein of the embodiment of the present invention.
Wherein, batch processing code is stored in memory 703, processor 704 is used to call memory
Program code in 703, for performing following operation：The mobile status information of user equipment (UE) and the position measurement of the UE are obtained, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile；The correction position of the UE is obtained according to the position measurement of the mobile status information of the UE and the UE.
Emitter 701 is used to send configured information to the UE, and the configured information is used to indicate that the UE records the mobile status information of the UE；Exemplary, emitter 701 can be specifically for, sends logged MDT to UE via base station and configures message, wherein, logged MDT configuration message includes the instruction of request record UE mobile status information.
Receiver 702, the mobile status information for receiving the UE that the UE is sent.Exemplary, UE mobile status information is obtained, can be included：Location equipment is to described
UE sends configured information, and the configured information is used to indicate that the UE records the mobile status information of the UE；Acquiring unit 501 receives the mobile status information of the UE and the measurement data of the UE.Location equipment can be arranged on base station, or independent entity device, the present embodiment is illustrated by independent entity device of location equipment.
Exemplary, obtaining UE position measurement can include：Directly obtained from UE, for example, UE records the raw measurement data of the UE, the initial data is used for the position measurement for determining UE.The raw measurement data of the UE is recorded in UE and position measurement can be obtained according to the raw measurement data, and the position measurement is sent to network management device via base station；Or UE position measurement passes through other network entity indirect gains, for example, UE records the raw measurement data of the UE, and the raw measurement data is sent to base station, so that base station obtains position measurement according to the raw measurement data, and the position measurement is reported into network management device；Or directly obtained by the network management device, for example, UE records the raw measurement data of the UE, and the raw measurement data is sent to network management device through base station, network management device obtains position measurement according to the raw measurement data.
Because UE is typically subject to noise jamming when obtaining raw measurement data, the position measurement directly obtained according to raw measurement data carries out positioning and there is certain error, it is therefore desirable to position measurement is handled according to UE mobile status to improve positioning precision.The localization method handled using UE mobile status position measurement is had feature database matching positioning, is positioned, positioned based on cell ID and using Kalman filtering positioning, be specifically described in detail so that Kalman filtering is positioned as an example below according to angle of arrival.Kalman filtering is a kind of efficient recursion filter（Autoregressive filter）It can be from one group of limited, coordinate position and speed that observation sequence to object space, comprising noise predicts object, the optimal estimation value at current time can be just calculated as long as knowing the optimal estimation value and the measured value at current time of last moment, therefore does not need the historical information of a large amount of hourly observations.
Kalman filtering assumes that system equation is：
X(k) = F - X(k - \) + - U(k) + W(k)
System measuring equation is：
Z (k)=n- x (k)+v (k) are moment system modes, are the controlled quentity controlled variables constantly to system,2(^) is the measured value at moment；F, B, H are systematic parameters；, W is system noise and measurement noise, example
When such as, to UE positioning result progress Kalman filtering, W can be expressed as the disturbance variance 2 of motion, and W can be expressed as co-ordinate measurement accuracy variance ^.Then calculating the optimal estimation value at current time according to the optimal estimation value of last moment and the measured value at current time can be realized by following step：
1) equation set up between last moment optimal estimation value and the predicted value at current time： X(k\k-\) = F-X(k-\\k-\) + -U(k).
Wherein, ^-il^- 1) it is last moment optimal estimation value, ^l1) be current time predicted value：
2) the system covariance updatedρ ΐπ):
P(k\k-\) = F-P(k-\\k-\)-F'+Q .
3) kalman gain is calculated（KalmanGain) ：
Kg(k)=chat-' H'
n-P(k\k-\)-w+R .
4) the optimum estimation value ^^ at current time is calculated
X(k\k) = X(k\k-l) + Kg(k)-[Z(k)-1i-X(k\k-l)].
5) covariance at current time optimum estimation value ^l is updated75^^), wherein I is unit battle array：
P (k k)=[l-Kg (k) -1i]-P (k k-l) is in Kalman filtering process is carried out to UE positioning result, Q and R configuration has very important effect for the precision gain of the positioning result after Kalman filtering, and positioning precision can be improved by disturbing variance Q according to UE mobile status information dynamic configuration.
Exemplary, Kalman filtering is carried out to UE position measurement according to UE mobile status information, UE correction position coordinate is obtained（Here, UE correction position coordinate is the optimal estimation value of each moment UE positions, and the optimal estimation value at current time can be obtained according to the optimal estimation value of last moment）, can include：
(1) system equation and measuring system equation at UE moment to moment are determined；Exemplary, following system equation can be set up：
Wherein, for UE predicted position coordinate vector component, the predicted position coordinate vector component in y-direction for being UE in the x direction, the speed that ^ is UE vector component in the X direction, the vector component of the speed for being UE in y-direction, t is system equation renewal time interval, a is I moment UE acceleration, axFor vector component, a of acceleration a in the X directionyFor the vector components of acceleration a in y-direction.Exemplary, acceleration a is considered as the noise disturbance amount to system herein, and assumes between the moment, and acceleration a keeps constant, i.e., UE acceleration a is constant within the time；
Exemplary, following measuring system equation can be set up：
Wherein, be k moment UE measurement position coordinate vector component in the x direction, be the vector component of k moment UE measurement position coordinate in y-direction, φ, be the k moment direct measurement error, measurement position coordinate（That is position measurement）Obtained by UE raw measurement data.
(2) the disturbance variance Q of motion is obtained in the system equation at moment to moment and UE mobile status information according to UE;For example, according to step（1) system equations of the UE at the moment to moment provided in can calculate the disturbance variance Q of UE motion, as follows,
Wherein,σ.For acceleration a standard deviation, according to the experience in actually measurement, minimize
Vehicle-mounted and walking the acceleration a excursions of MDT measurements are between 0 ~ 6m/.σ.Can basis
UE mobile status information is set.For example, according to the difference of topography and geomorphology, acceleration a standard deviationσ.Can be configured as follows：When UE mobile status is high-speed mobile（About more than 80kmph）When,σ.It is configured to 4 ~ 5m/;When UE mobile status moves for middling speed（Between about 30km/h ~ 80km/h, such as 60km/h or so）When,σ.It is configured to 2 ~ 3m/;When UE mobile status is general mobile（About below 30kmph）When,σ.It is configured to 0 ~ 1 m/.
(3) at least shelter states the correction position coordinate that UE obtains the UE in the disturbance variance Q of the system equation, measuring system equation and motion at -1 moment to moment.
Exemplary, according to step（ 1) 、 （2) above-mentioned Kalman filtering step 1 can be determined)-step 5) in each real variable be respectively：
— 1 0 t 0—
SAk), s ~y(k) 0 1 0 t
X(k) = Z(k) = F =
0 0 1 0 1 0 0 0
H =
vy(k) 0 0 0 1 0 1 0 0
R
σα 20 σ wherein,σ" it is direct measurement error η standard deviation, a fixed empirical value can be configured as according to the curvature of UE movement locus in Practical Project.
Above variable is substituted into the step 1 of above-mentioned Kalman filtering)-step 5) in can obtain UE father's positive position coordinate.
Positioning precision can be improved according to the disturbance variance Q that UE mobile status information dynamic configuration is moved.
It is the simulation result of Kalman filterings of the UE under different mobile status referring to Fig. 3, wherein transverse axis isσ., the longitudinal axis is the error between correction position coordinate and measurement position coordinate, wherein, measurement position coordinate is obtained by UE measurement data.As shown in Fig. 3 Α, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 100km/h, now UE is high-speed mobile,σ.It is configured to error during 5m/ or so minimum；As shown in Figure 3 B, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 60km/h, now UE is middling speed movement,σ.It is configured to error during 2-3m/ minimum；As shown in Figure 3 C, the simulation result for the Kalman filtering that the translational speed for being UE is obtained when being 10km/h, now UE is general movement,σ.It is configured to error during 0-lm/ minimum.From the figure 3, it may be seen that the acceleration standard deviation determined according to UE mobile statusσ.Carry out the disturbance variance Q of dynamic configuration motion, the error of Kalman filtering can be made minimum, so as to improve UE positioning precision.
It should be noted that the location equipment shown in Fig. 5-Fig. 7 can realize any method that above method embodiment is provided.The location equipment that the present invention is provided, is handled UE measurement data to improve positioning precision according to UE mobile status information so that UE positional information is more accurate needed for MDT measurements, so as to reduce the cost of carrier network optimization.For example in Kalman filtering, network management device configures the disturbance variance Q of motion according to UE mobile status information and carries out Kalman filtering to UE measurement data, and then the UE positioning precisions gain based on direct measurement data and Kalman Filter Technology is maximized.When overcoming in the prior art according to Kalman filtering, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.
It is a kind of structural representation of user equipment (UE) provided in an embodiment of the present invention referring to Fig. 8, the UE is used to realize the localization method shown in Fig. 4, and the user equipment (UE) includes：
Acquiring unit 801, the mobile status information for obtaining the UE；
Transmitting element 802, mobile status information for sending from the UE to network management device, to cause the network management device to obtain the correction position coordinate of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；
Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.
Further, the UE can also include:Receiving unit 803, for receiving the configured information that the network management device is sent, the configured information is used to indicate that the UE records the mobile status information of the UE.User equipment (UE) provided in an embodiment of the present invention, by sending UE mobile status information and the measurement data of the UE to network management device, to cause network management device to be handled according to UE mobile status information UE measurement data to improve positioning precision, so that UE positional information is more accurate needed for MDT measurements, so as to reduce the cost of carrier network optimization.For example in Kalman filtering, network management device configures the disturbance variance Q of motion according to UE mobile status information and carries out Kalman filtering to UE measurement data, and then the UE positioning precisions gain based on direct measurement data and Kalman Filter Technology is maximized.When overcoming in the prior art according to Kalman filtering, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.
In hardware realization, above transmitting element can be transmitter, and above receiving unit can be receiver, and the transmitters and receivers can integrate composition transceiver；Above acquiring unit can be embedded in or independently of in the processor of user equipment (UE) in the form of hardware, it can also be stored in a software form in the memory of user equipment (UE), in order to which processor calls the corresponding operation of execution above modules, the processor can be CPU（CPU), microprocessor, single-chip microcomputer etc..
It is a kind of structural representation of user equipment (UE) provided in an embodiment of the present invention with reference to Fig. 9, as illustrated, the user equipment (UE) includes：Transmitter 901, receiver 902, memory 903 and the processor 904 being connected respectively with transmitter 901, receiver 902 and memory 903.Certainly, user equipment (UE) can also including input/output unit etc. universal component, no longer any limitation herein of the embodiment of the present invention.Wherein, batch processing code is stored in memory 903, processor 904 is used to call memory
Program code in 903, for performing following operation：Obtain the mobile status information of the UE；
Transmitter 901, mobile status information for sending from the UE to network management device, to cause the network management device to obtain the correction position coordinate of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；
Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.
Receiver 902, for receiving the configured information that the network management device is sent, the configured information is used to indicate that the UE records the mobile status information of the UE.User equipment (UE) provided in an embodiment of the present invention, by sending UE mobile status information and the measurement data of the UE to network management device, to cause network management device to be handled according to UE mobile status information UE measurement data to improve positioning precision, so that UE positional information is more accurate needed for MDT measurements, so as to reduce the cost of carrier network optimization.For example in Kalman filtering, network management device configures the disturbance variance Q of motion according to UE mobile status information and carries out Kalman filtering to UE measurement data, and then the UE positioning precisions gain based on direct measurement data and Kalman Filter Technology is maximized.When overcoming in the prior art according to Kalman filtering, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.
The embodiment of the present invention provides a kind of system of positioning, referring to Figure 10, including：Location equipment and user equipment (UE), wherein,
Location equipment, for obtaining the mobile status information of user equipment (UE) and the position measurement of the UE, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile；The network management device obtains the correction position of the UE according to the mobile status information of the UE and the position measurement of the UE.
User equipment (UE), the mobile status information for sending UE to network management device.
Further, the alignment system can also include：Base station, for receiving the configured information that the network management device is sent, the configured information is used to indicate that the UE records the mobile status information of the UE, and forwards the UE of UE transmissions mobile status information.
Exemplary, the process for obtaining the mobile status information of user equipment (UE) and the position measurement of the UE may refer to above-described embodiment, and here is omitted.
Because UE is typically subject to noise jamming when obtaining raw measurement data, the position measurement directly obtained according to raw measurement data carries out positioning and there is certain error, it is therefore desirable to position measurement is handled according to UE mobile status to improve positioning precision.The localization method handled using UE mobile status position measurement is had feature database matching positioning, determined according to angle of arrival
Position, based on cell ID position and using Kalman filtering positioning.Generally to UE positioning result application Kalman filterings, to reduce the influence of noise, positioning precision is improved.
The same embodiment of the method for detailed process of Kalman filtering is carried out according to the disturbance variance Q of UE mobile status information configuration motion and to UE measurement data, here is omitted.
Alignment system provided in an embodiment of the present invention, UE measurement data is handled according to UE mobile status information to improve positioning precision, so that UE positional information is more accurate needed for MDT measurements, so as to reduce the cost of carrier network optimization.For example in Kalman filtering, network management device configures the disturbance variance Q of motion according to UE mobile status information and carries out Kalman filtering to UE measurement data, and then the UE positioning precisions gain based on direct measurement data and Kalman Filter Technology is maximized.When overcoming in the prior art according to Kalman filtering, the disturbance variance Q of motion is rule of thumb set as constant, and the precision gain of the positioning result after Kalman filtering can not be made maximum, or even there is also the defect of negative gain.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can be completed by the related hardware of programmed instruction, foregoing program can be stored in a computer read/write memory medium, the program upon execution, performs the step of including above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or CD etc. are various can be with the medium of store program codes.
It is described above; only embodiment of the invention, but protection scope of the present invention is not limited thereto, any one skilled in the art the invention discloses technical scope in; change or replacement can be readily occurred in, should be all included within the scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (7)
- Claims1st, a kind of method of positioning, it is characterised in that including：Network management device obtains the mobile status information of user equipment (UE) and the position measurement of the UE, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile；The network management device obtains the correction position of the UE according to the mobile status information of the UE and the position measurement of the UE.2nd, the method for positioning according to claim 1, it is characterised in that the network management device obtains the mobile status information of the UE, including：The network management device sends configured information to the UE, and the configured information is used to indicate that the UE records the mobile status information of the UE；The network management device receives the mobile status information for the UE that the UE is sent.3rd, a kind of method of positioning, it is characterised in that including：User equipment (UE) obtains the mobile status information of the UE；The UE sends the mobile status information of the UE to network management device, to cause the network management device to obtain the correction position of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.4th, the method for positioning according to claim 3, it is characterised in that the user equipment (UE) is obtained before the mobile status information of the UE, and methods described also includes：The UE receives the configured information that the network management device is sent, and the configured information is used to indicate that the UE records the mobile status information of the UE.5th, a kind of location equipment, it is characterised in that including：Acquiring unit, for obtaining the mobile status information of user equipment (UE) and the position measurement of the UE, and the position measurement of the mobile status information of the UE and the UE is transferred to positioning unit, wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile；Positioning unit, for receiving the mobile status information of the UE and the measurement data of the UE from the acquiring unit, and mobile status information and the position measurement of the UE according to the UE obtains the correction position of the UE.6th, location equipment according to claim 5, it is characterised in that the acquiring unit, including： Sending module, for sending configured information to the UE, the configured information is used to indicate that the UE records the mobile status information of the UE；Receiving module, the mobile status information for receiving the UE that the UE is sent.7th, a kind of user equipment (UE), it is characterised in that including：Acquiring unit, the mobile status information for obtaining the UE；Transmitting element, mobile status information for sending from the UE to network management device, to cause the network management device to obtain the correction position coordinate of the UE according to the position measurement of the mobile status information of the UE and the UE of network management device acquisition；Wherein, the mobile status information of the UE is to indicate that the UE is high-speed mobile, middling speed movement or general mobile.8th, user equipment (UE) according to claim 7, it is characterised in that the UE also includes：Receiving unit, for receiving the configured information that the network management device is sent, the configured information is used to indicate that the UE records the mobile status information of the UE.9th, a kind of alignment system, it is characterised in that including：The user equipment (UE) described in location equipment and claim 7 or 8 described in claim 5 or 6.
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