CN113115440B - 5G NR positioning calibration method and system - Google Patents

5G NR positioning calibration method and system Download PDF

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Publication number
CN113115440B
CN113115440B CN202110663262.6A CN202110663262A CN113115440B CN 113115440 B CN113115440 B CN 113115440B CN 202110663262 A CN202110663262 A CN 202110663262A CN 113115440 B CN113115440 B CN 113115440B
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positioning
fixed
calibration
terminal
information
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CN113115440A (en
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王智慧
胡悦
孟萨出拉
韩金侠
杨德龙
马宝娟
朱思成
丁慧霞
汪洋
张庚
吴赛
段钧宝
王亚男
西本民
刘恒
滕玲
李健
张慧
张彤彤
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China Electric Power Research Institute Co Ltd CEPRI
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China Electric Power Research Institute Co Ltd CEPRI
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

Abstract

The invention provides a 5G NR positioning calibration method and a system, which are reasonable in design and accurate in positioning, and improve indoor and outdoor positioning accuracy based on a 5G technology. The method comprises the following steps: measuring and calibrating the position information of a 5G terminal at a fixed position in a 5G positioning service area; and positioning and calibrating the current position of the terminal to be positioned according to the calibrated position information of the 5G terminal with the fixed position and the wireless measurement data uploaded by the 5G terminal with the fixed position by a screened positioning algorithm. The position of the 5G terminal at the fixed position is measured and calibrated firstly, and calibrated position information and measurement data are provided and serve as prior information of subsequent positioning calibration to calibrate and improve the positioning precision of the 5G terminal to be positioned; the calibration technology of the 5G NR positioning precision and the indoor and outdoor positioning precision based on the 5G technology are improved.

Description

5G NR positioning calibration method and system
Technical Field
The invention relates to a 5G positioning calibration technology, in particular to a 5G NR positioning calibration method and a system.
Background
With the arrival of the 5G era, the Internet of things and intellectualization have higher requirements on location-based services, and 5G positioning can play a stronger role in solving the problem of high-precision positioning from outdoors to indoors.
The 5G NR positioning is based on the positioning technology of a 5G cellular communication network, the cellular network provides a wireless communication function for the terminal and provides positioning service, the communication and positioning requirements under different application scenes are met, the application requirements of enterprises and personal users are met, and network operators provide network service and value-added service of position service. Version 5G R16 introduced some targeted location schemes including DL-TDOA, UL-TDOA, DL-AOD, UL-AOA, Multi-RTT, E-CID, etc. But these measurements are based on measurements of the energy, time and propagation direction of the radio signal by the terminal and the base station. The measurement error can cause a certain positioning error under the influence of base station synchronization error and various interference factors in a wireless propagation environment.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a 5G NR positioning calibration method and a system, which are reasonable in design and accurate in positioning, and improve the indoor and outdoor positioning precision based on the 5G technology.
The invention is realized by the following technical scheme:
A5G NR positioning calibration method comprises the following steps:
measuring and calibrating the position information of a 5G terminal at a fixed position in a 5G positioning service area;
and positioning and calibrating the current position of the terminal to be positioned according to the calibrated position information of the 5G terminal with the fixed position and the wireless measurement data uploaded by the 5G terminal with the fixed position by a screened positioning algorithm.
Preferably, the 5G terminal position information of the measurement and calibration fixed position is specifically as follows:
and measuring and calibrating the position information of the 5G terminal at the fixed position according to a digital map or an indoor 3D map of the 5G positioning service area.
Preferably, the wireless measurement data uploaded by the fixed-location 5G terminal specifically includes measurement data of DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and E-CID which are periodically uploaded.
Further, the positioning calibration of the current position of the terminal to be positioned by the screened positioning algorithm specifically includes the following steps:
calculating positioning errors of different positioning algorithms, selecting the positioning algorithm with the minimum error as a screened positioning algorithm, and determining the positioning algorithm to be adopted by a terminal to be positioned in a 5G positioning service area;
the algorithm with the minimum error is an algorithm in which the absolute distance between the position information of the 5G terminal at the fixed position and the calibrated position information of the 5G terminal at the fixed position is calculated by the algorithm to be the shortest.
And further, the error between the position information of the 5G terminal at the fixed position obtained by the screened positioning algorithm and the calibrated position information is used as calibration information for positioning and calibrating the current position of the terminal to be positioned in the 5G positioning service area.
Preferably, in the 5G positioning service area, the 5G terminal position information of the fixed position is measured and calibrated; the method specifically comprises the following steps:
acquiring the number of 5G terminals at fixed positions in a 5G positioning service area;
when the 5G terminal with the fixed position does not exist, deploying the 5G terminal with the fixed position for positioning the calibration service in the 5G positioning service area;
when there are a plurality of fixed-position 5G terminals, the fixed-position 5G terminals for calibration are selected according to a preset selection algorithm.
Further, the 5G terminal at the fixed position comprises a 5G camera, a 5G intelligent street lamp, a 5G data collection unit, a 5G edge calculation unit and a 5G hot spot which are fixedly arranged.
Preferably, when a plurality of fixed-position 5G terminals exist, the fixed-position 5G terminal for calibration is selected according to a preset selection algorithm; specifically, the method comprises the following steps of,
and selecting the 5G terminal at the fixed position for calibration according to the preliminary position information of each 5G terminal to be calibrated before calibration and the preset area information for providing calibration service of the 5G terminal at each fixed position.
Further, when a plurality of fixed-position 5G terminals exist, selecting the fixed-position 5G terminal for calibration according to a preset selection algorithm; specifically, the method comprises the following steps of,
and selecting the 5G terminal at the fixed position for calibration according to the preliminary position information of each 5G terminal to be calibrated and the position information of the 5G terminal at each fixed position by the principle of the shortest absolute distance.
Further, when a plurality of fixed-position 5G terminals exist, selecting the fixed-position 5G terminal for calibration according to a preset selection algorithm; specifically, the method comprises the following steps of,
selecting 5G terminals with all fixed positions in a set range;
calculating a position error vector of the 5G terminal at each fixed position according to the preliminary position information and the calibration position information of the 5G terminals at all fixed positions;
and performing statistical calculation on all the position error vectors to obtain a position calibration value for calibration.
A5G NR positioning calibration system includes,
the calibration module is used for measuring and calibrating 5G terminal position information of a fixed position in a 5G positioning service area;
and the calibration module is used for positioning and calibrating the current position of the terminal to be positioned according to the calibrated position information of the 5G terminal with the fixed position and the wireless measurement data uploaded by the 5G terminal with the fixed position through a screened positioning algorithm.
A computer device, comprising:
a memory for storing a computer program;
a processor for implementing the 5G NR positioning calibration method as defined in any one of the above when executing the computer program.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a 5G NR positioning calibration method as defined in any one of the preceding claims.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to a 5G NR positioning calibration method and a system, which are characterized in that the position of a 5G terminal at a fixed position is measured and calibrated firstly, and calibrated position information and measurement data are provided and used as prior information of subsequent positioning calibration to calibrate and improve the positioning precision of the 5G terminal to be positioned; the calibration technology for improving the 5G NR positioning precision improves the indoor and outdoor positioning precision based on the 5G technology, calculates the positioning error by using the calibrated accurate position information of the 5G terminal at the fixed position and the uploaded wireless measurement data through a screened positioning algorithm, and improves the positioning precision of the 5G terminal to be positioned by taking the calculated positioning error as a calibration value.
Drawings
FIG. 1 is a flow chart of a method as described in an example of the invention;
FIG. 2 is a schematic illustration of a calibration of the method in an example of the invention;
FIG. 3 is a schematic diagram of a location services workflow of the method described in this example;
fig. 4 is a schematic diagram of division of a calibration location area of a 5G terminal based on a fixed location according to the method in this example;
FIG. 5 is a block diagram of the system in an example of the invention.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
At present, 5G technology and applications in various industries are widely used, and besides traditional personal mobile communication applications, a large number of 5G terminals provide high-bandwidth and low-delay data access capability in a fixed-position deployment manner. For example, the system comprises a 5G camera, a 5G intelligent street lamp, a 5G data collection unit, a 5G edge calculation unit, a 5G hotspot and the like which are deployed in indoor and outdoor scenes such as industrial parks, substations, hospitals and communities. The invention utilizes the calibrated position information and wireless measurement data provided by the 5G terminals with fixed positions to calibrate and improve the positioning accuracy of other 5G terminals; the 5G NR positioning calibration method and the system are used for improving indoor and outdoor positioning accuracy based on the 5G technology.
The method of the present invention, as shown in fig. 1, comprises,
s1, measuring and calibrating 5G terminal position information of a fixed position in the 5G positioning service area;
and accurately measuring and calibrating the position information of the 5G terminal at the fixed position in the area providing the 5G positioning service by combining a digital map or an indoor 3D map. Specifically, the precise positioning information of the fixed-position 5G terminal may be represented by a calibrated coordinate system position (xi, yi, zi), and the coordinate system position (xi, yi, zi) may represent an exact position in any digital map or indoor 3D map. If no fixed-location 5G terminals are available in the area, fixed-location 5G terminals dedicated to location calibration services may be deployed according to the requirements of the location services.
And S2, positioning and calibrating the current position of the terminal to be positioned according to the calibrated position information of the 5G terminal with the fixed position and the wireless measurement data uploaded by the 5G terminal with the fixed position through a screened positioning algorithm.
Uploading the calibrated accurate position information of the 5G terminal at the fixed position as known information for positioning and calibrating the current position of the terminal to be positioned; in the preferred embodiment, a positioning calculation service platform is adopted to receive and process data. The positioning calculation service platform provides position information service for the 5G terminal, namely geographic coordinate service. The positioning calculation service platform utilizes the wireless measurement value and other information uploaded by the 5G terminal to finally obtain the current position of the 5G terminal to be positioned, namely the position after positioning calibration, through the selected position calculation algorithm and the selected positioning algorithm.
As shown in fig. 3, in the preferred embodiment, the 5G network location function is provided by a location resolution service platform (location server). The positioning calculation service platform (position server) calculates the position information of the 5G terminal (UE) with positioning according to the 5G terminal to be positioned, the 5G terminal with fixed position, the measurement data related to the positioning of the base station and other information, and the related position application marks the position information on a digital map or an indoor 3D map by calling the service provided by the positioning calculation service platform (position server). And the calibrated accurate position information of the 5G terminal at the fixed position is input into a positioning calculation service platform (position server) as known information.
For the 5G terminal with the fixed position, the 5G NR positioning service needs to be started, a positioning calculation service platform (a position server) requests a network to start the 5G NR positioning service for the 5G terminal with the fixed position through a service request mode, and the related positioning service and measurement configuration are determined according to the configuration of an actual access network and meet the requirements of the related standards of 3 GPP. The wireless measurement data of the fixed position 5G terminal includes but is not limited to measurement data of DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT, E-CID, etc. Meanwhile, the 5G terminal at the fixed position and the network accessed by the terminal periodically report the wireless measurement data to the positioning calculation service platform as prior data.
The location calculation service platform (location server) in the preferred embodiment may be deployed with a cloud platform, or may be deployed on an mec (mobile Edge computing) platform; the computing resources, the storage capacity and the processing capacity provided by the MEC platform can be fully utilized, the advantages of high speed, low time delay and large link of the 5G network are exerted, and the network utilization efficiency and the value-added value are further improved. Particularly in an indoor positioning scenario, a positioning calculation service platform (location server) is deployed in the MEC to exert more efficiency.
In the method of the invention, the wireless measurement data and the calibrated position information provided by the 5G terminal at the fixed position are utilized by adopting the following method.
Firstly, a positioning algorithm is screened through an algorithm calibration strategy.
Taking a positioning calculation service platform as an execution subject for explanation, calculating positioning errors of different positioning algorithms DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and E-CID, selecting the positioning algorithm with the minimum error, and performing positioning calibration on all other nearby 5G terminals with positioning by using the algorithm. The algorithm with the minimum error is the algorithm with the shortest absolute distance between the position information calculated by the algorithm and the calibrated accurate position information of the 5G terminal with the fixed position.
And secondly, calculating the error between the preliminary positioning position of the 5G terminal at the fixed position and the calibrated accurate position, and using the error as calibration information for other 5G terminals to improve the positioning accuracy. The initial positioning position of the 5G terminal with the fixed position is the positioning position given in the network after the 5G terminal with the fixed position accesses the network.
For the case that there are multiple 5G terminals with fixed positions in the area providing the 5G positioning service, selecting the 5G terminal with fixed position for calibration as a reference terminal according to the preliminary result of network positioning, which may be specifically processed according to the following manner:
1) according to the characteristics of the area providing the 5G positioning service, the area providing the calibration service is divided for each 5G terminal at the fixed position in advance. Therefore, the preliminary position information of each 5G terminal to be calibrated is compared with the area information of the 5G terminal at each fixed position for providing the calibration service, and the 5G terminal at the fixed position for calibration is selected.
As shown in fig. 4, the area of the calibration service provided by each 5G terminal in the fixed location is divided in advance according to the characteristics of the regional building distribution providing the 5G positioning service, the 5G fixed location terminal distribution, and the like. For an indoor positioning scenario, it may be implemented according to information such as floor information, 5G fixed-location terminal distribution, indoor area distribution, and the like, to divide the area providing the calibration service for each 5G terminal at the fixed location in advance. And the positioning calculation service platform selects the 5G terminal at the fixed position for calibration according to the preliminary position information of each 5G terminal before calibration and the area information of the 5G terminal at each fixed position for providing calibration service.
2) And selecting the 5G terminal with a fixed position according to the nearest principle. And selecting the 5G terminal at the fixed position for calibration according to the preliminary position information of each 5G terminal to be calibrated and the preliminary position information of the 5G terminal at each fixed position and the principle that the absolute distance is shortest.
As shown in fig. 2, the accurate position coordinate information of the 5G terminal at the closest fixed position to the target 5G terminal (UE) is (xi, yi, zi), the position coordinate calculated by the positioning calculation service platform according to the measurement results of the terminal and the base station is (xj, yj, zj), and the position error vector of the 5G terminal at the fixed position is (xi-xj, yi-yj, zi-zj). And if the position coordinate of the terminal, which is solved by the positioning calculation service platform according to the measurement results of some other terminal and the base station, is (xk, yk, zk), the position coordinate after the terminal calibration is (xk + xi-xj, yk + yi-yj, zk + zi-zj).
3) And the comprehensive selection method comprises the steps of selecting all the 5G terminals with fixed positions in a set range, and calculating the position calibration value by adopting statistics according to the information of the 5G terminals with the fixed positions, wherein the statistics is a comprehensive algorithm calculation method. The comprehensive calculation algorithm includes, but is not limited to, an average algorithm, a distance weighting algorithm, and other statistical calculations.
Specifically, the number of the 5G terminals at all the fixed positions in the selected set range is set as N, the positioning calculation service platform calculates a position error vector for each 5G terminal at each fixed position, and the distribution is expressed as,…,. If an averaging algorithm is used, this calculates the average of all N error vectors for use as the final calibration value. If a distance weighting algorithm is adopted, firstly, a weighting coefficient which is inversely proportional to the position between the 5G terminals at the fixed position is determined, then, the weighting coefficient is multiplied by corresponding position error vectors respectively to calculate an average value, the average value is used as a final calibration value, and the system error is reduced through average calibration, so that the positioning calibration precision is further improved.
Corresponding to the above method, the present invention further provides a 5G NR positioning calibration system, as shown in fig. 5, including,
a calibration module 501, configured to measure and calibrate 5G terminal location information at a fixed location in a 5G location service area;
the calibration module 502 is configured to perform positioning calibration on the current position of the terminal to be positioned according to the calibrated position information of the 5G terminal at the fixed position and the wireless measurement data uploaded by the 5G terminal at the fixed position by using the screened positioning algorithm.
The invention utilizes the calibrated position information and the measurement data provided by the 5G terminal with the fixed position to calibrate and improve the positioning accuracy of other 5G terminals. The positioning calculation service platform calculates positioning errors by using calibrated accurate position information which is improved by a 5G camera, a 5G intelligent street lamp, a 5G data collection unit, a 5G edge calculation unit, a 5G hotspot or a fixed terminal specially arranged for 5G enhanced positioning and the like and is deployed in indoor and outdoor scenes of industrial parks, substations, hospitals, communities and the like, and improves the positioning precision of other 5G terminals by using the positioning errors as calibration values.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.

Claims (11)

1. A5G NR positioning calibration method is characterized by comprising the following steps:
measuring and calibrating the position information of a 5G terminal at a fixed position in a 5G positioning service area; the fixed-position 5G terminal comprises at least one of the following components: the intelligent street lamp comprises a 5G camera, a 5G intelligent street lamp, a 5G data collection unit, a 5G edge calculation unit and a 5G hot spot which are fixedly arranged;
according to the position information and the wireless measurement data, calculating positioning errors of different positioning algorithms DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and E-CID, selecting the positioning algorithm with the minimum error, and performing positioning calibration on all other nearby 5G terminals with positioning by using the algorithm; the algorithm with the minimum error is the algorithm with the shortest absolute distance between the position information calculated by the algorithm and the calibrated accurate position information of the 5G terminal with the fixed position.
2. The 5G NR positioning calibration method according to claim 1, wherein the 5G terminal position information of the measurement and calibration fixed position is as follows:
and measuring and calibrating the position information of the 5G terminal at the fixed position according to a digital map or an indoor 3D map of the 5G positioning service area.
3. The 5G NR positioning calibration method according to claim 1, wherein the wireless measurement data comprises at least one of: and periodically uploading measurement data of DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and E-CID.
4. The 5G NR positioning calibration method according to claim 1, further comprising using an error between the position information of the 5G terminal at the fixed position obtained by the filtered positioning algorithm and the calibrated position information as calibration information for positioning calibration of the current position of the terminal to be positioned within the 5G positioning service area.
5. The 5G NR positioning calibration method according to claim 1, wherein in the 5G positioning service area, 5G terminal position information of a fixed position is measured and calibrated; the method specifically comprises the following steps:
acquiring the number of 5G terminals at fixed positions in a 5G positioning service area;
when the 5G terminal with the fixed position does not exist, deploying the 5G terminal with the fixed position for positioning the calibration service in the 5G positioning service area;
when there are a plurality of fixed-position 5G terminals, the fixed-position 5G terminals for calibration are selected according to a preset selection algorithm.
6. The 5G NR positioning calibration method according to claim 1, wherein when there are a plurality of fixed-position 5G terminals, the fixed-position 5G terminals are selected for calibration according to a preset selection algorithm; specifically, the method comprises the following steps of,
and selecting the 5G terminal at the fixed position for calibration according to the preliminary position information of each 5G terminal to be calibrated before calibration and the preset area information for providing calibration service of the 5G terminal at each fixed position.
7. The 5G NR positioning calibration method according to claim 1, wherein when there are a plurality of fixed-position 5G terminals, the fixed-position 5G terminals are selected for calibration according to a preset selection algorithm; specifically, the method comprises the following steps of,
and selecting the 5G terminal at the fixed position for calibration according to the preliminary position information of each 5G terminal to be calibrated and the position information of the 5G terminal at each fixed position by the principle of the shortest absolute distance.
8. The 5G NR positioning calibration method according to claim 1, wherein when there are a plurality of fixed-position 5G terminals, the fixed-position 5G terminals are selected for calibration according to a preset selection algorithm; specifically, the method comprises the following steps of,
selecting 5G terminals with all fixed positions in a set range;
calculating a position error vector of the 5G terminal at each fixed position according to the preliminary position information and the calibration position information of the 5G terminals at all fixed positions;
and performing statistical calculation on all the position error vectors to obtain a position calibration value for calibration.
9. A5G NR positioning calibration system, comprising,
the calibration module is used for measuring and calibrating 5G terminal position information of a fixed position in a 5G positioning service area; the fixed-position 5G terminal comprises at least one of the following components: the intelligent street lamp comprises a 5G camera, a 5G intelligent street lamp, a 5G data collection unit, a 5G edge calculation unit and a 5G hot spot which are fixedly arranged;
the calibration module is used for calculating positioning errors of different positioning algorithms DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and E-CID according to the calibrated position information of the 5G terminal with the fixed position and wireless measurement data uploaded by the 5G terminal with the fixed position, selecting the positioning algorithm with the minimum error, and performing positioning calibration on all other nearby 5G terminals with positioning by using the algorithm; the algorithm with the minimum error is the algorithm with the shortest absolute distance between the position information calculated by the algorithm and the calibrated accurate position information of the 5G terminal with the fixed position.
10. A computer device, comprising:
a memory for storing a computer program;
a processor for implementing the 5G NR positioning calibration method of any one of claims 1 to 8 when executing said computer program.
11. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements a 5G NR positioning calibration method according to any of claims 1 to 8.
CN202110663262.6A 2021-06-15 2021-06-15 5G NR positioning calibration method and system Active CN113115440B (en)

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