CN114466448B

CN114466448B - Positioning method, positioning device and processor-readable storage medium

Info

Publication number: CN114466448B
Application number: CN202011248751.7A
Authority: CN
Inventors: 达人; 张振宇; 任斌; 李刚; 方荣一; 秦娟; 孙韶辉
Original assignee: Datang Mobile Communications Equipment Co Ltd
Current assignee: Datang Mobile Communications Equipment Co Ltd
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2023-04-11
Anticipated expiration: 2040-11-10
Also published as: CN114466448A; WO2022100594A1

Abstract

First, a target terminal and a reference terminal respectively receive positioning auxiliary measurement configuration information sent by a positioning server and positioning auxiliary signals sent by a positioning base station, and respectively perform positioning information measurement to obtain corresponding TDOA measurement information and carrier phase measurement information; then, positioning calculation processing is carried out by using TDOA measurement information and carrier phase measurement information of the combined target terminal and reference position information of the reference terminal, and position information of the target terminal is obtained. When the position information of the target terminal is positioned, the TDOA measurement information and the carrier phase measurement information are combined, so that compared with a mode of positioning by adopting single TDOA measurement information in the prior art, the positioning measurement error is restrained, the positioning precision is effectively improved, and the high-precision positioning requirement is met.

Description

Positioning method, positioning device and processor-readable storage medium

Technical Field

The present application relates to the field of wireless communications technologies, and in particular, to a positioning method, an apparatus, and a processor-readable storage medium.

Background

Time Difference of Arrival (TDOA) is a positioning method defined by 3GPP protocol specification.

In the existing TDOA-based positioning method, a terminal receives positioning signals of a plurality of base stations, and calculates TDOA measurement values of the signals according to the positioning signals, so as to obtain distances of the terminal relative to each terminal according to the TDOA measurement values, and determine a position of the terminal.

However, there are various measurement errors in the TDOA-based positioning method, which makes the error range of the position of the terminal large, and cannot meet the requirement of high-precision positioning.

Disclosure of Invention

The application provides a positioning method, a positioning device and a processor-readable storage medium, which are used for realizing positioning of a terminal.

In one aspect, the present application provides a positioning method, including:

respectively sending positioning auxiliary measurement configuration information to a target terminal and a reference terminal so that the target terminal and the reference terminal respectively carry out positioning information measurement according to the positioning auxiliary measurement configuration information and a received positioning auxiliary measurement signal; the positioning auxiliary measurement signal is sent to the target terminal and the reference terminal by a positioning base station;

receiving positioning measurement information sent by a target terminal and a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information;

and performing positioning calculation processing by combining the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference position information of the reference terminal to obtain the position information of the target terminal.

Optionally, the performing location calculation processing by combining the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference terminal, and the reference location information of the reference terminal to obtain the location information of the target terminal includes:

performing linearization processing on TDOA measurement information of a target terminal and TDOA measurement information of a reference terminal, and obtaining a TDOA linear equation by combining the reference position information;

carrying out linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information;

and resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity.

Optionally, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single differential TDOA measurement values;

the step of performing linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtaining a TDOA linear equation by combining the reference position information includes:

carrying out double differential processing on the single differential TDOA measured value of the target terminal and the single differential TDOA measured value of the reference terminal to obtain a double differential arrival time measured value;

reducing and resolving the double-difference time of arrival measurement value according to the reference position information to obtain a reduced single-difference TDOA measurement value;

and carrying out linearization processing based on Taylor expansion by using the reduced single-difference TDOA measured value and the reference position information to obtain a TDOA linear equation.

Optionally, the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are subjected to linearization processing, and a carrier phase linear equation is obtained by combining the reference position information, and the method comprises the following steps:

carrying out double differential processing on the single differential carrier phase measurement value of the target terminal and the single differential carrier phase measurement value of the reference terminal to obtain a double differential carrier phase measurement value;

reducing and resolving the double differential carrier phase measurement value according to the reference position information to obtain a reduced single differential carrier phase measurement value;

and carrying out linear processing based on Taylor expansion by using the single difference carrier phase measurement value and the reference position information to obtain a carrier phase linear equation.

Optionally, the resolving the TDOA linear equation and the carrier phase linear equation to obtain an integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity includes:

establishing a least square model according to a TDOA linear equation and a carrier phase linear equation;

acquiring an incidence relation between the whole-cycle ambiguity of the target terminal and the change step length of the position information of the target terminal according to the least square model;

performing iterative operation based on floating point estimation according to the incidence relation to determine integer ambiguity;

and determining the position information of the target terminal according to the carrier phase linear equation and the integer ambiguity.

In another aspect, the present application provides a positioning method, including:

receiving positioning auxiliary measurement configuration information sent by a positioning server and receiving a positioning auxiliary measurement signal sent by a positioning base station;

measuring positioning information according to the positioning auxiliary measurement configuration information and the positioning auxiliary measurement signal to obtain current positioning measurement information; receiving positioning measurement information sent by a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information;

and performing positioning calculation processing by combining the TDOA measurement information and the carrier phase measurement information of the current terminal and the reference position information of the reference terminal to obtain the position information of the current terminal.

Optionally, the performing location calculation processing by combining TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and reference location information of the reference terminal to obtain location information of the current terminal includes:

performing linearization processing on TDOA measurement information of a current terminal and TDOA measurement information of a reference terminal, and obtaining a TDOA linear equation by combining the reference position information;

the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are subjected to linearization processing, and a carrier phase linear equation is obtained by combining the reference position information;

and resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity.

Optionally, the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single differential TDOA measurement values;

the step of performing linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtaining a TDOA linear equation by combining the reference location information includes:

and carrying out linearization processing based on Taylor expansion by using the reduced single difference TDOA measured value and the reference position information to obtain a TDOA linear equation.

Optionally, the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

carrying out double differential processing on the single differential carrier phase measurement value of the current terminal and the single differential carrier phase measurement value of the reference terminal to obtain a double differential carrier phase measurement value;

Optionally, the resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity includes:

acquiring an incidence relation between the integer ambiguity of the current terminal and the change step length of the position information of the current terminal according to the least square model;

and determining the position information of the current terminal according to the carrier phase linear equation and the integer ambiguity.

In yet another aspect, the present application provides a positioning apparatus, including a memory, a transceiver, a processor:

a memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and performing the following operations:

Optionally, when the processor performs positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal and reference location information of the reference terminal to obtain location information of the target terminal, the processor is specifically configured to:

the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are subjected to linearization processing, and a carrier phase linear equation is obtained by combining the reference position information;

when the processor performs linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtains a TDOA linear equation by combining the reference location information, the processor is specifically configured to:

and carrying out linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtaining a TDOA linear equation by combining the reference position information.

The carrier phase measurement information of the optional target terminal and the carrier phase measurement information of the optional reference terminal are single difference carrier phase measurement values;

the processor is specifically configured to, when performing linearization on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal and obtaining a carrier phase linear equation by combining the reference position information:

Optionally, when the processor performs resolving processing on the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determines the position information of the target terminal according to the integer ambiguity, the processor is specifically configured to:

performing iterative operation based on floating point estimation according to the incidence relation to determine the integer ambiguity;

Optionally, when the processor performs positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and reference location information of the reference terminal, and obtains location information of the current terminal, the processor is specifically configured to:

carrying out linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information;

when the processor performs linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtains a TDOA linear equation by combining the reference location information, the processor is specifically configured to:

Optionally, the processor is configured to, when performing resolving processing on a TDOA linear equation and a carrier phase linear equation to obtain an integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity, specifically:

obtaining the incidence relation between the current integer ambiguity and the change step length of the current position information according to the least square model;

and determining the current position information according to the carrier phase linear equation and the integer ambiguity.

In yet another aspect, the present application provides a positioning apparatus, including:

the first transceiving unit is used for respectively sending positioning auxiliary measurement configuration information to a target terminal and a reference terminal so that the target terminal and the reference terminal can respectively measure positioning information according to the positioning auxiliary measurement configuration information and a received positioning auxiliary measurement signal; the positioning auxiliary measurement signal is sent to the target terminal and the reference terminal by a positioning base station; receiving positioning measurement information sent by a target terminal and a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information;

and the first positioning unit is used for carrying out positioning calculation processing by combining the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference position information of the reference terminal to obtain the position information of the target terminal.

In yet another aspect, the present application provides a positioning device comprising:

the second transceiver unit is used for receiving positioning auxiliary measurement configuration information sent by the positioning server and receiving positioning auxiliary measurement signals sent by the positioning base station; and according to the positioning auxiliary measurement configuration information and the positioning auxiliary measurement signal, performing positioning information measurement to obtain current positioning measurement information; receiving positioning measurement information sent by a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information;

and the second positioning unit is used for carrying out positioning calculation processing by combining the TDOA measurement information and the carrier phase measurement information of the current terminal and the reference position information of the reference terminal to obtain the position information of the current terminal.

In yet another aspect, the present application provides a processor-readable storage medium having stored thereon a computer program for causing a processor to perform the method of any of the preceding claims.

In a final aspect, the present application provides a processor-readable storage medium having stored thereon a computer program for causing a processor to perform the method of any one of the preceding claims.

It should be understood that what is described in the summary above is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a network architecture provided herein;

fig. 2 is a schematic signaling interaction diagram of a positioning method provided in the present application;

fig. 3 is a schematic flow chart of a positioning method provided in the present application;

FIG. 4 is a schematic structural diagram of a positioning device provided herein;

FIG. 5 is a schematic structural diagram of another positioning apparatus provided in the present application;

fig. 6 is a schematic signaling interaction diagram of another positioning method provided in the present application;

FIG. 7 is a schematic flow chart diagram of another positioning method provided herein;

FIG. 8 is a schematic structural view of another positioning device provided herein;

fig. 9 is a schematic structural diagram of another positioning device provided in the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Aiming at the problem of lower positioning accuracy caused by a method for determining the position of a terminal by measuring a reference signal of a wireless communication system defined by the current 3GPP, the application provides a positioning method for providing high-accuracy positioning for the terminal in the 3GPP wireless communication system, so that the positioning error range of the position information of the terminal obtained by the application is smaller, and the positioning accuracy is effectively improved.

The method and the device are based on the same application concept, and because the principles of solving the problems of the method and the device are similar, the implementation of the device and the method can be mutually referred, and repeated parts are not repeated.

It should be noted that the technical solutions provided in the embodiments of the present application may be applied to various wireless communication systems.

For example, the applicable system may be a global system for mobile communication (GSM) system, a Code Division Multiple Access (CDMA) system, a Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS) system, a long term evolution (long term evolution, LTE) system, an LTE Frequency Division Duplex (FDD) system, an LTE Time Division Duplex (TDD) system, an LTE-a (long term evolution) system, a universal mobile system (universal mobile telecommunications system, UMTS), a universal internet Access (WiMAX) system, a New Radio Network (NR) system, etc. These various systems include terminal devices and network devices. The System may further include a core network portion, such as an Evolved Packet System (EPS), a 5G System (5 GS), and the like.

For a clear understanding of the technical solutions of the present application, a detailed description of the prior art solutions is first provided.

Fig. 1 is a network architecture provided in the present application, as shown in fig. 1, the network architecture includes terminals (a target terminal and a reference terminal mentioned in the present application), network devices (a positioning base station and a positioning server mentioned in the present application).

The terminal in fig. 1, also referred to as terminal device, may refer to a device providing voice and/or data connectivity to a user, a handheld device having a wireless connection function, or other processing device connected to a wireless modem.

In different systems, the names of the terminal devices may be different, for example, in a 5G system, the terminal device may be referred to as a User Equipment (UE). A wireless terminal device, which may be a mobile terminal device such as a mobile phone (or called a "cellular" phone) and a computer having a mobile terminal device, for example, a portable, pocket, hand-held, computer-included or vehicle-mounted mobile device, may communicate with one or more Core Networks (CNs) via a Radio Access Network (RAN), and may exchange languages and/or data with the RAN.

Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, session Initiation Protocol (SIP) phones, wireless Local Loop (WLL) stations, personal Digital Assistants (PDAs), and the like. The wireless terminal device may also be referred to as a system, a subscriber unit (subscriber unit), a subscriber station (subscriber station), a mobile station (mobile), a remote station (remote station), an access point (access point), a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in this embodiment of the present application.

The network device in fig. 1 may specifically include a positioning base station and a positioning server. The positioning base station may include a plurality of cells serving the terminal. A base station may also be referred to as an access point, or a device in an access network that communicates over the air-interface, through one or more sectors, with wireless terminal devices, or by other names, depending on the particular application. The network device may be configured to exchange received air frames with Internet Protocol (IP) packets as a router between the wireless terminal device and the rest of the access network, which may include an Internet Protocol (IP) communication network. And the location server in the network device may also coordinate the management of attributes for the air interface.

In the wireless communication system shown in fig. 1, when a terminal a (target terminal) needs to be located, the prior art will generally adopt a Time Difference of Arrival (TDOA) based location method.

Specifically, the terminal a initiates a location request to the network device, at this Time, a location base station in the network device sends a location-assisted measurement signal to the terminal a, and a location server in the network device sends location-assisted measurement configuration information to the terminal a, so that the terminal a performs location measurement of the signal by using the location-assisted measurement signal and the location-assisted measurement configuration information, and obtains a Time of Arrival (TOA) to determine a measurement value of a Time difference of Arrival (TDOA). Then, terminal a or the positioning server performs positioning processing on the TDOA measurement value as a processing subject of the positioning processing, so as to obtain the position of terminal a by combining the reference position of terminal B (reference terminal) and the base station position of the positioning base station, thereby completing the positioning of terminal a.

However, in the process of calculating the position of the terminal a by using the measured value of the Time difference of Arrival (TDOA), due to various errors such as system errors and clock errors, a certain positioning error exists between the position of the terminal a obtained from the measured value of the Time difference of Arrival (TDOA) obtained by the measurement of the terminal a and the actual position of the terminal a. Due to the problem of inaccurate positioning caused by errors, the upper limit of the positioning accuracy of the method for positioning the terminal by using the TDOA is limited, and the high-accuracy positioning requirement of the terminal cannot be met.

Based on this, as the present application came forward, in order to improve the positioning accuracy of a terminal in a wireless communication system, the inventors considered that a positioning method based on other measurement values could be introduced to perform positioning of the terminal simultaneously with the conventional positioning method, thereby improving the positioning accuracy of the terminal.

Based on this concept, the inventors have found that a carrier phase measurement method can be combined with a TDOA-based measurement method to improve the terminal location accuracy of a wireless communication system.

The carrier phase observation is a high-precision positioning method for determining the phase difference between a satellite carrier signal received by a GPS receiver and a reference carrier signal generated by a receiver oscillator, and is generally used in a satellite positioning scenario, where an integer ambiguity exists in the carrier phase measurement, and when an error term in the carrier phase measurement is reduced, the integer ambiguity can be solved, and the carrier phase measurement can be accurately positioned through calculation.

In order to obtain the integer ambiguity, the inventor finds that the existing TDOA measurement method can be used to perform a certain pre-estimation on the terminal position, so as to determine the integer ambiguity in the carrier phase measurement according to the estimated value, and then the obtained integer ambiguity is used to obtain the precise positioning.

Compared with the prior art, when the position information of the terminal is positioned, the TDOA measurement information and the carrier phase measurement information are combined, so that compared with a mode of positioning by adopting single TDOA measurement information in the prior art, the positioning measurement error is restrained, the positioning accuracy is effectively improved, and the high-precision positioning requirement is met.

Embodiments of the present application will be described below in detail with reference to the accompanying drawings.

Before describing the embodiments, the letters appearing in the present application and their meanings will be briefly explained first:

representing TOA measurements, where i represents the i-th positioning base station, where i = (1, …, M), and M is the total number of positioning base stations; and l may be l = (a, b), where l = a represents a user with an unknown location, i.e., a target terminal in the present application; l = b represents a terminal of known position, i.e. a reference terminal in the present application.

The unit is the actual distance from the terminal l to the positioning base station i, and is meter.

c represents the propagation velocity of electromagnetic waves, 3.0e ⁸ In m/s.

δt ⁱ And represents the clock error of the positioning base station i, and the unit is second.

δt _l The clock error of terminal i is represented in seconds.

Represents a TOA measurement->

In meters.

Represents a TOA measurement>

Is measured in meters.

Which represents the carrier phase measurements in weeks measured by the terminal i from the measurement signals transmitted by the positioning base station i.

λ is the wavelength corresponding to the center frequency f of the corresponding carrier, in meters.

Initial phase of terminal i in units of weeks.

The initial phase of the positioning base station i is the unit of week.

Is the carrier phase measurement->

The corresponding response is given as unknown integer ambiguity in units of weeks.

Is a carrier phase measurement>

Corresponding multiple pathsError, in meters.

Is the carrier phase measurement->

The measurement error of (2) is in meters.

s ⁱ ＝(x ⁱ ,y ⁱ ,z ⁱ ) ^T Is the known coordinate information of the positioning base station i = (1, …, M).

s _l ＝(x _l ,y _l ,z _l ) ^T Represents the coordinates of the terminal, where l = (a, b), i.e., s _a Representing an unknown user location, i.e. the location of the target terminal; s _b Representing the known location of the reference terminal, i.e. the location of the reference terminal.

The double superscript "ij" represents a single differential operation on the values between positioning base station i and positioning base station j, for example:

the double subscript "ab" represents a single differential operation on the value between terminal a (target terminal) and terminal b (reference terminal), and can be expressed as:

the combination of the double superscript "ij" and the double subscript "ab" represents the double differential operation between the positioning base station i and the positioning base station j, and the terminal a and the terminal b, which can be expressed as:

example one

In the first embodiment, a downlink positioning scheme of UE-assisted based on the inventive concept of the present application is provided, in which a positioning server in the network device in fig. 1 is used as an execution main body to perform positioning operation.

Specifically, fig. 2 is a schematic signaling interaction diagram of a positioning method provided by the present application, and fig. 2 illustrates an interaction situation between a network device and a terminal in a downlink positioning scheme based on UE-assisted, where as shown in fig. 2, in the positioning method provided by the present application, as described in the network architecture of fig. 1, a reference terminal (terminal B) needs to be used in order to position a target terminal (terminal a).

Fig. 3 is a schematic flowchart of a positioning method provided in the present application, and as shown in fig. 3, an execution subject of the embodiment of the present application is a network device, which may be specifically the positioning server in fig. 1.

With reference to fig. 2 and fig. 3, the positioning method provided in this embodiment includes the following steps:

step 101, respectively sending positioning auxiliary measurement configuration information to a target terminal and a reference terminal, so that the target terminal and the reference terminal respectively measure positioning information according to the positioning auxiliary measurement configuration information and a received positioning auxiliary measurement signal; the positioning auxiliary measurement signal is sent to the target terminal and the reference terminal by a positioning base station.

Specifically, first, after a target terminal sends a positioning request to a network device, each positioning base station in a cellular network to which the target terminal belongs sends positioning auxiliary measurement configuration information including base station position information, signal frequency and the like to a positioning server, so that the positioning server can cooperate with each positioning base station, and meanwhile, the positioning base station also sends positioning auxiliary measurement signals to a target terminal and a reference terminal in a coverage cellular network of the positioning base station. And the positioning server sends the positioning auxiliary measurement configuration information to the target terminal and the reference terminal together.

Positioning auxiliary measurement configuration information received by the target terminal and the reference terminal includes configuration information of a Positioning reference Signal (PRS for short) and configuration information of a Carrier phase Positioning reference Signal (C-PRS for short); positioning assistance measurement signals received by the target terminal and the reference terminal include reference signals of PRS and reference signals of C-PRS.

102, receiving positioning measurement information sent by a target terminal and a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information includes TDOA measurement information and carrier phase measurement information.

After the target terminal and the reference terminal receive the positioning auxiliary measurement signal and the positioning auxiliary measurement configuration information, the positioning information measurement is respectively performed to obtain respective positioning measurement information. As mentioned above, the TDOA measurement information and the carrier phase measurement information combined with the target terminal and the reference terminal are included in the measured positioning measurement information.

The target terminal would then send the TDOA measurement information and the carrier-phase measurement information to the location server, while, synchronously or asynchronously, the reference terminal would send the TDOA measurement information, the carrier-phase measurement information, and its reference location information to the location server. It should be noted that, since the position of the reference terminal is constant and known, the reference terminal may send the preset and the reference position information indicating the position of the reference terminal to the positioning server for processing.

And 103, positioning calculation processing is carried out by combining the TDOA (time difference of arrival) measurement information and the carrier phase measurement information of the target terminal and the reference position information of the reference terminal, so as to obtain the position information of the target terminal.

Specifically, after the positioning server receives the positioning measurement information of the target terminal, and the positioning measurement information of the reference terminal and the reference position information thereof, positioning calculation is performed in the manner of step 103. The positioning calculation process by combining the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference terminal, and the reference location information of the reference terminal may include an operation on the TDOA measurement information and an operation on the carrier phase measurement information, and the two operations may be performed either synchronously or asynchronously. After the two operations are completed, the operation results of the two operations are also subjected to calculation processing, so that the final position information of the target terminal is obtained.

Optionally, in order to improve the positioning accuracy, in the positioning method provided in the present application, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single differential TDOA measurement values, and the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single differential carrier phase measurement values. And the positioning server can effectively eliminate the clock error in the measured value by carrying out double differential operation on the single differential measured value, thereby improving the positioning precision.

First, acquisition of a single differential TDOA measurement.

In the embodiment of the present application, the TDOA measurement information may specifically refer to a single differential TDOA measurement value obtained by performing differential processing on the TOA measurement value by the terminal, that is, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single differential TDOA measurement values.

In detail, since the TOA measurement value may be represented as a sum of an actual distance and various errors, in order to ensure positioning accuracy, when a target terminal (reference terminal) performs positioning measurement, a single differential process may be further performed on the TOA measurement value obtained by the positioning measurement to eliminate a clock error from a positioning base station, and the process may be described as follows:

first, taking terminal l as an example, terminal l measures a TOA measurement value obtained by measuring a measurement signal of PRS.

Wherein, for downlink positioning, the TOA measurement value at the time t

Can be expressed as:

wherein, the first and the second end of the pipe are connected with each other,

a TOA measured value obtained by measuring a signal of a positioning base station i by a terminal l representing a time t; wherein i represents the ith base station, i = (1, …, M), and M is the total number of positioning base stations; and l may be represented by l = (a, b), where l = a, terminal l represents the target terminal; when l = b, terminal l is denoted as a reference terminal;

is the actual distance from the terminal l to the positioning base station i; c is the propagation velocity of the electromagnetic wave; δ t ⁱ Is the clock error of the positioning base station i; />

Is the clock error of terminal l, is greater than or equal to>

Is a TOA measurement->

The multipath error of (2); />

Is a TOA measurement->

The measurement error of (2).

Among the above-mentioned errors, the error of the present invention,

it is usually assumed to be gaussian noise, which is a random variable within a preset range.

Since there are generally a plurality of positioning base stations, the clock error of the terminal l itself can be eliminated by using the difference between two TOA measurement values obtained by measuring signals of any two positioning base stations in the plurality of positioning base stations, and the process can be described by formula (2).

the difference value between the TOA measured value obtained by measuring the signal of the positioning base station i by the terminal l at the time t and the TOA measured value obtained by measuring the signal of the positioning base station j; wherein i represents the ith base station, i = (1, …, M), and M is the total number of positioning base stations; and l may be represented by l = (a, b), where l = a, terminal l represents the target terminal; when l = b, terminal l is denoted as a reference terminal;

is the difference between the actual distance from the terminal l to the positioning base station i and the actual distance from the terminal l to the positioning base station j; c δ t ^ij (t) is the difference between the clock error of positioning base station i and the clock error of positioning base station j; />

Multipath error which is the difference of the TOA measurements; />

Measurement error of difference in TOA measurements;

wherein the noise is measured in a single differential

Will be zero mean gaussian noise based on covariance.

The single differential TDOA measurement obtained by equation (2) will be sent by its terminal to the location server for the location server to perform step 1031 based on the single differential TDOA measurement.

And secondly, acquiring the phase measurement value of the single differential carrier.

The terminal l may obtain a carrier phase measurement value by measuring a PRS and/or a C-PRS signal, that is, the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values.

Wherein, after the phase-locked loop at the terminal l initially locks the carrier phase signal at the time t =0, the initial phase of the terminal l at the time t =0 can be expressed as formula (3)

Where N is used to represent the unknown integer ambiguity in the carrier phase measurement, and in particular, the phase-locked loop can track the change in carrier phase, which may be caused by a change in phase, provided that the phase-locked loop maintains the carrier signal locked

(actual distance of terminal l to positioning base station i), δ t ⁱ (clock error of positioning base station i), δ t _l (clock error at terminal l), ->

(Carrier phase) measured value->

Multipath error of) is generated.

The carrier phase measurement will change with time t, i.e. at a later time t, the carrier phase measurement at time t is obtained

Expressed as equation (5).

And according to equation (4) and equation (5), the phase of the carrier transmitted by terminal l measured at the ith transmitting base station can be represented by equation (6):

in the above procedure, carrier phase positioning is typically used in a Line of Sight (LOS) available environment, and multipath errors in measurements may be ignored in the following discussion, e.g., it may be considered that

Integer ambiguity

Is introduced because the initial value of the carrier phase is in the range 0,2 pi when the phase locked loop initially locks onto the signal. And if the phase locked loop remains locked on the input carrier, the integer ambiguity is constant and remains constant throughout.

Then, the carrier phase of the terminal l, the positioning base station i and the positioning base station j are subjected to single difference to obtain a single difference carrier phase measured value

Can be expressed by equation (7).

Wherein the measurement error

It is still gaussian noise with covariance.

The single differential carrier phase measurement obtained by equation (7) will be sent by its terminal to the positioning server for the positioning server to perform step 1032 based on the single differential carrier phase measurement.

Of course, the obtained single differential carrier phase measurement value and TDOA measurement value may also be implemented by using other algorithms in the prior art, which are not described in detail herein.

Optionally, in order to obtain more accurate location information of the target terminal, the method and the device for locating the target terminal mainly utilize carrier phase measurement to locate the target terminal. However, in this process, the parameter of integer ambiguity exists in the carrier phase measurement, and the parameter cannot be solved by the carrier phase measurement process itself. Therefore, in order to obtain the parameter of the integer ambiguity, the present application combines the existing TDOA measurement method to perform a certain pre-estimation on the terminal position, and then determines the integer ambiguity in the carrier phase measurement according to the estimated value, and obtains the precise positioning by using the obtained integer ambiguity.

Based on the above principle, in the process of performing positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of a target terminal and a reference terminal, and reference position information of the reference terminal, the method specifically includes two processes:

first, the process of processing the TDOA measurement information and the carrier phase measurement information is performed (steps 1031 and 1032).

Next, a procedure for performing integer ambiguity based on the processing results of the TDOA measurement information and the carrier phase measurement information to obtain the location information of the target terminal is performed (step 1033).

The above two processes are specifically described below:

first, step 1031 describes the process of processing TDOA measurement information:

step 1031, performing linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtaining a TDOA linear equation by combining the reference location information.

In step 1031, a double difference processing stage, a single difference reduction stage, and a linear equation constructing stage may be specifically included.

Specifically, to ensure the measurement accuracy and eliminate the influence of the clock error on the result, the location server performs double-difference processing on the single-difference TDOA measurement value of the target terminal and the single-difference TDOA measurement value of the reference terminal to obtain a double-difference time of arrival measurement value.

In the double difference processing stage, the clock bias in the two single difference measurement values, i.e. the TDOA measurement value of the target terminal and the TDOA measurement value of the reference terminal, is completely eliminated by performing double difference operation, as shown in formula (8), so as to obtain the double difference time-of-arrival measurement value.

Wherein the positioning base station j is selected as a reference base station, and the noise is measured by double difference

Is zero mean gaussian noise of covariance. That is, the double differential operation described above can be used to eliminate measurement biases associated with the terminal and the positioning base station, such as a terminal clock offset and a positioning base station clock offset. />

However, double differential operation cannot counteract multipath errors

The influence of (c). Therefore, for centimeter-level positioning with double-differential operation, line-of-sight (LOS) signal-based TOA and carrier phase measurements are important, such that the multipath error in the formula ≧ is>

Has a negligible influence, i.e. is to be understood as being in the present case a ≥ value in equation (8)>

Is 0.

Subsequently, because a single-differential TDOA measurement value needs to be used in the TDOA measurement process, in order to obtain the measurement value, a reduction solution process needs to be performed on the double-differential TDOA measurement value, and a clock error is eliminated in the reduced single-differential TDOA measurement value.

That is, after the acquisition of the double-difference TDOA measurement value is completed, the positioning server further performs a reduction resolving process on the double-difference TDOA measurement value according to the reference location information to obtain a reduced single-difference TDOA measurement value:

specific reference is made to equations (8) and (9), where

Is a double differential time of arrival measurement. Based on the reference location information of the known reference terminal, the actual distance between the reference terminal and the positioning base station i and the distance difference between the reference terminal and the actual distance between the positioning base station j can be obtained>

Using the distance difference

The modified single differential TDOA measured value can be restored by transforming equation (9) and substituting it into equation (8)>

As shown in equation (10):

it can be seen from the above formula

And the influence of clock deviation of the terminal and the positioning base station is not received.

Finally, the positioning server performs linearization processing based on Taylor expansion by using the reduced single difference TDOA measured value and the reference position information to obtain a TDOA linear equation:

first, the above formula is rewritten to obtain formula (11), and the formula is rewritten into a vector form to solve for unknown user coordinates s _a 。

r _p ＝d(s _a )+m _p +w _p Formula (11)

Wherein the expression of formula (11) can be performed in the form of a scalar quantity

(i =1, …, M; i ≠ j; j is a reference positioning base station)

It should be noted that, in the case where the signal propagation belongs to the LOS path, the multipath error m _p Can be omitted.

For unknown user coordinates s _a It is a non-linear equation. Solving the position s of an unknown target terminal _a One common method of approximating the location of the target terminal (e.g., by a Taylor series expansion)

) Nearby linearization and then iteratively solving for @withthe LS algorithm>

。

Suppose that

Wherein δ s _a Is the location s of the target terminal _a Approximate position->

The error of (2).

Therefore, the following steps are carried out:

thus is provided with

Wherein the content of the first and second substances,

by the above formula, can obtain

Thus, the TDOA linear equation can be expressed as:

wherein the content of the first and second substances,

is the difference in the geometric distances computed from the estimated position of the target terminal to the ith and jth positioning base stations,

and &>

Is the normalized direction (LOS) vector that the target terminal points to the ith and jth positioning base stations.

That is, equation 15 represents the linear equation of TDOA obtained for step 1031.

And step 1032 describes the process of processing the carrier phase measurement information:

and 1032, performing linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and combining the reference position information to obtain a carrier phase linear equation.

Similar to step 1031, in step 1032, a double difference processing stage, a single difference reduction stage, and a linear equation construction stage will also be included.

Firstly, the positioning server carries out double differential processing on the single differential carrier phase measurement value of the target terminal and the single differential carrier phase measurement value of the reference terminal to obtain a double differential carrier phase measurement value.

Specifically, in the double difference processing stage, firstly, double difference operation between the positioning base station i and the positioning base station j, and the target terminal a and the reference terminal b is performed to obtain double difference carrier phase measurement values

Can be expressed as equation (16):

/>

wherein the double difference measures the noise

Specifically gaussian noise of covariance.

Through the double differential processing, a double differential carrier phase measurement value for eliminating the clock error can be obtained (the principle is similar to that in step 1031, and is not described herein again).

Then, similarly, the double-differential carrier phase measurement value needs to be reduced and solved to meet the carrier phase measurement requirement. Namely, the positioning server performs reduction resolving processing on the double differential carrier phase measurement value according to the reference position information to obtain a reduced single differential carrier phase measurement value.

In particular, for double differential carrier phase measurements

Performing reduction processing to obtain reduced single differential carrier phase measurement value>

By means of the equations (9) and (16), a single differential measurement value can be constructed which is based on>

It is known that the calculation is made by the formula (17)

Is unaffected by clock skew.

And finally, the positioning server performs linear processing based on Taylor expansion by using the single-difference carrier phase measurement value and the reference position information to obtain a carrier phase linear equation.

Rewriting equation (17) yields equation (18):

(i =1, …, M; i ≠ j; j is a reference positioning base station)

Since equation (18) approximates the UE location

A linearization process based on taylor expansion is performed, where δ s is the approximation error, resulting in the linearization equation formula (19), i.e. the carrier phase linearity equation:

wherein, (i =1, …, M; i ≠ j)

Wherein

And &>

As described in equation (15).

Of course, it should be noted that the execution sequence of steps 1031 and 1032 may be that step 1031 is executed first, and then step 1032 is executed; step 1032 may be executed first, and then step 1031 may be executed; or, the execution can be synchronized, and the execution sequence is not limited in any way in the application.

Finally, step 1033 describes how to determine the integer ambiguity based on the linear equation, and thus the position information of the target terminal:

and 1033, resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity.

In this step, in order to determine the integer ambiguity, a least square method may be used to establish a matching relationship between the integer ambiguity and the change step length of the position information of the target terminal, and the integer ambiguity corresponding to the optimal change step length of the position information of the target terminal is used as the optimal integer ambiguity.

Specifically, the location server needs to establish a least square model according to a TDOA linear equation and a carrier phase linear equation, and then obtain an association relationship between the whole-cycle ambiguity of the target terminal and the change step length of the position information of the target terminal according to the least square model.

For this purpose, the TDOA linear equation and the carrier phase linear equation need to be rewritten separately to establish the least square model.

Rewriting the TDOA linear equation (equation 15) yields equation (20).

y _p ＝H _α δs _a +w _p Formula (20)

Wherein

Then, the carrier phase linear equation (equation 19) needs to be rewritten to obtain equation (21).

Wherein H _a The description of (1) is similar to that of (20) and will not be repeated herein.

(i =1, …, M; i ≠ j; j is a reference positioning base station)

In the above process, based on the formula 20, the linearized measurement equation in the form of vector can be used to solve δ s therein by using LS algorithm or other methods _a Corresponding, δ s _a Can be expressed as

At the beginning, H _p By

Approximated by a calculation, after each iteration>

. The whole process is repeated again and again, until | s | is sufficiently small.

Then, based on the TDOA linear equation and the carrier phase linear equation, δ s _a And N, the least squares mathematical model established may be expressed as:

y(k)＝H(k)x(k)+w _y (k) Formula (23)

Wherein the content of the first and second substances,

δs _a the linear estimate of sum deltaN (least squares model) can be expressed as

Since the correlation between the integer ambiguity of the target terminal and the change step of the position information of the target terminal has been established in formula (23)

In equation (24), an iterative operation based on floating point estimation can be performed according to the correlation to determine the integer ambiguity:

when the iterative operation starts, H and N can be calculated from

Calculated, following each cycle, is combined>

And a floating point estimate pick>

This can be updated by:

when | s is sufficiently small, the iteration stops (e.g., is less than a predefined threshold). Floating point estimation

The covariance matrix corresponding to the estimated error of (a) will be used as the input to the integer ambiguity resolution module>

Finally, according to the linear equation of the carrier phase and the integer ambiguity, the position information of the target terminal is determined, namely the integer ambiguity solution is obtained

Then, a more accurate user position s is obtained by utilizing a Chan algorithm _a 。

Of course, the above process can be cycled to obtain new integer ambiguity solutions without stopping

To obtain more accurate user position s by using Chan algorithm _a 。

In the positioning method provided in this embodiment, because a TDOA measurement value and a carrier phase measurement value are combined in a positioning calculation process, on the premise that a nonlinear relationship exists between a measurement value and a user position, the TDOA measurement value and the carrier phase measurement value are processed to obtain a corresponding linear equation, so that the position of a target terminal, the TDOA measurement value and the carrier phase measurement value are respectively expressed in a form of a linearized equation, and a least square method based on taylor expansion can estimate and predict a terminal position, so as to obtain an accurate terminal position, thereby implementing high-precision positioning of the terminal in a wireless communication system. Meanwhile, in the whole positioning calculation process, the situation that time synchronization errors (instant Zhong Wucha) exist between the base station and between the base station and the terminal during measurement is also considered, the influence of clock errors on positioning calculation can be effectively eliminated by using a double-difference algorithm, and the positioning accuracy is further improved.

Example two

Fig. 4 is a schematic structural diagram of a positioning device provided in the present application. As shown in fig. 4, the positioning device includes:

comprising a memory 820, a transceiver 800, a processor 810:

a memory 820 for storing a computer program;

a transceiver 800 for transceiving data under the control of the processor 810;

a processor 810 for reading the computer program in the memory 820 and performing the following operations:

and positioning calculation processing is carried out by combining the TDOA (time difference of arrival) measurement information and carrier phase measurement information of the target terminal and the reference position information of the reference terminal to obtain the position information of the target terminal.

Optionally, when the processor 810 performs positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and reference location information of the reference terminal, and obtains location information of the target terminal, the processor is specifically configured to:

the processor 810 is specifically configured to, when performing linearization processing on TDOA measurement information of the target terminal and TDOA measurement information of the reference terminal, and obtaining a TDOA linear equation by combining the reference location information:

the processor 810 is specifically configured to, when performing linearization on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information:

Optionally, when the processor 810 performs resolving processing on the TDOA linear equation and the carrier phase linear equation to obtain an integer ambiguity of the target terminal, and determines the position information of the target terminal according to the integer ambiguity, the processor is specifically configured to:

establishing a least square model according to the TDOA linear equation and the carrier phase linear equation;

Further, the transceiver 800 is used for receiving and transmitting data under the control of the processor 810.

Wherein in fig. 4, the bus architecture may include any number of interconnected buses and bridges, with one or more processors, represented by processor 810, and various circuits, represented by memory 820, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 800 may be a number of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over transmission media including wireless channels, wired channels, fiber optic cables, and the like. The user interface z30 may also be an interface capable of interfacing externally to a desired device for different user devices, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

The processor 810 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 600 in performing operations.

Alternatively, the processor 810 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor may also have a multi-core architecture.

The processor 810 is configured to invoke a computer program stored in the memory, and is configured to execute any of the methods provided by the embodiments of the present application according to the obtained executable instructions. The processor and memory may also be physically separated.

It should be noted that, the apparatus provided in the present application can implement all the method steps implemented by the first method embodiment and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as the method embodiment in this embodiment are omitted here.

EXAMPLE III

Fig. 5 is a schematic structural diagram of another positioning device provided in the present application. As shown in fig. 5, the positioning device includes:

a first transceiver unit 10, configured to send positioning auxiliary measurement configuration information to a target terminal and a reference terminal, respectively, so that the target terminal and the reference terminal perform positioning information measurement according to the positioning auxiliary measurement configuration information and a received positioning auxiliary measurement signal, respectively; the positioning auxiliary measurement signal is sent to the target terminal and the reference terminal by a positioning base station; receiving positioning measurement information sent by a target terminal and a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information;

the first positioning unit 11 is configured to perform positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and reference location information of the reference terminal, to obtain location information of the target terminal.

Optionally, the first positioning unit 11 is specifically configured to:

the first positioning unit 11 is specifically configured to:

and performing linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and combining the reference position information to obtain a TDOA linear equation.

the first positioning unit 11 is specifically configured to:

Optionally, the first positioning unit 11 is specifically configured to:

It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a processor readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Example four

In the fourth embodiment, a UE-based downlink positioning scheme is provided, where a target terminal (described as a current terminal in this embodiment) in the network device in fig. 1 is used as an execution subject to perform positioning operation.

Specifically, fig. 6 is a signaling interaction schematic diagram of another positioning method provided in the present application, and fig. 6 shows an interaction situation between a network device and a terminal in a downlink positioning scheme based on UE-based, where as shown in fig. 6, in the positioning method provided in the present application, as described in the network architecture of fig. 1, a reference terminal (terminal B) needs to be utilized in order to position a target terminal (terminal a).

Positioning auxiliary measurement configuration information received by a target terminal and a reference terminal includes configuration information of a Positioning reference Signal (PRS for short) and configuration information of a C-PRS; positioning assistance measurement signals received by the target terminal and the reference terminal include reference signals of PRS and reference signals of C-PRS.

After the target terminal and the reference terminal receive the positioning auxiliary measurement signal and the positioning auxiliary measurement configuration information, the measurement of the positioning information is performed to obtain respective positioning measurement information. The TDOA measurement information and the carrier phase measurement information combined with the target terminal and the reference terminal are included in the measured location measurement information.

Different from the first embodiment, the reference terminal sends the TDOA measurement information, the carrier phase measurement information, and the reference location information thereof to the target terminal (current terminal), so that the target terminal performs positioning calculation processing according to the TDOA measurement information and the carrier phase measurement information obtained by the target terminal through self-measurement, and the received TDOA measurement information, the carrier phase measurement information, and the reference location information thereof of the reference terminal, and obtains the location information thereof. Optionally, after obtaining the location information of the target terminal (current terminal), the target terminal (current terminal) may further send the location information to the positioning server for obtaining and using.

Fig. 7 is a schematic flowchart of another positioning method provided by the present application, and as shown in fig. 7, an execution subject of the embodiment of the present application is a target terminal, which may be specifically the terminal a in fig. 1.

With reference to fig. 6 and fig. 7, the positioning method provided in this embodiment includes the following steps.

Step 201, receiving positioning auxiliary measurement configuration information sent by a positioning server, and receiving a positioning auxiliary measurement signal sent by a positioning base station.

202, measuring positioning information according to the positioning auxiliary measurement configuration information and the positioning auxiliary measurement signal to obtain current positioning measurement information; receiving positioning measurement information sent by a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information.

And 203, combining the TDOA measurement information and the carrier phase measurement information of the current terminal and the reference position information of the reference terminal to perform positioning calculation processing to obtain the position information of the current terminal.

Specifically, after the current terminal (target terminal) obtains its own positioning measurement information and receives the positioning measurement information of the reference terminal and its reference position information, positioning calculation is performed in the manner of step 203. The positioning calculation process by combining the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference terminal, and the reference location information of the reference terminal may include an operation on the TDOA measurement information and an operation on the carrier phase measurement information, and the two operations may be performed either synchronously or asynchronously. After the two operations are completed, the calculation results of the two operations are also subjected to calculation processing, so that the final position information of the target terminal is obtained.

In step 203 of this embodiment, a manner of performing positioning calculation on the current terminal (target terminal) is similar to that of performing positioning calculation on the positioning server in step 103 of the first embodiment, and formulas and principles thereof are not described in this embodiment again.

Optionally, step 203 may specifically include:

step 2031, performing linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtaining a TDOA linear equation by combining the reference position information;

step 2032, performing linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information;

step 2033, resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity.

step 2031 specifically includes performing double differential processing on the single differential TDOA measurement value of the target terminal and the single differential TDOA measurement value of the reference terminal to obtain a double differential arrival time measurement value; reducing and resolving the double-difference time of arrival measurement value according to the reference position information to obtain a reduced single-difference TDOA measurement value; and carrying out linearization processing based on Taylor expansion by using the reduced single-difference TDOA measured value and the reference position information to obtain a TDOA linear equation.

Optionally, the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values; step 2032 specifically comprises:

carrying out double differential processing on the single differential carrier phase measurement value of the current terminal and the single differential carrier phase measurement value of the reference terminal to obtain a double differential carrier phase measurement value; reducing and resolving the double differential carrier phase measurement value according to the reference position information to obtain a reduced single differential carrier phase measurement value; and carrying out linear processing based on Taylor expansion by using the single difference carrier phase measurement value and the reference position information to obtain a carrier phase linear equation.

Optionally, step 2033 specifically includes: establishing a least square model according to a TDOA linear equation and a carrier phase linear equation; acquiring an incidence relation between the integer ambiguity of the current terminal and the change step length of the position information of the current terminal according to the least square model; performing iterative operation based on floating point estimation according to the incidence relation to determine integer ambiguity; and determining the position information of the current terminal according to the carrier phase linear equation and the integer ambiguity.

EXAMPLE five

Fig. 8 is a schematic structural diagram of another positioning device provided in the present application. As shown in fig. 8, the positioning device includes:

including the memory 920, the transceiver 900, the processor 910:

a memory 920 for storing a computer program;

a transceiver 900 for transceiving data under the control of the processor 910;

a processor 910 configured to read the computer program in the memory 920 and perform the following operations:

The processor 910 is specifically configured to, when performing positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of a current terminal and a reference terminal, and reference location information of the reference terminal, and obtaining location information of the current terminal:

when the processor 910 performs linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtains a TDOA linear equation by combining the reference location information, the processor is specifically configured to:

the processor 910 is specifically configured to, when performing linearization processing on carrier phase measurement information of a target terminal and carrier phase measurement information of a reference terminal, and obtaining a carrier phase linear equation by combining the reference position information, perform:

Optionally, the processor 910 is specifically configured to, when performing resolving processing on a TDOA linear equation and a carrier phase linear equation to obtain an integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity:

Further, transceiver 900 is used for receiving and transmitting data under the control of processor 910.

Wherein in fig. 8, the bus architecture may include any number of interconnected buses and bridges, with one or more processors, represented by processor 910, and various circuits, represented by memory 920, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 900 may be a number of elements including a transmitter and a receiver that provide a means for communicating with various other apparatus over transmission media including wireless channels, wired channels, fiber optic cables, and the like. The user interface z30 may also be an interface capable of interfacing externally to a desired device for different user devices, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

The processor 910 is responsible for managing the bus architecture and general processing, and the memory 920 may store data used by the processor 600 in performing operations.

Alternatively, the processor 910 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor may also have a multi-core architecture.

The processor 910 is configured to invoke the memory-stored computer program for executing any of the methods provided by the embodiments of the present application according to the obtained executable instructions. The processor and memory may also be physically separated.

It should be noted that the apparatus provided in the present application can implement all the method steps implemented by the first method embodiment and achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as the method embodiments in this embodiment are omitted here.

EXAMPLE six

Fig. 9 is a schematic structural diagram of another positioning device provided in the present application. As shown in fig. 9, the positioning device includes:

a second transceiver unit 20, configured to receive positioning assistance measurement configuration information sent by a positioning server, and receive a positioning assistance measurement signal sent by a positioning base station; and according to the positioning auxiliary measurement configuration information and the positioning auxiliary measurement signal, performing positioning information measurement to obtain current positioning measurement information; receiving positioning measurement information sent by a reference terminal and reference position information sent by the reference terminal; wherein the location measurement information comprises TDOA measurement information and carrier phase measurement information;

the second positioning unit 21 is configured to perform positioning calculation processing by combining TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and reference position information of the reference terminal, so as to obtain position information of the current terminal.

Optionally, the second positioning unit 21 is specifically configured to:

the second positioning unit 21 is specifically configured to:

and carrying out linear processing based on Taylor expansion by using the single difference carrier phase measurement value and the reference position information to obtain a carrier phase linear equation. A (c)

Optionally, the second positioning unit 21 is specifically configured to:

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a processor readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

EXAMPLE seven

The embodiment of the application also provides a positioning system (as shown in fig. 1), which comprises a terminal and a positioning server;

the positioning server is configured to perform positioning processing on the terminal according to the positioning method of any one of the embodiments, and obtain location information of the terminal.

Example eight

The embodiment of the present application further provides a positioning system (as shown in fig. 1), which includes a terminal and a positioning server;

the terminal is configured to obtain the location information of the terminal according to the positioning method according to any one of the fourth embodiment.

Example nine

The present application further provides a processor-readable storage medium having stored thereon a computer program for causing a processor to execute the method of the preceding embodiment one or embodiment four.

The processor-readable storage medium can be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND FLASH), solid State Disks (SSDs)), etc.

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, 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-executable instructions. These computer-executable 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 processor-executable instructions may also be stored in a processor-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 processor-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 processor-executable 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.

Claims

1. A method of positioning, the method comprising:

respectively sending positioning auxiliary measurement configuration information to a target terminal and a reference terminal, wherein the positioning auxiliary measurement configuration information is used for the target terminal and the reference terminal to respectively measure positioning information according to the positioning auxiliary measurement configuration information and a received positioning auxiliary measurement signal; the positioning auxiliary measurement signal is sent to the target terminal and the reference terminal by a positioning base station;

receiving positioning measurement information sent by a target terminal and a reference terminal and reference position information sent by the reference terminal; the positioning measurement information comprises TDOA measurement information and carrier phase measurement information, and the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are single differential TDOA measurement values;

carrying out linearization processing based on Taylor expansion by using the reduced single difference TDOA measured value and the reference position information to obtain a TDOA linear equation;

2. The positioning method according to claim 1, wherein the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are single differential carrier phase measurement values;

3. The positioning method according to claim 1 or 2, wherein the performing a solution process on the TDOA linear equation and the carrier phase linear equation to obtain an integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity comprises:

4. A method of positioning, the method comprising:

measuring positioning information according to the positioning auxiliary measurement configuration information and the positioning auxiliary measurement signal to obtain current positioning measurement information; receiving positioning measurement information sent by a reference terminal and reference position information sent by the reference terminal; the positioning measurement information comprises TDOA measurement information and carrier phase measurement information, and the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are single differential TDOA measurement values;

carrying out double differential processing on the single differential TDOA measured value of the current terminal and the single differential TDOA measured value of the reference terminal to obtain a double differential arrival time measured value;

reducing and resolving the double difference time of arrival measurement value according to the reference position information to obtain a reduced single difference TDOA measurement value;

5. The method according to claim 4, wherein the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are single differential carrier phase measurement values;

the step of performing linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information includes:

6. The positioning method according to claim 4 or 5, wherein the performing a solution process on the TDOA linear equation and the carrier phase linear equation to obtain an integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity comprises:

7. A positioning device, comprising a memory, a transceiver, a processor:

carrying out linear processing based on Taylor expansion by using the reduced single difference TDOA measured value and the reference position information to obtain a TDOA linear equation;

8. The positioning apparatus according to claim 7, wherein the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are single differential carrier phase measurement values;

the processor is specifically configured to, when performing linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information:

9. The positioning apparatus according to claim 7 or 8, wherein the processor, when performing solution processing on the TDOA linear equation and the carrier phase linear equation to obtain an integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity, is specifically configured to:

10. A position location apparatus, comprising a memory, a transceiver, a processor:

a memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and performing the following:

11. The positioning apparatus according to claim 10, wherein the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are single differential carrier phase measurement values;

the processor is specifically configured to, when performing linearization processing on carrier phase measurement information of a current terminal and carrier phase measurement information of a reference terminal and obtaining a carrier phase linear equation by combining the reference position information:

carrying out double differential processing on the single differential carrier phase measured value of the current terminal and the single differential carrier phase measured value of the reference terminal to obtain a double differential carrier phase measured value;

12. The positioning apparatus according to claim 10 or 11, wherein the processor, when performing solution processing on the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determining the position information of the current terminal according to the integer ambiguity, is specifically configured to:

obtaining an incidence relation between the current integer ambiguity and the change step length of the current position information according to the least square model;

13. A positioning device, comprising:

the first transceiving unit is used for respectively sending positioning auxiliary measurement configuration information to a target terminal and a reference terminal, wherein the positioning auxiliary measurement configuration information is used for the target terminal and the reference terminal to respectively measure positioning information according to the positioning auxiliary measurement configuration information and a received positioning auxiliary measurement signal; the positioning auxiliary measurement signal is sent to the target terminal and the reference terminal by a positioning base station; receiving positioning measurement information sent by a target terminal and a reference terminal and reference position information sent by the reference terminal; the positioning measurement information comprises TDOA measurement information and carrier phase measurement information, and the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are single differential TDOA measurement values;

the first positioning unit is used for carrying out double differential processing on the single differential TDOA measured value of the target terminal and the single differential TDOA measured value of the reference terminal to obtain a double differential time of arrival measured value; reducing and resolving the double difference time of arrival measurement value according to the reference position information to obtain a reduced single difference TDOA measurement value; carrying out linearization processing based on Taylor expansion by using the reduced single difference TDOA measured value and the reference position information to obtain a TDOA linear equation; the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are subjected to linearization processing, and a carrier phase linear equation is obtained by combining the reference position information; and resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity.

14. A positioning device, comprising:

the second transceiver unit is used for receiving positioning auxiliary measurement configuration information sent by the positioning server and receiving a positioning auxiliary measurement signal sent by the positioning base station; and according to the positioning auxiliary measurement configuration information and the positioning auxiliary measurement signal, performing positioning information measurement to obtain current positioning measurement information; receiving positioning measurement information sent by a reference terminal and reference position information sent by the reference terminal; the positioning measurement information comprises TDOA measurement information and carrier phase measurement information, and the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are single differential TDOA measurement values;

the second positioning unit is used for carrying out double differential processing on the single differential TDOA measured value of the target terminal and the single differential TDOA measured value of the reference terminal to obtain a double differential arrival time measured value; reducing and resolving the double-difference time of arrival measurement value according to the reference position information to obtain a reduced single-difference TDOA measurement value; carrying out linear processing based on Taylor expansion by using the reduced single difference TDOA measured value and the reference position information to obtain a TDOA linear equation; carrying out linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtaining a carrier phase linear equation by combining the reference position information; and resolving the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determining the position information of the target terminal according to the integer ambiguity.

15. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing a processor to perform the method of any one of claims 1 to 6.