CN105026950B

CN105026950B - Method, location-server and the terminal of terminal positioning

Info

Publication number: CN105026950B
Application number: CN201380033499.XA
Authority: CN
Inventors: 刘劲楠
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2013-11-29
Filing date: 2013-11-29
Publication date: 2018-05-29
Anticipated expiration: 2033-11-29
Also published as: WO2015078000A1; CN105026950A

Abstract

The invention discloses a kind of method of terminal positioning, location-server and terminals.This method includes：N number of first direction of arrival of terminal measurement is received, the first direction of arrival is that the angle of front direction is worked as in the direction of downlink signal incoming terminal compared with terminal, and N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；According to the location information of N number of first direction of arrival and N number of transfer point, the position of terminal is determined.The embodiment of the present invention can utilize the direction of arrival of terminal measurement and the location information of corresponding transfer point to realize terminal positioning, without terminal simultaneously to multiple transmission point send uplink signal, thus avoid due to transfer point does not receive uplink signal and cause positioning failure the problem of.While can realize terminal positioning, there is higher positional accuracy.

Description

Method, location-server and the terminal of terminal positioning

Technical field

The present invention relates to the communications field, and more particularly, to a kind of method of terminal positioning, location-server and end End.

Background technology

The explosive growth of intelligent terminal has triggered terminal positioning demand and the rapid growth based on location information service. Current intelligent terminal, for example, the notebook of network, tablet computer, mobile phone, smartwatch etc. are wirelessly accessed, it can To integrate GPS (Global Positioning System, global positioning system) module, cellular communication module, WiFi (Wireless Fidelity, Wireless Fidelity) communication module.Therefore, terminal can be based on GNSS (Global Navigation Satellite System, satellite system) or Cellular Networks realization positioning, it is fixed to be realized by the location technology of WiFi network Position.

In current location technology, location-server request base station carries out the direction of arrival measurement of terminal, and base station is to terminal Direction of arrival measures, and then location-server realizes terminal according to the direction of arrival of base station measurement and the location information of base station Positioning., it is necessary to which terminal sends uplink signal to two base stations (for example, serving BS and neighbor base stations) in the location technology, Since the transmission power of terminal is limited, there is usually one base station (serving BSs) can receive stronger uplink signal.So as to Neighbor base stations possibly can not measure the direction of arrival of the terminal, thus can not realize positioning.

The content of the invention

An embodiment of the present invention provides a kind of method of terminal positioning, location-server and terminals, can realize terminal While positioning, there is higher positional accuracy.

In a first aspect, an embodiment of the present invention provides a kind of method of terminal positioning, including：Receive the N number of of terminal measurement First direction of arrival, the first direction of arrival be downlink signal incoming terminal direction compared with terminal work as front direction angle, N number of first Direction of arrival is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；According to N number of first direction of arrival and N number of biography The location information of defeated point determines the position of terminal.

With reference to first aspect, in the first realization method of first aspect, according to N number of first direction of arrival and N number of transmission The location information of point determines the position of terminal, including：It determines the differential seat angle of N number of first direction of arrival between any two, obtains N (N- 1)/2 differential seat angle, wherein, N is the integer more than 2；According to N (N-1)/2 differential seat angle and the location information of N number of transfer point, really Determine the position of terminal.

With reference to first aspect and its above-mentioned realization method, in second of realization method of first aspect, according to N (N-1)/ The location information of 2 differential seat angles and N number of transfer point determines the position of terminal, including：According to N (N-1)/2 differential seat angle and N number of The location information of transfer point determines that N (N-1)/2 round central coordinate of circle and radius and N (N-1)/2 are justified between any two Circle center distance；According to central coordinate of circle, radius and circle center distance, based on Helen's theorem, determine N (N-1)/2 circle between any two Intersection point；According to intersection point, the position of terminal is determined.

With reference to first aspect and its above-mentioned realization method, in the third realization method of first aspect, according to N (N-1)/ The location information of 2 differential seat angles and N number of transfer point determines the position of terminal, including：According to N (N-1)/2 differential seat angle and N number of The location information of transfer point determines N (N-1)/2 circle；According to N (N-1)/2 round central coordinate of circle and radius, linear side is established Journey determines the position of terminal based on least square method.

With reference to first aspect and its above-mentioned realization method, in the 4th kind of realization method of first aspect, N is equal to 2, the party Method further includes：The second direction of arrival of the terminal of first transmission point measurement is received, first transmission point is one in N number of transfer point, Second direction of arrival is that uplink signal reaches the direction of transfer point compared with the angle of direct north；According to N number of first direction of arrival and N The location information of a transfer point determines the position of terminal, including：According to N number of first direction of arrival differential seat angle between any two, N number of The location information of transfer point and the second direction of arrival determine the position of terminal.

With reference to first aspect and its above-mentioned realization method, in the four or five kind of realization method of first aspect, according to N number of The location information of first direction of arrival and N number of transfer point, after the position for determining terminal, method further includes：It is reached according to N number of first wave The position of at least one first direction of arrival and terminal in angle, determines angle of the current direction of terminal compared with direct north.

With reference to first aspect and its above-mentioned realization method, in the 6th kind of realization method of first aspect, terminal is being received Before N number of first direction of arrival of measurement, further include：The antenna array ability information that terminal is sent is received, antenna array ability information is used Can measure direction of arrival and terminal in instruction terminal can carry out the frequency range of direction of arrival measurement.

Second aspect, an embodiment of the present invention provides a kind of method of terminal positioning, including：Receive N number of downlink signal, N A downlink signal is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；According to N number of downlink signal, difference N number of first direction of arrival is measured, the first direction of arrival is that the angle of front direction is worked as in the direction of downlink signal incoming terminal compared with terminal； N number of first direction of arrival is sent to location-server.

With reference to second aspect and its above-mentioned realization method, in the first realization method of second aspect, N number of downlink signal Sequence is different or the frequency of N number of downlink signal is different or N number of downlink signal is that transfer point is sent in different time.

With reference to second aspect and its above-mentioned realization method, in second of realization method of second aspect, this method is also wrapped It includes：To location-server transmission antenna battle array ability information, antenna array ability information, which is used to indicate terminal and whether can measure ripple, to be reached Angle and terminal can carry out the frequency range of direction of arrival measurement.

The third aspect, an embodiment of the present invention provides a kind of location-server, including：Receiving unit, for receiving terminal N number of first direction of arrival of measurement, the first direction of arrival are that the folder of front direction is worked as in the direction of downlink signal incoming terminal compared with terminal Angle, N number of first direction of arrival are corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；Determination unit, for root According to the location information of N number of first direction of arrival and N number of transfer point, the position of terminal is determined.

With reference to the third aspect, in the first realization method of the third aspect, determination unit is specifically used for, and determines N number of The differential seat angle of one direction of arrival between any two obtains N (N-1)/2 differential seat angle, wherein, N is the integer more than 2；According to N (N-1)/ The location information of 2 differential seat angles and N number of transfer point determines the position of terminal.

With reference to the third aspect and its above-mentioned realization method, in second of realization method of the third aspect, determination unit tool Body is used for, according to N (N-1)/2 differential seat angle and the location information of N number of transfer point, determine N (N-1)/2 round central coordinate of circle and The circle center distance of radius and N (N-1)/2 circle between any two；According to central coordinate of circle, radius and circle center distance, based on Helen Theorem determines the intersection point of N (N-1)/2 circle between any two；According to intersection point, the position of terminal is determined.

With reference to the third aspect and its above-mentioned realization method, in the third realization method of the third aspect, determination unit tool Body is used for, and according to N (N-1)/2 differential seat angle and the location information of N number of transfer point, determines N (N-1)/2 circle；According to N (N-1)/ 2 round central coordinate of circle and radius, are established linear equation, the position of terminal are determined based on least square method.

With reference to the third aspect and its above-mentioned realization method, in the 4th kind of realization method of the third aspect, N is equal to 2, receives Unit is additionally operable to, and receives the second direction of arrival of the terminal of first transmission point measurement, first transmission point is one in N number of transfer point A, the second direction of arrival is that uplink signal reaches the direction of transfer point compared with the angle of direct north；Determination unit is specifically used for, According to N number of first direction of arrival differential seat angle between any two, the location information and the second direction of arrival of N number of transfer point, terminal is determined Position.

With reference to the third aspect and its above-mentioned realization method, in the 5th kind of realization method of the third aspect, determination unit is also For the position of at least one first direction of arrival and terminal in N number of first direction of arrival to determine the current direction phase of terminal For the angle of direct north.

With reference to the third aspect and its above-mentioned realization method, in the 6th kind of realization method of the third aspect, receiving unit is also For, receive terminal send antenna array ability information, antenna array ability information be used to indicate terminal can measure direction of arrival with And terminal can carry out the frequency range of direction of arrival measurement.

Fourth aspect, an embodiment of the present invention provides a kind of terminal, including：Receiving unit, for receiving N number of downlink letter Number, N number of downlink signal is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；Determination unit, for basis N number of downlink signal, measures N number of first direction of arrival respectively, and the first direction of arrival is the direction of downlink signal incoming terminal compared with end End is when the angle of front direction；Transmitting element, for sending N number of first direction of arrival to location-server.

With reference to fourth aspect, in the first realization method of fourth aspect, the sequence of N number of downlink signal is different or N number of The frequency difference of downlink signal or N number of downlink signal are that transfer point is sent in different time.

With reference to fourth aspect and its above-mentioned realization method, in second of realization method of fourth aspect, transmitting element is also For to location-server transmission antenna battle array ability information, antenna array ability information, which is used to indicate terminal, can to measure direction of arrival And terminal can carry out the frequency range of direction of arrival measurement.

Based on above-mentioned technical proposal, the embodiment of the present invention can utilize the direction of arrival of terminal measurement and the position of corresponding transfer point Information realization terminal positioning is put, uplink signal is sent to multiple transmission point simultaneously without terminal, thus is avoided due to passing Not the problem of defeated point does not receive uplink signal and causes positioning failure.While can realize terminal positioning, have and higher determine Level exactness.

Description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, it will make below to required in the embodiment of the present invention Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings Attached drawing.

Fig. 1 is the schematic flow chart of the method for the terminal positioning of one embodiment of the invention.

Fig. 2 is that the location information according to differential seat angle and transfer point of the embodiment of the present invention determines round schematic diagram.

Fig. 3 is the schematic diagram for determining two round intersection points of the embodiment of the present invention.

Fig. 4 is the schematic flow chart of the method for the terminal positioning of another embodiment of the present invention.

Fig. 5 is the schematic block diagram of the location-server of one embodiment of the invention.

Fig. 6 is the schematic block diagram of the terminal of one embodiment of the invention.

Fig. 7 is the schematic block diagram of the location-server of another embodiment of the present invention.

Fig. 8 is the schematic block diagram of the terminal of another embodiment of the present invention.

Specific embodiment

Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is the part of the embodiment rather than whole embodiments of the present invention.Based on this hair Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of creative work is not made Example is applied, should all belong to the scope of protection of the invention.

It is to be understood that the technical solution of the embodiment of the present invention can be applied to various communication systems, such as：Global system for mobile telecommunications (Global System of Mobile communication, referred to as " GSM ") system, CDMA (Code Division Multiple Access, referred to as " CDMA ") system, wideband code division multiple access (Wideband Code Division Multiple Access, referred to as " WCDMA ") system, General Packet Radio Service (General Packet Radio Service, referred to as " GPRS "), Long Term Evolution (Long Term Evolution, referred to as " LTE ") system, LTE Frequency division duplex (Frequency Division Duplex, referred to as " FDD ") system, LTE time division duplexs (Time Division Duplex, referred to as " TDD "), Universal Mobile Communication System (Universal Mobile Telecommunication System, referred to as " UMTS "), global interconnection inserting of microwave (Worldwide Interoperability for Microwave Access, referred to as " WiMAX ") communication system etc..

It should also be understood that in embodiments of the present invention, terminal (Terminal) can be referred to as user equipment (User Equipment, referred to as " UE "), mobile station (Mobile Station, referred to as " MS "), mobile terminal (Mobile Terminal) etc., the terminal can through wireless access network (Radio Access Network, referred to as " RAN ") with one or Multiple cores net communicates, for example, terminal can be mobile phone (or being " honeycomb " phone), the meter with mobile terminal Calculation machine etc., for example, terminal can also be portable, pocket, hand-held, built-in computer or vehicle-mounted mobile device, They exchange voice and/or data with wireless access network.

In embodiments of the present invention, transfer point can be base station, for example, the base station (Base in GSM or CDMA Transceiver Station, referred to as " BTS "), the base station (NodeB, referred to as " NB ") in WCDMA, the evolution in LTE A variety of transmission under type base station (Evolutional Node B, referred to as " ENB or e-NodeB ") or isomery scene Point, such as macro base station (Macro BS), micro-base station (Micro BS), femto base station (Femto BS), cell (Small cell). The present invention does not limit.But for convenience of description, following embodiments will be illustrated by taking transfer point and terminal as an example.

Fig. 1 is the schematic flow chart of the method for the terminal positioning of one embodiment of the invention.The method 100 of Fig. 1 can be with It is realized by location-server.The method 100 of Fig. 1 includes：

110, N number of first direction of arrival of terminal measurement is received, the first direction of arrival is the direction phase of downlink signal incoming terminal Work as the angle of front direction for terminal, N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is more than or equal to 2 Integer.

120, according to the location information of N number of first direction of arrival and N number of transfer point, determine the position of terminal.

It is to be understood that the first direction of arrival can be the direction of downlink signal incoming terminal compared with when the folder counterclockwise of front direction Angle or angle clockwise.Location-server can obtain the location information of N number of transfer point in advance, such as be obtained in initial phase The location information of N number of transfer point.

It should also be understood that the one-to-one relationship of N number of first direction of arrival and N number of transfer point can be asked according to location-server The order that terminal-pair transfer point carries out direction of arrival measurement determines, distinguishes in N number of first direction of arrival that can also be reported according to terminal The transmission point identification of carrying determines.

It should also be understood that location-server can send Location Request to terminal, in order to which terminal measures the first direction of arrival, Terminal positioning flow can be started after the first direction of arrival that terminal reports automatically is received.

Optionally, as one embodiment, in the step 120, in the position according to N number of first direction of arrival and N number of transfer point Confidence ceases, when determining the position of terminal, it may be determined that the differential seat angle of N number of first direction of arrival between any two obtains N (N-1)/2 Differential seat angle, wherein, N is the integer more than 2.Then, according to N (N-1)/2 differential seat angle and the location information of N number of transfer point, really Determine the position of terminal.

Optionally, as another embodiment, in the location information according to N (N-1)/2 differential seat angle and N number of transfer point, really When determining the position of terminal, according to N (N-1)/2 differential seat angle and the location information of N number of transfer point, N (N-1)/2 round circle is determined Heart coordinate and radius and N (N-1)/2 circle center distance of circle between any two.Then, according to central coordinate of circle, radius and the center of circle Distance based on Helen's theorem, determines the intersection point of N (N-1)/2 circle between any two.Finally, according to intersection point, the position of terminal is determined It puts.

If for example, the first direction of arrival for downlink signal incoming terminal direction compared with when the folder counterclockwise of front direction Angle, at this moment, 2 the first direction of arrival ∠ AOA_iWith ∠ AOA_jDifferential seat angle ∠ IPJ are：∠ IPJ=∠ AOA_i-∠AOA_j.In first wave Up to angle for downlink signal incoming terminal direction compared in the case of the angle clockwise of front direction, the definite side of differential seat angle Method is similarly.

The embodiment of the present invention is described in detail below in conjunction with specific example.It should be noted that these examples are intended merely to help Those skilled in the art more fully understand the embodiment of the present invention, the scope for the embodiment that is not intended to limit the present invention.

Fig. 2 is that the location information according to differential seat angle and transfer point of the embodiment of the present invention determines round schematic diagram.Such as Fig. 2 institutes Show, from circle theorem, the position of point I and point J are fixed, such as fruit dot P (corresponding to terminal) to point I (corresponding to a transfer point) Angle ∠ IPJ between point J (corresponding to a transfer point) are fixed, then the track of P is circular arc.The corresponding string IJ of circular arc will Circle is divided into two parts, and circular arc length is known as major arc, the short referred to as minor arc of circular arc.In embodiments of the present invention, ∠ IPJ correspond to the The differential seat angle of one direction of arrival between any two.If ∠ IPJ are defined as always, triangle angle that point P chords IJ is determined, it may appear that Fuzzy problem as shown in Figure 2 namely terminal can be on two circles of string IJ mirror symmetries, such as point P and point P ', this can increase Add the computation complexity of definite terminal actual position.

To eliminate this ambiguity, by the first direction of arrival unified definition for downlink signal incoming terminal direction compared with Terminal works as the angle counterclockwise of front direction, and correspondingly, the first direction of arrival has shared initial line two-by-two, differential seat angle definition between any two The value of angle between anticlockwise two other side.

By the method for foregoing elimination ambiguity, the round center of circle in terminal location track place can be uniquely determined, In Fig. 2, as ∠ IPJ<90 °, then it represents that the circular arc portion of solid line is terminal location track in figure.And at this moment mirror image P's ' and I, J-shaped into angle, ∠ IP ' J=n*360 °-∠ IPJ will not generate fuzzy, and n is integer.

In this case, according to point I (x_i,y_i) and point J (x_j,y_j) definite central coordinate of circle (x_ij,y_ij) and radius R_ij Respectively：

x_ij=(x_i+x_j)/2-(y_i-y_j)/(2·tan(∠IPJ)) (1)

y_ij=(y_i+y_j)/2+(x_i-x_j)/(2·tan(∠IPJ)) (2)

In this way, can N (N-1)/2 be determined according to N (N-1)/2 differential seat angle and the location information of N number of transfer point respectively Round central coordinate of circle and radius.

Fig. 3 is the schematic diagram for determining two round intersection points of the embodiment of the present invention.In order to solve terminal location, at least need The differential seat angle of the transfer point of 3 known locations and the direction of arrival of this 3 transfer points between any two.

For the circle determined according to differential seat angle, at least one intersection point between each two is justified, and the intersection point of one of them Coordinate is the transfer point that two differential seat angles share.Hence, it can be determined that two-by-two justify between intersection point non-common transfer point only Unique intersection point of one intersection point or transfer point without non-common.In this way, further, in being justified according to N (N-1)/2 two-by-two Between intersection point, finally can determine unique intersection point of the transfer point of multiple non-common, take position of the arithmetic mean of instantaneous value as terminal It puts.Round C is determined according to the differential seat angle between the 1st transfer point and the 2nd transfer point₁(x₂₁,y₂₁), according to the 3rd transfer point and Differential seat angle between 2nd transfer point determines round C₂(x₃₂,y₃₂), it is assumed that circle C₁Radius be R₂₁, circle C₂Radius be R₃₂.Such as figure Shown in 3, then justify C₁With circle C₂At least one intersection point, and one of intersection point is the 2nd transfer point, and coordinate is (x₂, y₂)。

Circle C is first determined according to formula (4)₁With circle C₂Between circle center distance L₁₂：

Circle C is determined further according to formula (5) or (6)₁With circle C₂Between circle center line connecting and x-axis (shown in dotted line) angle The sine and cosine value of γ：

Sin (γ)=(y₃₂-y₂₁)/L₁₂ (5)

Cos (γ)=(x₃₂-x₂₁)/L₁₂ (6)

Then, the intersection I S between two circles is determined according to formula (7) and (8)₁And IS₂Distance 2h：

S=(R₂₁+R₃₂+L₁₂)/2 (7)

2h=4sqrt (s (s-R₂₁)·(s-R₃₂)·(s-L₁₂))/L₁₂ (8)

Finally, according to formula (9) and (10) and known shared anchor point (x₂,y₂), determine another intersection point (x₁,y₁) Position：

x₁=x₂+2·h·sin(γ) (9)

y₁=y₂-2·h·cos(γ) (10)

Wherein, (8) are determined according to following derivation：

Two intersection I S₁And IS₂Line and two center of circle C₁And C₂Line be mutually perpendicular to, two center of circle C₁And C₂Line with The angle γ of x-axis, according to Helen's theorem area formula

It can derive formula (8),

In the case of 3 transfer points, the value (x that is calculated by previous step₁,y₁) be terminal position.

If more than 3 transfer points, after determining the intersection point between justifying two-by-two, can arithmetic be carried out with antinode coordinate and put down , using arithmetic mean of instantaneous value as the position of terminal.

Optionally, as another embodiment, in the location information according to N (N-1)/2 differential seat angle and N number of transfer point, really When determining the position of terminal, according to N (N-1)/2 differential seat angle and the location information of N number of transfer point, N (N-1)/2 circle is determined.So Afterwards, according to N (N-1)/2 round central coordinate of circle and radius, linear equation is established, the position of terminal is determined based on least square method It puts.

Position (x, y) and square r of terminal to the distance of origin (0,0) based on terminal²Construct unknown quantity [x, y, r²]^T, Linear equation is established according to N (N-1)/2 round center of circle and radius, [x, y, r are solved based on least square method²]^T.A matrixes have N (N-1)/2 row, 3 row, b column vectors have N (N-1)/2 row.Here continue to continue to use the describing mode of pair radius above and central coordinate of circle. Establish linear equation (12)：

In the case where N number of transfer point is used to be positioned, A and b can be write as general formula：

Wherein, linear equation (12) is established process and can be carried out in accordance with the following steps：

First, it is assumed that the center of circle is (x_ij,y_ij), then the equation expression formula (13) of the circle can be as follows,

EXPANSION EQUATION FOR STEEL (13) can obtain equation (14),

Wherein, i, j ∈ [1,2 ..., N], i ≠ j.Similarly, according to the location information of N number of transfer point and N (N-1)/2 Differential seat angle can determine altogether N (N-1)/2 circle.

Illustrate that at this moment the expression formula of A and b is as follows with the situation concrete example of 3 transfer points,

In the case of 3 transfer points, it may be determined that 3 circles, therefore 3 equations can be obtained, equation (15), (16) and (17)：

Then, linear equation (18) can determine according to formula (15), (16) and (17)：

Finally, above-mentioned linear equation (12) can be determined according to linear equation (18).

Optionally, as another embodiment, if N is equal to 2, location-server can receive the terminal of first transmission point measurement The second direction of arrival, first transmission point is one in N number of transfer point, the second direction of arrival be uplink signal reach transfer point side To the angle compared with direct north.In this case, in the location information according to N number of first direction of arrival and N number of transfer point, When determining the position of terminal, location-server can be according to the differential seat angle of N number of first direction of arrival between any two, N number of transfer point Location information and the second direction of arrival determine the position of terminal.

For example, the position coordinates of first transmission point is (0,0), the position coordinates of second transmission point is (0, L).

Uplink signal reaches the second direction of arrival of first transmission point as α, the downlink reference signal of second transmission point and first The direction of arrival difference of the downlink reference signal incoming terminal of transfer point is θ.The seat of terminal can be determined according to formula (19) and (20) It marks (x, y)：

X=-Lsin (α) sin (α+θ)/sin (θ) (19)

Y=Lcos (α) sin (α+θ)/sin (θ) (20)

Optionally, as another embodiment, location-server can also be according at least one in N number of first direction of arrival The position of one direction of arrival and terminal determines angle of the current direction of terminal compared with direct north.

For example, the terminal and first transmission can be determined by the location information of terminal and the location information of first transmission point The line of point and the angle α of direct north, and combine the first direction of arrival ∠ AOA measured above_i, terminal can be obtained and worked as Preceding direction is α-∠ AOA compared with the angle of direct north_i。

In this way, location-server while terminal positioning is realized, may further determine that the current direction of terminal, to need Determine that terminal provides solution when the application scenarios of front direction.

Optionally, as another embodiment, location-server can also receive the antenna array ability information of terminal transmission, day Linear array ability information is used to indicate the frequency range that terminal can measure direction of arrival and terminal can carry out direction of arrival measurement.

Antenna size and related with the wavelength of the Antenna Operation frequency range, when antenna is operated in higher frequency band, antenna size It can be made small, at this moment terminal can have the ability in high band measurement direction of arrival.For example, the working frequency range of antenna array is Millimeter wave frequency band 30GHz-300GHz, at this moment the antenna array volume of one 16 (4x4) array element can accomplish 2cm*2cm sizes.This The antenna array volume of sample is adapted to mobile terminal, such as the demand of smart mobile phone.

Fig. 4 is the schematic flow chart of the method for the terminal positioning of another embodiment of the present invention.The method 400 of Fig. 4 can be with It is realized by terminal.The method 400 of Fig. 4 includes：

410, receive N number of downlink signal, N number of downlink signal is corresponded in N number of transfer point, wherein, N be more than or equal to 2 integer.

420, according to N number of downlink signal, N number of first direction of arrival is measured respectively, and the first direction of arrival is that downlink signal reaches eventually Work as the angle of front direction compared with terminal in the direction at end.

430, send N number of first direction of arrival to location-server.

It is to be understood that the first direction of arrival can be the direction of downlink signal incoming terminal compared with when the folder counterclockwise of front direction Angle or angle clockwise.

It should also be understood that terminal can measure the first direction of arrival after the Location Request of location-server transmission is received, Can also from trend location-server reporting measurement to the first direction of arrival, so as to location-server start terminal positioning flow.

Optionally, as one embodiment, the sequence difference of N number of downlink signal or the frequency of N number of downlink signal are different, Or N number of downlink signal is that transfer point is sent in different time.

For example, different transfer points sends downlink reference signal by the way of code point.Terminal is joined based on known downlink It examines signal and carries out arrival angular measurement, downlink reference signal has cell CRS (Cell specific Reference in LTE system Signal, specific reference signal), PRS (Positioning Reference signal, location reference signals), PSS (Primary Synchronization Signal, primary synchronization signal) and SSS (Secondary Synchronization Signal, secondary synchronization signal).Accordingly even when it is with frequency, terminal can also be distinguished by the different corresponding codes of reference signal Different transfer points.

In this way, the direction of arrival of downlink reference signal will not be measured because of terminal, additional burden is introduced to system.It is but multiple The downlink reference signal having had with current system.

Alternatively, different transfer points, occupies different time resources and sends downlink signal.At this moment when terminal only needs to know Between correspondence with transfer point, can downlink signal and transfer point be determined using the method for blind signal detection direction of arrival Correspondence.

Again alternatively, different transfer points, occupies different frequency resources and send downlink signal.At this moment terminal only needs to know The correspondence of frequency resource and transfer point can determine downlink signal with passing using the method for blind signal detection angle of arrival The correspondence of defeated point.

Optionally, as another embodiment, terminal can also be to location-server transmission antenna battle array ability information, antenna array Ability information is used to indicate the frequency range that terminal can measure direction of arrival and terminal can carry out direction of arrival measurement.

Fig. 5 is the schematic block diagram of the location-server of one embodiment of the invention.The location-server 50 of Fig. 3 includes connecing Receive unit 501 and determination unit 502.

Receiving unit 501, for receiving N number of first direction of arrival of terminal measurement, the first direction of arrival is that downlink signal reaches The angle of front direction is worked as in the direction of terminal compared with terminal, and N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is Integer more than or equal to 2；

Determination unit 502 for the location information according to N number of first direction of arrival and N number of transfer point, determines the position of terminal It puts.

Optionally, as one embodiment, determination unit 502 is specifically used for, and determines N number of first direction of arrival between any two Differential seat angle obtains N (N-1)/2 differential seat angle, wherein, N is the integer more than 2；According to N (N-1)/2 differential seat angle and N number of transmission The location information of point determines the position of terminal.

Optionally, as another embodiment, determination unit 502 is specifically used for, according to N (N-1)/2 differential seat angle and N number of biography The location information of defeated point determines N (N-1)/2 round central coordinate of circle and radius and N (N-1)/2 circle of circle between any two Heart distance.Then, according to central coordinate of circle, radius and circle center distance, based on Helen's theorem, N (N-1)/2 circle is determined between any two Intersection point.Finally, according to intersection point, the position of terminal is determined.

Optionally, as one embodiment, determination unit 502 is specifically used for, according to N (N-1)/2 differential seat angle and N number of biography The location information of defeated point determines N (N-1)/2 circle.Then, according to N (N-1)/2 round central coordinate of circle and radius, line is established Property equation determines the position of terminal based on least square method.

Optionally, as another embodiment, if N is equal to 2, receiving unit 501 is additionally operable to, and receives first transmission point measurement Second direction of arrival of terminal, first transmission point are one in N number of transfer point, and the second direction of arrival is that uplink signal reaches transfer point Direction compared with direct north angle.Determination unit 502 is specifically used for, according to the angle of N number of first direction of arrival between any two The location information and the second direction of arrival of poor, N number of transfer point are spent, determines the position of terminal.

Optionally, as another embodiment, determination unit 502 is additionally operable to, at least one in N number of first direction of arrival The position of first direction of arrival and terminal determines angle of the current direction of terminal compared with direct north.

Optionally, as another embodiment, receiving unit 501 is additionally operable to, and receives the antenna array ability information that terminal is sent, Antenna array ability information is used to indicate the frequency range that terminal can measure direction of arrival and terminal can carry out direction of arrival measurement.

Fig. 6 is the schematic block diagram of the terminal of one embodiment of the invention.The terminal 60 of Fig. 4 include receiving unit 601, really Order member 602 and transmitting element 603.

Receiving unit 601, for receiving N number of downlink signal, N number of downlink signal is corresponded in N number of transfer point, wherein, N To be greater than or equal to 2 integer.

Determination unit 602, for according to N number of downlink signal, N number of first direction of arrival being measured respectively, under the first direction of arrival is Work as the angle of front direction compared with terminal in the direction of row signal incoming terminal.

Transmitting element 603, for sending N number of first direction of arrival to location-server.

Optionally, as one embodiment, transmitting element 603 is additionally operable to, and is believed to location-server transmission antenna battle array ability Breath, antenna array ability information are used to indicate the frequency range that terminal can measure direction of arrival and terminal can carry out direction of arrival measurement.

The location-server 70 of Fig. 7 can be used for realizing each step and method in above method embodiment.The embodiment of Fig. 7 In, location-server 70 includes radiating circuit 702, receiving circuit 703, processing unit 704, memory 705 and antenna 701.Place The operation that unit 704 controls location-server 70 is managed, and can be used for handling signal.Processing unit 704 can also be known as CPU (Central Processing Unit, central processing unit).Memory 705 can include read-only memory and arbitrary access Memory, and provide instruction and data to processor 604.The a part of of memory 705 can also at random deposit including non-volatile row Access to memory (NVRAM).In specific application, location-server 70 can be embedded in or itself can be exactly such as mobile phone Etc wireless telecom equipment.Radiating circuit 702 and receiving circuit 703 may be coupled to antenna 701.Location-server 70 it is each A component is coupled by bus system 709, and wherein bus system 709 further includes power supply in addition to including data/address bus Bus, controlling bus and status signal bus in addition.But for the sake of clear explanation, various buses are all designated as total linear system in figure System 709.

Specifically, memory 705 can be stored so that processing unit 704 performs the instruction operated below：

Receive terminal measurement N number of first direction of arrival, the first direction of arrival be downlink signal incoming terminal direction compared with Terminal works as the angle of front direction, and N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is whole more than or equal to 2 Number；According to the location information of N number of first direction of arrival and N number of transfer point, the position of terminal is determined.

Specifically, memory 705 can be also stored so that processing unit 704 performs the instruction operated below：

In the location information according to N number of first direction of arrival and N number of transfer point, when determining the position of terminal, N number of first is determined The differential seat angle of direction of arrival between any two obtains N (N-1)/2 differential seat angle, wherein, N is the integer more than 2；According to N (N-1)/2 The location information of a differential seat angle and N number of transfer point determines the position of terminal.

In the location information according to N (N-1)/2 differential seat angle and N number of transfer point, when determining the position of terminal, according to N (N- 1)/2 differential seat angle and the location information of N number of transfer point determine N (N-1)/2 round central coordinate of circle and radius and N (N- 1)/2 circle center distance of circle between any two；According to central coordinate of circle, radius and circle center distance, based on Helen's theorem, N (N- are determined 1)/2 intersection point of circle between any two；According to intersection point, the position of terminal is determined.

In the location information according to N (N-1)/2 differential seat angle and N number of transfer point, when determining the position of terminal, according to N (N- 1)/2 differential seat angle and the location information of N number of transfer point determine N (N-1)/2 circle；According to N (N-1)/2 round central coordinate of circle And radius, linear equation is established, the position of terminal is determined based on least square method.

If N is equal to 2, the second direction of arrival of the terminal of first transmission point measurement is received, first transmission point is in N number of transfer point One, the second direction of arrival be uplink signal reach transfer point direction compared with direct north angle；According to N number of first The location information of direction of arrival and N number of transfer point, when determining the position of terminal, according to the angle of N number of first direction of arrival between any two The location information and the second direction of arrival of poor, N number of transfer point determine the position of terminal.

Specifically, memory 705 can be also stored so that processing unit 704 performs the instruction operated below：According to N number of The location information of one direction of arrival and N number of transfer point, after the position for determining terminal, according at least one in N number of first direction of arrival The position of a first direction of arrival and terminal determines angle of the current direction of terminal compared with direct north.

Specifically, memory 705 can be also stored so that processing unit 704 performs the instruction operated below：Receiving terminal Before N number of first direction of arrival of measurement, the antenna array ability information that terminal is sent is received, antenna array ability information is used to indicate end End, which can measure direction of arrival and terminal, can carry out the frequency range of direction of arrival measurement.

The terminal 80 of Fig. 8 can be used for realizing each step and method in above method embodiment.In the embodiment of Fig. 8, terminal 80 include radiating circuit 802, receiving circuit 803, processing unit 804, memory 805 and antenna 801.Processing unit 804 controls The operation of terminal 80, and can be used for handling signal.Processing unit 804 can also be known as CPU (Central Processing Unit, central processing unit).Memory 805 can include read-only memory and random access memory, and to processor 804 Instruction and data is provided.The a part of of memory 805 can also include non-volatile row random access memory (NVRAM).Specifically Application in, terminal 80 can be embedded in or itself can be exactly such as mobile phone etc wireless telecom equipment.Transmitting electricity Road 802 and receiving circuit 803 may be coupled to antenna 801.The various components of terminal 80 are coupling in one by bus system 809 It rises, wherein bus system 809 further includes power bus, controlling bus and status signal bus in addition in addition to including data/address bus.But It is for the sake of clear explanation, various buses is all designated as bus system 809 in figure.

Specifically, memory 805 can be stored so that processing unit 804 performs the instruction operated below：

N number of downlink signal is received, N number of downlink signal is corresponded in N number of transfer point, wherein, N is more than or equal to 2 Integer；According to N number of downlink signal, N number of first direction of arrival is measured respectively, and the first direction of arrival is the direction of downlink signal incoming terminal Work as the angle of front direction compared with terminal；N number of first direction of arrival is sent to location-server.

To location-server transmission antenna battle array ability information, antenna array ability information, which is used to indicate terminal and can measure ripple, to be reached Angle and terminal can carry out the frequency range of direction of arrival measurement.

It is to be understood that in various embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to perform suitable The priority of sequence, the execution sequence of each process should be determined with its function and internal logic, without the implementation of the reply embodiment of the present invention Process forms any restriction.

Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein Member and algorithm steps can be realized with the combination of electronic hardware, computer software or the two, in order to clearly demonstrate hardware With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This A little functions are performed actually with hardware or software mode, specific application and design constraint depending on technical solution.Specially Industry technical staff can realize described function to each specific application using distinct methods, but this realization is not It is considered as beyond the scope of this invention.

It is apparent to those skilled in the art that for convenience of description and succinctly, foregoing description is The specific work process of system, device and unit, may be referred to the corresponding process in preceding method embodiment, details are not described herein.

In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit Division is only a kind of division of logic function, can there is other dividing mode, such as multiple units or component in actual implementation It may be combined or can be integrated into another system or some features can be ignored or does not perform.In addition, shown or beg for The mutual coupling, direct-coupling or communication connection of opinion can be the INDIRECT COUPLING by some interfaces, device or unit Or communication connection or electricity, the connection of mechanical or other forms.

The unit illustrated as separating component may or may not be physically separate, be shown as unit The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple In network element.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs Purpose.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also It is that unit is individually physically present or two or more units integrate in a unit.It is above-mentioned integrated The form that hardware had both may be employed in unit is realized, can also be realized in the form of SFU software functional unit.

If the integrated unit is realized in the form of SFU software functional unit and is independent production marketing or use When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially The part to contribute in other words to the prior art or all or part of the technical solution can be in the form of software products It embodies, which is stored in a storage medium, is used including some instructions so that a computer Equipment (can be personal computer, server or the network equipment etc.) performs the complete of each embodiment the method for the present invention Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.

The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right It is required that protection domain subject to.

Claims

A kind of 1. method of terminal positioning, which is characterized in that including：

Location-server receives N number of first direction of arrival of terminal measurement, and first direction of arrival is downlink signal incoming terminal The angle of front direction is worked as in direction compared with terminal, and N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is big In or equal to 2 integer, first direction of arrival is to measure any one downlink signal in N number of downlink signal by the terminal to obtain It arrives, N number of downlink signal is corresponded with N number of transfer point, and the terminal is when the antenna that front direction is the terminal Battle array direction；

The location-server determines the terminal according to the location information of N number of first direction of arrival and N number of transfer point Position.
2. according to the method described in claim 1, it is characterized in that, the location-server is according to N number of first direction of arrival With the location information of N number of transfer point, the position of the terminal is determined, including：

The location-server determines the differential seat angle of N number of first direction of arrival between any two, obtains N (N-1)/2 differential seat angle, Wherein, N is the integer more than 2；

The location-server determines described according to the N (N-1)/2 differential seat angle and the location information of N number of transfer point The position of terminal.
3. according to the method described in claim 2, it is characterized in that, the location-server is according to the N (N-1)/2 angle The location information of poor and described N number of transfer point determines the position of the terminal, including：

The location-server determines N (N- according to the N (N-1)/2 differential seat angle and the location information of N number of transfer point 1)/2 round central coordinate of circle and radius and N (N-1)/2 circle center distance of circle between any two；

The location-server, based on Helen's theorem, determines institute according to the central coordinate of circle, the radius and the circle center distance State the intersection point of N (N-1)/2 circle between any two；

The location-server determines the position of the terminal according to the intersection point.
4. according to the method described in claim 2, it is characterized in that, the location-server is according to the N (N-1)/2 angle The location information of poor and described N number of transfer point determines the position of the terminal, including：

The location-server determines N (N- according to the N (N-1)/2 differential seat angle and the location information of N number of transfer point 1)/2 circle；

The location-server establishes linear equation, based on minimum according to the N (N-1)/2 round central coordinate of circle and radius Square law determines the position of the terminal.
5. according to the method described in claim 1, it is characterized in that, N is equal to 2, the method further includes：

The location-server receives the second direction of arrival of the terminal of first transmission point measurement, and the first transmission point is institute One in N number of transfer point is stated, second direction of arrival is that uplink signal reaches the direction of transfer point compared with direct north Angle；

The location-server determines the terminal according to the location information of N number of first direction of arrival and N number of transfer point Position, including：

The location-server is believed according to the position of N number of first direction of arrival differential seat angle between any two, N number of transfer point Breath and second direction of arrival determine the position of the terminal.
6. the method according to any one of claims 1 to 5, it is characterized in that, in the location-server according to the N The location information of a first direction of arrival and N number of transfer point, after the position for determining the terminal, the method further includes：

The position of at least one first direction of arrival and the terminal of the location-server in N number of first direction of arrival It puts, determines the current direction of the terminal.
7. the method according to any one of claims 1 to 5, it is characterized in that, receiving terminal in the location-server Before N number of first direction of arrival of measurement, further include：

The location-server receives the antenna array ability information that terminal is sent, and the antenna array ability information is used to indicate described Terminal can measure direction of arrival.
A kind of 8. method of terminal positioning, which is characterized in that including：

N number of downlink signal is received with different antenna array directions respectively, N number of downlink signal is corresponded in N number of transfer point, Wherein, N is the integer more than or equal to 2；

According to each downlink signal in N number of downlink signal, the first direction of arrival of measurement obtains N number of first direction of arrival, described First direction of arrival is that the angle of front direction is worked as in the direction of downlink signal incoming terminal compared with terminal, and the terminal is when front direction The antenna array direction of the terminal；

N number of first direction of arrival is sent to location-server, so that the location-server is according to N number of first direction of arrival The position of the terminal is determined with the location information of N number of transfer point.
9. according to the method described in claim 8, it is characterized in that, the sequence of N number of downlink signal is different or described N number of The frequency difference of downlink signal or N number of downlink signal are that transfer point is sent in different time.
10. method according to claim 8 or claim 9, which is characterized in that the method further includes：

To the location-server transmission antenna battle array ability information, the antenna array ability information is used to indicate terminal and can measure Direction of arrival and terminal can carry out the frequency range of direction of arrival measurement.
11. a kind of location-server, which is characterized in that including：

Receiving unit, for receiving N number of first direction of arrival of terminal measurement, first direction of arrival is downlink signal incoming terminal Direction work as the angle of front direction compared with terminal, N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is Integer more than or equal to 2, first direction of arrival are any one downlink signals measured by the terminal in N number of downlink signal It obtains, N number of downlink signal is corresponded with N number of transfer point, and the terminal is when the day that front direction is the terminal Linear array direction；

Determination unit for the location information according to N number of first direction of arrival and N number of transfer point, determines the terminal Position.
12. location-server according to claim 11, which is characterized in that the determination unit is specifically used for,

It determines the differential seat angle of N number of first direction of arrival between any two, obtains N (N-1)/2 differential seat angle, wherein, N is more than 2 Integer；

According to the N (N-1)/2 differential seat angle and the location information of N number of transfer point, the position of the terminal is determined.
13. location-server according to claim 12, which is characterized in that the determination unit is specifically used for,

According to the N (N-1)/2 differential seat angle and the location information of N number of transfer point, N (N-1)/2 round center of circle is determined Coordinate and radius and N (N-1)/2 circle center distance of circle between any two；According to the central coordinate of circle, the radius and the circle Heart distance based on Helen's theorem, determines the intersection point of the N (N-1)/2 circle between any two；

According to the intersection point, the position of the terminal is determined.
14. location-server according to claim 12, which is characterized in that the determination unit is specifically used for,

According to the N (N-1)/2 differential seat angle and the location information of N number of transfer point, N (N-1)/2 circle is determined；

According to the N (N-1)/2 round central coordinate of circle and radius, linear equation is established, is determined based on least square method described The position of terminal.
15. location-server according to claim 11, which is characterized in that N is equal to 2,

The receiving unit is additionally operable to, and receives the second direction of arrival of the terminal of first transmission point measurement, first transmission Point is one in N number of transfer point, and second direction of arrival is that uplink signal reaches the direction of transfer point compared with due north The angle in direction；

The determination unit is specifically used for, according to N number of first direction of arrival differential seat angle between any two, N number of transfer point Location information and second direction of arrival, determine the position of the terminal.
16. the location-server according to any one of claim 11 to 15, the determination unit is additionally operable to, according to described The position of at least one first direction of arrival and the terminal in N number of first direction of arrival, determines the current direction of the terminal.
17. the location-server according to any one of claim 11 to 15, the receiving unit is additionally operable to, and receives terminal The antenna array ability information of transmission, the antenna array ability information, which is used to indicate the terminal, can measure direction of arrival.
18. a kind of terminal, which is characterized in that including：

Receiving unit, for receiving N number of downlink signal respectively with different antenna array directions, N number of downlink signal one is a pair of Should in N number of transfer point, wherein, N is integer more than or equal to 2；

Determination unit, for each downlink signal in N number of downlink signal, the first direction of arrival of measurement obtains N number of the One direction of arrival, first direction of arrival is that the angle of front direction is worked as in the direction of downlink signal incoming terminal compared with terminal, described Terminal is when the antenna array direction that front direction is the terminal；

Transmitting element, for sending N number of first direction of arrival to location-server, so that the location-server is according to The location information of N number of first direction of arrival and N number of transfer point determines the position of the terminal.
19. terminal according to claim 18, which is characterized in that the sequence difference of N number of downlink signal or the N The frequency difference of a downlink signal or N number of downlink signal are that transfer point is sent in different time.
20. the terminal according to claim 18 or 19, which is characterized in that the transmitting element is additionally operable to, to the positioning Server transmission antenna battle array ability information, the antenna array ability information, which is used to indicate terminal, can measure direction of arrival and terminal It can carry out the frequency range of direction of arrival measurement.