CN111083637B - High-precision positioning method for combined MIMO base station and non-MIMO base station - Google Patents
High-precision positioning method for combined MIMO base station and non-MIMO base station Download PDFInfo
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Abstract
The invention belongs to the technical field of wireless positioning, and particularly relates to a high-precision positioning method for a combined MIMO base station and a non-MIMO base station. The method comprises the following steps: acquiring a base station identifier and the number of antennas of the MIMO communication base station; transmitting, by a MIMO communication base station, a PRS positioning reference signal; acquiring a base station identifier of a non-MIMO auxiliary positioning base station; transmitting, by a non-MIMO auxiliary positioning base station, a PRS positioning reference signal; the method comprises the following steps that mobile user equipment receives positioning reference signal waveforms from an MIMO communication base station and a non-MIMO auxiliary positioning base station, selects the MIMO communication base station as a reference base station, and calculates a signal arrival time difference and a signal arrival angle; and hybrid resolving the position of the mobile user equipment according to the obtained signal arrival angle and the signal arrival time difference. The invention reduces the quantity of array antennas, lowers the hardware requirement of the base station and saves the cost. The signal quality and the number of available base stations are improved, and the positioning stability is improved. The positioning accuracy of the mobile user equipment is improved.
Description
Technical Field
The invention belongs to the technical field of wireless positioning, and particularly relates to a high-precision positioning method for a combined MIMO base station and a non-MIMO base station.
Background
At present, the positioning and navigation technology becomes an important basic technology for the development of social security and national economy. Although positioning technologies represented by the Beidou and the GPS are mature, the positioning technologies are difficult to apply to indoor scenes due to signal shielding and attenuation. The requirements for indoor positioning are quite extensive, for example: vehicle management in parking lots, tunnel monitoring under mines and people and unmanned system navigation of modern large logistics warehouses. With the continuous perfection of the 5G communication standard and the coming of the 5G communication era, the high-precision indoor positioning technology in the 5G network indoor dense networking environment has great positive significance for the whole positioning navigation field. Nowadays, technical methods in the field of positioning are various, but in the existing 5G scenario, due to the need of cost saving, a general method is that only a communication base station can adopt a full-function MIMO base station to meet the need of high-speed communication, and in order to realize multiple coverage of positioning signals, a non-MIMO base station can be added to improve positioning accuracy. However, no reports are found in the current research of indoor positioning by combining the MIMO base station with the non-MIMO base station.
The MIMO base station provides convenience for measuring the signal arrival angle, but the signal arrival angle positioning method is mostly applied to the field of phased array radars in the prior art, and under the application of indoor scenes, errors obviously rise due to multipath effects, and the actual application effect is poor. Representative results include "a high-performance hybrid positioning method based on angle and signal arrival time difference estimation and its implementation apparatus" in patent No. CN201910410716.1, which proposes a bistatic radar-based signal model to improve the accuracy of target position estimation. Representative efforts of positioning methods based on signal time difference of arrival include: an indoor three-dimensional positioning method for ultra-wideband is provided, which is a patent number CN201910803709.8, and the indoor three-dimensional positioning method for ultra-wideband signal arrival time difference TDOA is provided, wherein the indoor positioning precision is improved by carrying out residual value weighting processing on the three-dimensional position of a label obtained by estimation of a Chan algorithm; CN201910530686.8, "a positioning method based on difference of arrival angles", proposes a method for calculating the position of a mobile station by selecting the signal arrival angles AOA of 3 base stations. However, under the 5G communication condition, the high-precision positioning method for combining the MIMO base station and the non-MIMO base station has not been studied specially at present, and still belongs to a new field.
To sum up, the existing indoor positioning method also has the following disadvantages:
(1) the positioning method based on the signal arrival angle has high requirements on hardware conditions, and a large number of base stations need to be provided with array antennas to obtain the signal arrival angle, so that the positioning method can only be applied to a radar system, and the realization cost is overhigh.
(2) In the positioning method based on the signal arrival time difference, the near field error is large and the positioning accuracy is not high in an indoor environment.
Disclosure of Invention
The invention aims to provide a high-precision positioning method for a combined MIMO base station and a non-MIMO base station.
A high-precision positioning method for a combined MIMO base station and a non-MIMO base station comprises the following steps:
step 1: acquiring a base station identifier and the number of antennas of the MIMO communication base station;
step 2: transmitting, by a MIMO communication base station, a PRS positioning reference signal;
and step 3: acquiring a base station identifier of a non-MIMO auxiliary positioning base station;
and 4, step 4: transmitting, by a non-MIMO auxiliary positioning base station, a PRS positioning reference signal;
and 5: the method comprises the following steps that mobile user equipment receives positioning reference signal waveforms from an MIMO communication base station and a non-MIMO auxiliary positioning base station, selects the MIMO communication base station as a reference base station, and calculates a signal arrival time difference and a signal arrival angle;
step 6: and hybrid resolving the position of the mobile user equipment according to the obtained signal arrival angle and the signal arrival time difference.
The step 2 comprises the following steps:
step 2.1: generating, by the MIMO communication base station, a three-dimensional time-frequency resource grid of the MIMO communication base station based on the number of subcarriers, OFDM symbols, and the number of physical antennas;
step 2.2: generating a PRS positioning reference signal of the MIMO communication base station based on the base station identifier and the frequency shift according to the three-dimensional time-frequency resource grid of the MIMO communication base station;
step 2.3: generating a PRS positioning reference signal index of the MIMO communication base station based on the base station identifier and the frequency shift according to the PRS positioning reference signal of the MIMO communication base station;
step 2.4: and according to the PRS positioning reference signal index of the MIMO communication base station, carrying out resource mapping of the MIMO communication base station and adopting OFDM modulation to transmit signals.
Step 2.1, the three-dimensional time-frequency resource grid (n1, n2, n3) of the MIMO communication base station is expressed as follows:
n1＝N1×NDLRB；n2＝N2×LCP；n3＝NP；
wherein NDLRB is the number of resource blocks in the downlink; LCP is the length of the cyclic prefix; NP is the number of antennas; n1 is the number of subcarriers; n2 is the number of OFDM symbols;
the PRS positioning reference signal sequence of the MIMO communication base station described in step 2.2 is expressed as follows:
cinit＝(216×(7×(Ns+1)+l+1)×(2×CID+1)+2×(Lcp+Vshift))mod 2
wherein the frequency shift Vshift ═ (CID + f (paid)) mod x; the sequence of X1: x1(i +31) ═ x1(i +3) + x1(i)) mod 2; the sequence of X2: x2(i +31) — (x2(i +3) + x2(i +2) + x2(i +1) + x2(i)) mod 2, Cinit is the beginning of the pseudorandom sequence, CID is the base station identifier, PAID is the physical antenna identifier; (PAID) is a function of PAID; a mod B represents that A performs remainder operation on B;
the PRS positioning reference signal index of the MIMO communication base station described in step 2.3 is expressed as follows:
wherein k is 6 × (m + NDLRB-NPRSRB) + (6-l + Vshift) mod 6; m is a non-negative integer sequence from 0 to (2 × NPRSRB-1);
m' ═ m + NDLRB-NPRSRB; NDLRB is the downlink resource block number and NPRSRB is the downlink PRS signal bandwidth.
The step 4 comprises the following steps:
step 4.1: generating a two-dimensional time-frequency resource grid of the non-MIMO auxiliary positioning base station based on the number of subcarriers and OFDM symbols by the non-MIMO auxiliary positioning base station;
step 4.2: generating a PRS positioning reference signal of the non-MIMO auxiliary positioning base station based on the base station identifier according to the two-dimensional time-frequency resource grid of the non-MIMO auxiliary positioning base station;
step 4.3: generating a PRS positioning reference signal index for the non-MIMO auxiliary positioning base station based on the base station identifier from PRS positioning reference signals for the non-MIMO auxiliary positioning base station;
step 4.4: and according to the PRS positioning reference signal index of the non-MIMO auxiliary positioning base station, carrying out resource mapping of the non-MIMO auxiliary positioning base station and adopting OFDM modulation to transmit signals.
The two-dimensional time-frequency resource grid (n1, n2) of the non-MIMO assisted positioning base station in step 4.1 is expressed as the following formula:
n1＝N1×NDLRB；n2＝N2×LCP
wherein NDLRB is the number of resource blocks in the downlink; LCP is the length of the cyclic prefix; NP is the number of antennas; n1 is the number of subcarriers; n2 is the number of OFDM symbols.
The signal arrival time difference in step 5 is expressed as follows:
wherein, R (τ) is a cross-correlation sequence, T is an observation time of a received signal, R1(T) is a PRS positioning reference signal observation from the MIMO communication base station, ri (T + τ) is a PRS positioning reference signal observation from the non-MIMO auxiliary positioning base station, and a time at which a peak extremum of the obtained cross-correlation sequence R is located is a signal arrival time difference.
Step 6 the location (x, y) of the mobile user equipment is expressed as:
wherein, tk,1Signal time difference of arrival, mu, for a non-MIMO assisted positioning base station with base station identifier k relative to a MIMO communication base station with base station identifier 1k,1For errors in the signal arrival time measurement, muθFor errors in the signal angle of arrival measurement, (x)1,y1) Theta is the signal arrival angle of the positioning reference signal sent by the MIMO communication base station to the mobile user equipment, i is the base station identifier, c is the speed of light, DiIs the base station with base station identifier i, to mobile user equipment.
The invention has the beneficial effects that:
(1) the number of the array antennas is reduced, the hardware requirement of the base station is lowered, and the cost is saved.
(2) By adopting the method of the mixed layout of the MIMO communication base station and a plurality of non-MIMO auxiliary positioning base stations, the signal quality and the number of available base stations are improved, and the positioning stability is improved.
(3) The positioning accuracy of the mobile user equipment is improved.
Drawings
Fig. 1 is a schematic diagram of a base station side flow of a high-precision positioning method for a joint MIMO base station and a non-MIMO base station.
Fig. 2 is a schematic diagram of a mobile user equipment side flow of a high-precision positioning method for a joint MIMO base station and a non-MIMO base station.
Fig. 3 is a schematic deployment diagram of a base station according to an embodiment of the present invention.
Fig. 4 is a flow chart illustrating generation of PRS positioning reference signals based on base station identifiers and frequency shifts by a MIMO base station in accordance with the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention aims to provide a high-precision positioning method for a combined MIMO communication base station and a non-MIMO auxiliary positioning base station, which is characterized in that the MIMO communication base station provides AOA information while meeting the communication requirement, and the non-MIMO auxiliary positioning base station supplements TDOA information.
Because the MIMO array antenna base station has high hardware cost and is not beneficial to large-scale arrangement, the invention provides a method which considers both the accuracy of AOA positioning and the economy of TDOA positioning. The positioning accuracy can be improved, and meanwhile, the base station deployment cost is reduced; and the 5G communication base station is fully utilized, and channel resources are saved.
Fig. 1 is a schematic diagram of a basic flow of a high-precision positioning method for a joint MIMO base station and a non-MIMO base station, which includes the following steps:
step (1) obtaining a base station identifier and the number of antennas of an MIMO communication base station;
in the embodiment, the number of the MIMO communication base stations is 1, the identifier of the MIMO communication base station is 1, and the number of the antennas is 2;
step (2) further, sending, by the MIMO communication base station in step 1, a prs (positioning Reference signal) positioning Reference signal based on a base station identifier and a frequency shift;
step (3) obtaining a base station identifier of a non-MIMO auxiliary positioning base station;
as shown in fig. 3, in this embodiment, the number of non-MIMO base stations is 3, identifiers of non-MIMO assisted positioning base stations are 10, 11, and 12, and the number of antennas is 1;
step (4) further, transmitting, by the non-MIMO auxiliary positioning base station in step 3, PRS positioning reference signals:
step (5) the mobile user equipment receives positioning reference signal waveforms from the MIMO communication base station and the non-MIMO auxiliary positioning base station, selects the MIMO communication base station as a reference base station, and calculates the signal arrival time difference and the signal arrival angle;
and (6) performing hybrid calculation on the position of the mobile user equipment based on the signal arrival angle and the signal arrival time difference obtained in the step (5).
The method for sending PRS positioning reference signals by the MIMO communication base station in the step (2) specifically includes the following steps:
step (2.1) generating a three-dimensional time-frequency resource grid based on the number of subcarriers, OFDM symbols and the number of physical antennas by the MIMO communication base station in the step 2; the time-frequency resource grid size (n1, n2, n3) is determined by the following formula:
n1＝12×NDLRB；n2＝14×LCP；n3＝NP；
wherein NDLRB is the number of resource blocks in the downlink; LCP is the length of the cyclic prefix; NP is the number of antennas;
in this embodiment, the number of subcarriers is 12, the number of OFDM symbols is 14, the NDLRB value is 100, and the Lcp value is 1; NP value was 2;
step (2.2) generating, by the MIMO communication base station in step 2, a PRS positioning reference signal based on a base station identifier and a frequency shift, a signal sequence of which is determined by the following formula:
cinit＝(216×(7×(Ns+1)+l+1)×(2×CID+1)+2×(Lcp+Vshift))mod 2
a frequency shift Vshift (CID + f (paid)) mod x;
the sequence of X1: x1(i +31) ═ x1(i +3) + x1(i)) mod 2;
the sequence of X2: x2(i +31) ═ x2(i +3) + x2(i +2) + x2(i +1) + x2(i)) mod 2;
wherein Cinit is the initial of the pseudo random sequence, CID is a base station identifier, and PAID is a physical antenna identifier; (PAID) is a function of PAID; a mod B represents that A performs remainder operation on B;
a step (2.3) of generating, by the MIMO communication base station in the step 2, a PRS positioning reference signal index based on a base station identifier and a frequency shift;
wherein the reference signal index is determined by the formula:
wherein,
k＝6×(m+NDLRB-NPRSRB)+(6-l+Vshift)mod6；
m is a non-negative integer sequence from 0 to (2 × NPRSRB-1);
m'＝m+NDLRB-NPRSRB；
NDLRB is the downlink resource block number, NPRSRB is the downlink PRS signal bandwidth;
step (2.4) the MIMO communication base station in the step 2 performs resource mapping according to the PRS positioning reference signal index and adopts OFDM modulation to transmit signals;
in the embodiment, OFDM modulation is adopted, inverse Fourier transform is carried out on resource elements in different subcarriers to obtain a modulation signal, and the output of the modulation signal is a complex index;
the method for sending PRS positioning reference signals for a non-MIMO assisted positioning base station in the step (4) specifically includes the following steps:
step (4.1) generating a two-dimensional time-frequency resource grid based on the number of subcarriers and OFDM symbols by the non-MIMO auxiliary positioning base station in the step (3);
the time-frequency resource grid size (n1, n2) is determined by the following formula:
n1＝12×NDLRB；n2＝14×LCP；
in this embodiment, the number of subcarriers is 12, the number of OFDM symbols is 14, the NDLRB value is 100, and the Lcp value is 1;
a step (4.2) of generating, by the non-MIMO auxiliary positioning base station in said step 3, a PRS positioning reference signal based on a base station identifier;
cinit＝(210×(7×(Ns+1)+l+1)×(2×CID+1)+2×(Lcp+CID))mod 2
the sequence of X1: x1(i +31) ═ x1(i +3) + x1(i)) mod 2;
the sequence of X2: x2(i +31) ═ x2(i +3) + x2(i +2) + x2(i +1) + x2(i)) mod 2;
a step (4.3) of generating, by the non-MIMO auxiliary positioning base station in said step 3, a PRS positioning reference signal index based on a base station identifier;
wherein the reference signal index is determined by the formula:
wherein,
k＝6×(m+NDLRB-NPRSRB)+(6-l+Vshift)mod6；
m is a non-negative integer sequence from 0 to (2 × NPRSRB-1);
m'＝m+NDLRB-NPRSRB；
in this embodiment, since the number of physical antennas of the non-MIMO base station is 1, the Vshift value of the non-MIMO base station is 0;
step (4.4) the non-MIMO auxiliary positioning base station in the step 3 carries out resource mapping and adopts OFDM modulation to send signals;
in the step (5), the method for calculating the signal arrival time difference and the signal arrival angle by the mobile user equipment receiving the positioning reference signal waveforms from the MIMO communication base station and the non-MIMO assisted positioning base station and selecting the MIMO communication base station as the reference base station specifically includes the following steps:
step (5.1) the mobile user equipment calculates the signal arrival angle by comparing the phase difference between all received PRS positioning reference signals sent by the MIMO communication base station;
in this embodiment, the signal arrival angle θ between the MIMO communication base station array antenna and the mobile user equipment calculated by the mobile user equipment is shown in fig. 3;
step (5.2) the mobile user equipment obtains the signal arrival time difference by calculating the time of the peak extreme value of the cross-correlation sequence of the received PRS positioning reference signals sent by the MIMO communication base station and the non-MIMO base station, and specifically, the signal arrival time difference is calculated by the following formula:
specifically, in this embodiment, R1(t) is PRS positioning reference signal observation from the MIMO communication base station, R2(t), R3(t) and R4(t) are PRS positioning reference signal observation from the three non-MIMO auxiliary positioning base stations, and the time at which the peak extreme value of the obtained cross-correlation sequence R is located is the signal time difference of arrival;
as shown in fig. 3, the locus where the distance difference between the mobile ue and two base stations is a constant is a hyperbola, so m-1 hyperbolas can be obtained in this embodiment, where m is the number of base stations 4;
in the step (6), the method for hybrid resolving the location of the mobile user equipment specifically includes the following steps:
(6.1) solving the position of the mobile user equipment by using the signal arrival angle obtained in the step (5.1) as follows:
in this embodiment, the signal arrival angle θ is shown in fig. 3;
step (6.2) the position of the mobile user equipment is solved by the following equation according to the signal arrival time difference obtained in the step (5.2):
in this embodiment, i is the non-MIMO base station identifiers 10, 11 and 12, respectively;
step (6.3) further, a fused position calculating algorithm based on the signal arrival angle and the signal arrival time difference is used for calculating the position of the mobile user equipment, in this embodiment, the following equation is specifically used for calculating the position (x, y) of the mobile user equipment:
the foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Those skilled in the art can, without departing from the scope of the invention, utilize the teachings presented in the foregoing description to make minor changes and modifications to the equivalent embodiments; however, any simple modification, equivalent change and modification made to the above embodiments according to the technical scheme of the present invention are within the scope of the technical scheme of the present invention, unless the content of the technical scheme of the present invention is departed from.
Claims (1)
1. A high-precision positioning method for a combined MIMO base station and a non-MIMO base station is characterized by comprising the following steps:
step 1: acquiring the number of physical antennas of the MIMO communication base station, and setting a base station identifier of the MIMO communication base station as 1;
step 2: the MIMO communication base station generates and transmits a first Positioning Reference Signal (PRS);
the MIMO communication base station generates three-dimensional time-frequency resource grids (n1, n2, n3) based on the number of subcarriers, OFDM symbols and the number of physical antennas, and generates a first Positioning Reference Signal (PRS) and an index thereof based on a base station identifier and a frequency shift of the MIMO communication base station; the MIMO communication base station performs resource mapping according to the generated index of the first positioning reference signal PRS and adopts OFDM modulation to transmit signals;
n1＝N1×NDLRB；n2＝N2×LCP；n3＝NP；
wherein NDLRB is the number of resource blocks in the downlink; LCP is the length of the cyclic prefix; NP is the physical antenna number of the MIMO communication base station; n1 is the number of subcarriers; n2 is the number of OFDM symbols;
and step 3: acquiring a base station identifier of a non-MIMO auxiliary positioning base station;
and 4, step 4: generating and transmitting a second Positioning Reference Signal (PRS) by the non-MIMO auxiliary positioning base station;
the non-MIMO assisted positioning base station generating a two-dimensional time-frequency resource grid (n1, n2) based on the number of subcarriers and OFDM symbols, and generating a second positioning reference signal, PRS, and its index based on a base station identifier of the non-MIMO assisted positioning base station; the non-MIMO auxiliary positioning base station performs resource mapping according to the generated index of the second positioning reference signal PRS and adopts OFDM modulation to transmit signals;
and 5: the method comprises the steps that mobile user equipment receives positioning reference signals from an MIMO communication base station and a non-MIMO auxiliary positioning base station, selects the MIMO communication base station as a reference base station, and calculates the time of a peak extreme value of a cross-correlation sequence of PRS positioning reference signals sent by the received MIMO communication base station and the non-MIMO auxiliary positioning base station to obtain a signal arrival time difference; calculating a signal arrival angle theta between an MIMO communication base station array antenna and mobile user equipment;
wherein R (τ) is a cross-correlation sequence; t is the observation time of the received signal; r1(t) is a PRS positioning reference signal observation from the MIMO communication base station; ri (t + τ) is observation of a PRS positioning reference signal from the non-MIMO auxiliary positioning base station, and the moment of a peak extreme value of the obtained cross-correlation sequence R is a signal arrival time difference;
step 6: resolving the position (x, y) of the mobile user equipment according to the obtained signal arrival angle and the signal arrival time difference;
wherein, tk,1A signal arrival time difference for a non-MIMO assisted positioning base station with base station identifier k relative to a MIMO communication base station with base station identifier 1; mu.sk,1Error in the signal arrival time measurement process for a non-MIMO assisted positioning base station with base station identifier k relative to a MIMO communications base station with base station identifier 1; mu.sθError in the signal angle of arrival measurement process; i is a base station identifier, (x)1,y1) Coordinates for MIMO communication base stations, DiA linear distance from a base station with a base station identifier of i to the mobile user equipment; and c is the speed of light.
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