CN107920327B - Positioning method, device and system, positioning signal determination method and terminal - Google Patents
Positioning method, device and system, positioning signal determination method and terminal Download PDFInfo
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- CN107920327B CN107920327B CN201610881944.3A CN201610881944A CN107920327B CN 107920327 B CN107920327 B CN 107920327B CN 201610881944 A CN201610881944 A CN 201610881944A CN 107920327 B CN107920327 B CN 107920327B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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
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Abstract
The invention discloses a positioning method, a positioning device, a positioning system, a positioning signal determining method and a terminal, wherein the positioning method comprises the following steps: acquiring a positioning signal of a terminal to be positioned, wherein the positioning signal comprises: a time parameter; and positioning the terminal to be positioned according to the positioning signal. The invention effectively solves the technical problem of lower positioning precision in the prior art and achieves the technical effect of effectively improving the positioning precision.
Description
Technical Field
The present invention relates to the field of mobile communications, and in particular, to a positioning method, apparatus and system, a positioning signal determining method, and a terminal.
Background
With the continuous development of the GPS (Global Positioning System) Positioning technology, the GPS Positioning technology is widely applied in the fields of medical treatment, industry, public safety, logistics supply, transportation, and the like. Especially in the field of mobile terminals (e.g. mobile phones), the GPS function has become a core functional module.
Currently, wireless positioning generally employs satellites, base stations, and the like to perform terminal positioning, for example, the position of a mobile terminal can be calculated by using a trigonometric formula estimation algorithm according to the distance between the terminal and the base station. However, due to the shielding or reflection of electromagnetic waves by city buildings and the like, estimation errors of the position of the mobile station are easily caused. For wireless positioning, the positioning accuracy depends greatly on the distribution of base stations and the size of the coverage area of the base stations, and sometimes the error exceeds one kilometer, which results in very poor accuracy of the positioning result of the terminal.
An effective solution is not provided at present for how to effectively improve the accuracy of the positioning precision.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a positioning device, a positioning system, a positioning signal determining method and a positioning signal determining terminal, which are used for solving the problem of poor positioning accuracy in the prior art.
To solve the foregoing technical problem, in one aspect, an embodiment of the present invention provides a positioning method, where the method includes:
acquiring a positioning signal of a terminal to be positioned, wherein the positioning signal comprises: a time parameter;
and positioning the terminal to be positioned according to the positioning signal.
Further, positioning the terminal to be positioned according to the positioning signal includes:
substituting the positioning signal into a preset formula, and calculating to obtain the position of the terminal to be positioned;
or, according to the positioning signal, inquiring in a preset positioning signal list database, and taking an inquiry result as the position of the terminal to be positioned.
Further, the time parameters include: the average arrival time difference.
On the other hand, an embodiment of the present invention further provides a method for determining a positioning signal, where the method includes:
the terminal sends a trigger instruction for acquiring the arrival time difference to the base station;
the terminal receives arrival time differences returned by a plurality of base stations;
and the terminal determines the average arrival time difference through the arrival time differences returned by the base stations, and takes the average arrival time difference as a positioning signal.
Further, the determining, by the terminal, an average arrival time difference through the arrival time differences returned by the base stations includes:
the terminal combines the base stations according to a mode that 3 base stations are a group;
determining two arrival time differences corresponding to a group of base stations with the minimum arrival time difference from the combination result;
and taking the two determined arrival time differences as the average arrival time difference.
Further, after the terminal sends a trigger instruction for acquiring the arrival time difference to the base station, and before the terminal receives the arrival time differences returned by the plurality of base stations, the method further includes:
the terminal sends type indication information to a base station, wherein the type indication information is used for indicating the data types supported by the terminal;
the terminal receives the type confirmation information returned by the base station;
correspondingly, the arrival time difference returned by the terminal receiving a plurality of base stations is returned by the plurality of base stations through the data type indicated in the type indication information.
Further, after the terminal determines an average arrival time difference through the arrival time differences returned by the base stations, and uses the average arrival time difference as a positioning signal, the method further includes:
the terminal sends the positioning signal to a positioning device so that the positioning device determines the position of the terminal.
Further, the positioning device is built in the terminal, or the positioning device is provided separately from the terminal.
On the other hand, an embodiment of the present invention further provides a positioning apparatus, including:
the system comprises an acquisition module and a positioning module, wherein the acquisition module is used for acquiring a positioning signal of a terminal to be positioned, and the positioning signal comprises: a time parameter;
and the positioning module is used for positioning the terminal to be positioned according to the positioning signal.
Further, the positioning module comprises:
the first positioning unit is used for substituting the positioning signal into a preset formula and calculating to obtain the position of the terminal to be positioned;
or, the second positioning unit is configured to query in a preset positioning signal list database according to the positioning signal, and use a query result as the position of the terminal to be positioned.
Further, the time parameters include: the average arrival time difference.
On the other hand, an embodiment of the present invention further provides a terminal, where the terminal includes:
the first sending module is used for sending a trigger instruction for acquiring the arrival time difference to the base station;
the first receiving module is used for receiving arrival time differences returned by the base stations;
and the determining module is used for determining the average arrival time difference through the arrival time differences returned by the base stations, and taking the average arrival time difference as a positioning signal.
Further, the determining module comprises:
a combining unit, configured to combine the plurality of base stations in a manner that 3 base stations form a group;
a selecting unit, configured to determine two arrival time differences corresponding to a group of base stations with the smallest arrival time difference from the combination result;
and the determining unit is used for taking the two determined arrival time differences as the average arrival time difference.
Further, the method also comprises the following steps: a second sending module, configured to send type indication information to a base station after sending a trigger instruction for obtaining an arrival time difference to the base station and before receiving arrival time differences returned by multiple base stations, where the type indication information is used to indicate a data type supported by the terminal;
a second receiving module, configured to receive type confirmation information returned by the base station;
and receiving arrival time differences returned by the plurality of base stations, wherein the arrival time differences returned by the plurality of base stations are returned by the plurality of base stations according to the data types indicated in the type indication information.
Further, the method also comprises the following steps: and a third sending module, configured to determine an average arrival time difference according to the arrival time differences returned by the multiple base stations, and send the positioning signal to a positioning device after taking the average arrival time difference as a positioning signal, so that the positioning device determines the position of the terminal.
In another aspect, an embodiment of the present invention further provides a positioning system, where the system includes: the positioning device and the terminal.
Further, the positioning device is located in the terminal, or the positioning device is provided separately from the terminal.
The invention has the following beneficial effects: the terminal is positioned according to the positioning signal including the time parameter of the terminal to be positioned, and the positioning signal is the time parameter information, so that the positioning result is more accurate, the technical problem of lower positioning precision in the prior art is solved, and the technical effect of effectively improving the positioning precision is achieved.
Drawings
FIG. 1 is a flow chart of a method of a positioning method in an embodiment of the present invention;
FIG. 2 is a block diagram of an architecture of a positioning system in an embodiment of the invention;
fig. 3 is another block diagram of the positioning system in the embodiment of the present invention;
FIG. 4 is another method flow diagram of a positioning method in an embodiment of the present invention;
fig. 5 is a schematic flow chart of finally determining the position of the mobile terminal after the positioning device receives the positioning signal according to the embodiment of the present invention.
Detailed Description
In order to solve the technical problem of low accuracy of the wireless positioning technology in the prior art, embodiments of the present invention provide a positioning method, an apparatus and a system, a positioning signal determining method and a terminal, and the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
In this example, a positioning method and a positioning signal determining method are proposed, in which a positioning signal is a signal carrying a time parameter and the existing time difference of arrival (TDOA) method is improved, so that the position of a terminal can be determined with a small error rate.
The terminal may be a mobile terminal, for example: terminal devices such as mobile phones and tablet computers with intelligent modules can also be portable devices, for example: the smart watch and the like can be used as a terminal, and the positioning method provided by the embodiment is applicable.
As shown in fig. 1, in this example, there is provided a positioning method, which may include the steps of:
step 101: acquiring a positioning signal of a terminal to be positioned, wherein the positioning signal comprises: a time parameter;
the time parameter may be an average arrival time difference, and the accuracy of the positioning method by the average arrival time difference is higher than that of the positioning method by the current arrival time difference.
The average time difference of arrival may be obtained as follows, and specifically, the method may include the following steps:
s1, the terminal sends a trigger instruction for obtaining the arrival time difference to the base station;
s2: the terminal receives arrival time differences returned by a plurality of base stations;
s3: the terminal determines an average arrival time difference through arrival time differences returned by a plurality of base stations, and takes the average arrival time difference as a positioning signal, and specifically, the terminal can combine the plurality of base stations in a mode of combining 3 base stations into a group; determining two arrival time differences corresponding to a group of base stations with the minimum arrival time difference from the combination result; and taking the two determined arrival time differences as the average arrival time difference.
That is, the terminal can determine the number of base stations that have received information and store the TDOA value of each time measurement value of each base station, and considering that the accuracy of each TDOA value is very different, a large positioning error may occur if positioning is directly performed based on the TDOA value of a certain base station, and therefore, in this example, N base stations may be arranged and combined to find 3 base stations from the N base stations, and the calculated minimum two TDOA values are assigned to the average time difference of arrival.
Among them, TDOA (time difference of arrival) is the determination of the location of a mobile station by detecting the time difference of arrival of a signal at two base stations, rather than the absolute time of arrival, reducing the time synchronization requirements. Two TDOAs can be measured using three different base stations, and the mobile station is located at the intersection of two hyperbolas determined by the two TDOAs.
After the positioning signal (for example, the average arrival time difference) is determined, the position of the terminal to be positioned may be calculated by substituting the positioning signal into a preset formula, or a piece of positioning signal list data may be preset, after the positioning signal is determined, the query may be directly performed in a preset positioning signal list database according to the positioning signal, and the query result is used as the position of the terminal to be positioned.
Considering that sometimes the terminal does not support all types of data, some data types are supported by the base station side and the terminal side is not supported, in order to solve the problem, the terminal can inform the base station of the data types supported by the base station, so that when the base station returns data to the terminal, the data types supported by the terminal side are selected to return, and the problem of data incompatibility is avoided. In one embodiment, after sending a trigger instruction for acquiring an arrival time difference to a base station, a terminal may send type indication information to the base station before receiving arrival time differences returned by a plurality of base stations, where the type indication information is used to indicate a data type supported by the terminal; the terminal receives the type confirmation information returned by the base station; correspondingly, the arrival time differences returned by the terminal receiving the plurality of base stations are returned by the plurality of base stations through the data types indicated in the type indication information.
For example, the data types supported by the base station are: the type 1, the type 2, the type 3, the type 4 and the type 5, and the terminal only supports the type 1 and the type 2, then after the above data interaction, the base station knows that the terminal only supports the type 1 and the type 2, and when the base station returns data to the terminal, the base station can also return data of the type 1 to the terminal or return data of the type 2.
Step 102: and positioning the terminal to be positioned according to the positioning signal.
That is, after the terminal determines the positioning signal, the terminal may send the positioning signal to the positioning device, so that the positioning device may determine the position of the terminal according to the positioning signal.
In a specific implementation, the positioning device may be built in the terminal, or may be separately configured from the terminal, for example, may be externally connected to the terminal, or may be connected to the terminal in a bluetooth or wireless manner, and the setting may be set on the base station.
Based on the same inventive concept, the embodiment of the present invention further provides a positioning system, as described in the following embodiments. Because the principle of solving the problem of the positioning system is similar to that of the positioning method, the implementation of the positioning system can refer to the implementation of the positioning method, and repeated details are not repeated. As used hereinafter, the term "unit" or "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated. Fig. 2 and 3 are block diagrams of a positioning system according to an embodiment of the present invention, and as shown in fig. 2 and 3, the positioning system may include: terminal and positioner, wherein, the terminal station can include: a first sending module 301, a first receiving module 302 and a determining module 303, the positioning apparatus may include: an acquisition module 201 and a positioning module 202, wherein:
a first sending module 301, configured to send a trigger instruction for obtaining a time difference of arrival to a base station;
a first receiving module 302, configured to receive time differences of arrival returned by multiple base stations;
a determining module 303, configured to determine an average arrival time difference according to the arrival time differences returned by the multiple base stations, and use the average arrival time difference as a positioning signal.
The obtaining module 201 may be configured to obtain a positioning signal of a terminal to be positioned, where the positioning signal includes: a time parameter;
the positioning module 202 may be configured to position the terminal to be positioned according to the positioning signal.
In one embodiment, the positioning module 201 may include: the first positioning unit is used for substituting the positioning signal into a preset formula and calculating to obtain the position of the terminal to be positioned; or, the second positioning unit is configured to query in a preset positioning signal list database according to the positioning signal, and use a query result as the position of the terminal to be positioned.
The time parameter may include: the average arrival time difference.
In one embodiment, the determining module 303 may include: a combining unit, configured to combine the plurality of base stations in a manner that 3 base stations form a group; a selecting unit, configured to determine two arrival time differences corresponding to a group of base stations with the smallest arrival time difference from the combination result; and the determining unit is used for taking the two determined arrival time differences as the average arrival time difference.
In one embodiment, the terminal may further include: a second sending module, configured to send type indication information to a base station after sending a trigger instruction for obtaining an arrival time difference to the base station and before receiving arrival time differences returned by multiple base stations, where the type indication information is used to indicate a data type supported by the terminal; a second receiving module, configured to receive type confirmation information returned by the base station; and receiving arrival time differences returned by the plurality of base stations, wherein the arrival time differences returned by the plurality of base stations are returned by the plurality of base stations according to the data types indicated in the type indication information.
In one embodiment, the terminal may further include: and a third sending module, configured to determine an average arrival time difference according to the arrival time differences returned by the multiple base stations, and send the positioning signal to a positioning device after taking the average arrival time difference as a positioning signal, so that the positioning device determines the position of the terminal.
As shown in fig. 2, the positioning device is located in the terminal, as shown in fig. 3, the positioning device and the terminal are separately arranged, the specific arrangement position of the positioning device can be set according to actual needs, and the specific arrangement position may be set in a hardware manner or a software manner, which is not limited in the present application.
The following describes the above positioning method and positioning system with reference to a specific embodiment, however, it should be noted that this specific embodiment is only for better describing the present invention and should not be construed as a limitation to the present invention.
In this example, a GPS positioning device based on time measurement is provided, which may include the following modules:
1) the mobile terminal comprises an acquisition module, a processing module and a processing module, wherein the acquisition module receives positioning signal confirmation information, and the positioning signal confirmation information is used for determining the time parameter type of the positioning signal which is supported by the mobile terminal to be acquired;
2) the sending module sends positioning signal configuration information and positioning signal confirmation information to the mobile terminal, wherein the positioning signal configuration information is used for representing the time parameter type for measuring the positioning signal, and the positioning signal confirmation information is used for confirming the information of the time parameter type for supporting the acquisition of the positioning signal by the mobile terminal.
3) And a receiving module for receiving location acquisition information sent by the mobile terminal, wherein the location acquisition information is a TDOA value (corresponding to the location signal in the above).
4) And the determining module is used for determining the position information of the mobile terminal according to the positioning acquisition information (namely the time parameter for positioning).
In this case, namely, the terminal is positioned by using the captured time parameter as the positioning signal, the position of the mobile terminal can be determined with a small error rate, and the accuracy of positioning the mobile terminal is further improved.
The positioning device can be applied to positioning the mobile terminal, can be integrated in a terminal GPS chip and can also be set independently, and the positioning algorithm can be realized in a software mode.
As shown in fig. 4, as a flowchart of the positioning method, an execution subject of the positioning method may be a mobile terminal, and the mobile terminal is a terminal having a function of acquiring a positioning signal indicated by positioning signal configuration information, and the method may include the following steps:
step 401: the mobile terminal acquires a positioning signal;
the location signal may be an average time difference of arrival, i.e., an average TDOA. Specifically, the average TDOA may be obtained as follows: and calculating the terminal signal received by the first base station and the terminal signal received by the second base station so as to obtain the TDOA value. The above-mentioned average TDOA value can be calculated as follows:
s1: the terminal acquires the base station information of the position, specifically, the terminal can acquire the base station information by sending a preset instruction according to a protocol;
s2: after receiving the signal from the terminal, the base station side initiates the measurement of the signal arrival time of all base stations interacting with the terminal;
s3: the terminal judges the number of the base stations receiving the information and stores the time measurement value TDOA value of each base station;
s4: because the estimated accuracy of each TDOA is greatly different, a large positioning error can be generated, so that N base station combinations can be sequenced, 3 base stations corresponding to the two smallest TDOA values are found, and the two smallest TDOA values are determined as the average arrival time difference;
the average time difference of arrival of the signal transmissions calculated in this way, i.e. this average time is related to the arrival time of all acknowledgement signals.
Step 402: the terminal sends the positioning signal to a GPS positioning device;
the average TDOA is sent to the positioning device, so that the aim of determining the position of the mobile terminal with a small error rate is fulfilled, and the accuracy of positioning the mobile terminal is effectively improved.
Fig. 5 is a schematic flow chart of finally determining the position of the mobile terminal after the positioning device receives the positioning signal, which may include the following steps: the method specifically comprises the following steps:
step 501: the positioning device receives a positioning signal;
the location signal may be an average TDOA calculated by the terminal, and in particular, the average TDOA may be determined from signals transmitted on a plurality of network node carriers, for example: determined from signals transmitted on one or more carriers of the base station.
Step 502: and determining the specific position of the mobile terminal according to the positioning signal.
The position of the mobile terminal may be determined in two ways:
mode 1: and calculating through a formula according to the positioning signals to obtain the position of the mobile terminal, so as to determine the position information of the mobile terminal.
Mode 2: and according to the positioning signal, acquiring the position of the mobile terminal through inquiring a positioning signal list database so as to determine the position information of the mobile terminal, wherein the positioning signal list can be a list established according to empirical data and can be preset in a positioning device.
In order to more clearly illustrate the present invention, in this example, there is further provided a process in which the terminal, the base station, and the positioning apparatus perform data interaction to establish a connection, where the process is for illustrating data information interaction between the three in a preparation state before positioning, and the process may include:
step 1: the positioning device sends positioning signal confirmation information to the base station, wherein the positioning signal confirmation information can be used for confirming the time parameter type of the mobile terminal supporting the acquisition of the positioning signal;
step 2: the base station sends positioning signal confirmation information to the mobile terminal, and the positioning signal confirmation information is used for confirming that the base station receives the positioning signal confirmation information;
and step 3: the mobile terminal sends positioning signal support information to the base station, where the positioning signal support information is used to indicate the types of time parameters supported by the mobile terminal for acquiring a positioning signal, for example: data type 1 and data type 2;
and 4, step 4: the base station transmits positioning signal support information to the positioning device, namely, the base station transmits data type 1 and data type 2 to the positioning device, which indicates that the data types supported by the terminal are known;
and 5: the positioning device transmits positioning signal configuration information to the base station, wherein the positioning signal configuration information is used for informing the base station of a time parameter type of measurement performed by a positioning signal and a kind of the positioning signal, the kind of the positioning signal can be the positioning signal transmitted on one or more carriers of the base station, and the time parameter type of the positioning signal can be the calculated average TDOA value;
step 6: a base station sends positioning signal configuration information to a mobile terminal;
and 7: the mobile terminal acquires positioning signal information indicated by the positioning signal configuration information according to the positioning signal configuration information;
and 8: the mobile terminal transmits location signal information to the base station and receives feedback from the base station to calculate an average TDOA value, and transmits the average TDOA value to the location device to determine the location of the mobile terminal.
The position of the mobile terminal is determined by calculating the average TDOA value, so that the position of the mobile terminal can be determined with a small error rate, and the positioning accuracy of the mobile terminal is effectively improved. The positioning device may be disposed in the mobile terminal, or may be disposed separately from the mobile terminal, or may be integrated in the base station, or may be disposed separately, and the positioning device may be implemented in a software and/or hardware manner.
It will be apparent to those skilled in the art that the modules or steps of the embodiments of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.
Claims (9)
1. A method for determining a positioning signal, comprising:
the terminal sends a trigger instruction for acquiring the arrival time difference to the base station;
the terminal receives arrival time differences returned by a plurality of base stations, wherein the number of the base stations is more than 3;
the terminal combines the base stations according to a mode that 3 base stations are a group;
determining two target arrival time differences corresponding to a group of base stations with the minimum arrival time difference from the combined result;
and taking the determined time difference of arrival of the two targets as a positioning signal.
2. The method according to claim 1, wherein after the terminal issues the trigger instruction for acquiring the time difference of arrival to the base station, before the terminal receives the time differences of arrival returned by the plurality of base stations, the method further comprises:
the terminal sends type indication information to a base station, wherein the type indication information is used for indicating the data types supported by the terminal;
the terminal receives the type confirmation information returned by the base station;
correspondingly, the arrival time difference returned by the terminal receiving a plurality of base stations is returned by the plurality of base stations through the data type indicated in the type indication information.
3. The method according to any one of claims 1 to 2, wherein after determining the two target arrival time differences as positioning signals, the method further comprises:
the terminal sends the positioning signal to a positioning device so that the positioning device determines the position of the terminal.
4. The method according to claim 3, wherein the positioning device is built in the terminal or the positioning device is provided separately from the terminal.
5. A terminal, comprising:
the first sending module is used for sending a trigger instruction for acquiring the arrival time difference to the base station;
a first receiving module, configured to receive arrival time differences returned by multiple base stations, where the number of the multiple base stations is greater than 3;
a combining unit, configured to combine the plurality of base stations in a manner that 3 base stations form a group;
a selecting unit, configured to determine two target arrival time differences corresponding to a group of base stations with the smallest arrival time difference from the combination result;
and the determining unit is used for taking the determined time difference of arrival of the two targets as a positioning signal.
6. The terminal of claim 5, further comprising:
a second sending module, configured to send type indication information to a base station after sending a trigger instruction for obtaining an arrival time difference to the base station and before receiving arrival time differences returned by multiple base stations, where the type indication information is used to indicate a data type supported by the terminal;
a second receiving module, configured to receive type confirmation information returned by the base station;
and receiving arrival time differences returned by the plurality of base stations, wherein the arrival time differences returned by the plurality of base stations are returned by the plurality of base stations according to the data types indicated in the type indication information.
7. The terminal according to any of claims 5 to 6, further comprising:
and the third sending module is used for sending the positioning signal to a positioning device after the determined time difference of arrival of the two targets is taken as the positioning signal, so that the positioning device determines the position of the terminal.
8. A positioning system, comprising positioning means and a terminal according to any of claims 5 to 7.
9. The system according to claim 8, wherein the positioning means is located in the terminal or is provided separately from the terminal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610881944.3A CN107920327B (en) | 2016-10-08 | 2016-10-08 | Positioning method, device and system, positioning signal determination method and terminal |
| PCT/CN2017/089368 WO2018064896A1 (en) | 2016-10-08 | 2017-06-21 | Positioning method, apparatus and system and positioning signal determination method and terminal |
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| CN201610881944.3A CN107920327B (en) | 2016-10-08 | 2016-10-08 | Positioning method, device and system, positioning signal determination method and terminal |
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| CN107920327A (en) | 2018-04-17 |
| WO2018064896A1 (en) | 2018-04-12 |
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