CN114521017A - Method and device for positioning, electronic equipment and storage medium - Google Patents
Method and device for positioning, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN114521017A CN114521017A CN202210415334.XA CN202210415334A CN114521017A CN 114521017 A CN114521017 A CN 114521017A CN 202210415334 A CN202210415334 A CN 202210415334A CN 114521017 A CN114521017 A CN 114521017A
- Authority
- CN
- China
- Prior art keywords
- terminal
- base station
- round trip
- trip time
- known base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000005259 measurement Methods 0.000 claims abstract description 54
- 238000004891 communication Methods 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present disclosure relates to a method and apparatus for positioning, an electronic device, and a storage medium, the method including: calculating the time delay error between the terminal with the known position and the known base station; calculating a round trip time measurement value between the terminal with the unknown position and the known base station; calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value; the position of the unknown position terminal is calculated according to the real value of the round trip time between the unknown position terminal and the known base station, and the time delay error between the unknown position terminal and the known base station is eliminated or compensated through the time delay error between the known position terminal and the known base station, so that the positioning accuracy of the unknown position terminal can be improved.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a method and an apparatus for positioning, an electronic device, and a storage medium.
Background
The fifth generation mobile communication technology is a new generation broadband mobile communication technology with the characteristics of high speed, low time delay and large connection, and is a network infrastructure for realizing man-machine-object interconnection. Since the first 5G test site is launched in Shenzhen in 10 months in 2017 in China, the development of the 5G industrial chain is rapidly promoted. 5G, diversified application of various industries is enabled, and a large number of application scenes such as vehicle networking, automatic driving, intelligent manufacturing, intelligent logistics, unmanned aerial vehicles and asset tracking require high positioning capacity, such as vehicle queue and active collision avoidance in the vehicle networking, and the positioning precision is required to be as high as 30cm, and the positioning capacity of high-speed movement and ultra-low delay is required to be supported; the remote control unmanned aerial vehicle requires 10-50 cm. Meanwhile, a large number of applications such as asset tracking, an Automated Guided Vehicle (AGV), an automatic Guided Vehicle (AR/VR) equipped with an electromagnetic or optical automatic navigation device, which can travel along a predetermined navigation path, a transportation Vehicle with safety protection and various transfer functions, and the like are concentrated indoors and cannot be covered by a satellite positioning system. Therefore, 5G needs to enhance network positioning technology to improve positioning accuracy.
Based on the previous cellular network positioning technology, 5G R16 introduces a new Positioning Reference Signal (PRS), and the positioning method is mainly divided into time and angle measurement schemes, where the time measurement schemes include DL-TDOA (uplink time difference of arrival), UL-TDOA (downlink time difference of arrival), Multi-cell RTT (Multi-station round trip time) schemes, and the angle measurement schemes include DL-AOD (downlink angle of departure), and UL-AOA (uplink angle of arrival) schemes. In addition to this, there is an E-CID (enhanced cell ID) scheme. The E-CID scheme requires a UE (user Equipment) to measure RRM (Radio Resource Management) of each gNB (base station) (e.g., DL RSRP, downlink reference signal received power), and send a measurement report to a location server, so as to achieve the purpose of positioning. Meanwhile, the number and diversity Of reference points are increased by the 5G-era ultra-dense network, Massive MIMO (large-scale antenna) multi-beam can enable AoA (antenna Of Arrival angle) estimation to be more accurate, PRS positioning reference signals are introduced, the precision Of time measurement can be further improved, and the 5G positioning capability can be further improved by the advantages. In the future, the 5G positioning capability is further enhanced, and the R17 version can also improve the 5G positioning accuracy to a sub-meter level.
In recent years, many researchers have conducted research on positioning technologies related to a time-of-measurement scheme, which are currently mainly classified into three categories: one is DL-TDOA, release 5G R16, which introduces a new reference signal, PRS (positioning reference signal), for UEs to perform downlink reference signal time difference (DL RSTD) measurements on the PRS of each base station. The measurement results are reported to a position server, then the measured time difference value is utilized to calculate the hyperbola where the UE is located by utilizing the property of the hyperbola, and the two intersected hyperbolas determine a position, thereby completing the positioning. The second type is UL-TDOA, which allows each base station to measure uplink relative time of arrival (UL-RTOA) and report the measurement to a location server, which, after numerical reporting, processes the data in a manner similar to the first type. The third category is Multi-cell RTT, in which method the gNB and the UE perform Rx-Tx (receive-transmit) time difference measurements on the signals of each cell. The measurement reports from the UE and the gNB are reported to a position server, so that the distance radius between the UE and the gNB is obtained, a circle is drawn by taking the gNB as the center of the circle, three circles are intersected at one point or the three circles are intersected with each other to generate a common area by utilizing the relation between the UE and three gNBs, and the intersection point or the common area is the position of the UE, so that the positioning purpose is achieved.
The existing positioning technology based on the measurement time scheme, no matter UL-TDOA, DL-TDOA or Multi-cell RTT method, can affect the accuracy of the arrival time due to the timing delay of UE Rx/Tx and gNB Rx/Tx, but the poor accuracy of the arrival time can cause larger positioning error, and directly affect the positioning accuracy of the TDOA and RTT positioning.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, embodiments of the present disclosure provide a method and apparatus for positioning, an electronic device, and a storage medium.
In a first aspect, an embodiment of the present disclosure provides a method for positioning, including the following steps:
calculating the time delay error between the terminal with the known position and the known base station;
calculating a round trip time measurement value between the terminal with the unknown position and the known base station;
calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value;
and calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.
In a possible implementation, the calculating a delay error between the terminal with the known location and the known base station includes:
calculating the true value of the round trip time between the terminal with the known position and the known base station by using the distance between the terminal with the known position and the known base station and the speed of light;
calculating a round trip time measurement between a terminal at a known location and a known base station;
and calculating the time delay error between the terminal with the known position and the known base station according to the real value of the round trip time between the terminal with the known position and the known base station and the measured value of the round trip time.
In a possible implementation, the calculating a true value of a round trip time between the known location terminal and the known base station by using the distance between the known location terminal and the known base station and the speed of light includes:
taking the ratio of the distance between the terminal with the known position and the known base station to the speed of light as the real value of the one-way time between the terminal with the known position and the known base station;
and taking twice of the one-way time real value as a round-trip time real value between the terminal with the known position and the known base station.
In a possible implementation, the calculating a delay error between the known location terminal and the known base station according to the real value of the round trip time and the measured value of the round trip time between the known location terminal and the known base station includes:
and taking the difference value between the real value of the round trip time and the measured value of the round trip time between the terminal with the known position and the known base station as the time delay error between the terminal with the known position and the known base station.
In a possible implementation, the calculating a true round trip time value between the unknown location terminal and the known base station according to the delay error and the round trip time measurement value includes:
and taking the difference between the round trip time measurement value between the unknown position terminal and the known base station and the delay error as the real round trip time value between the unknown position terminal and the known base station.
In a possible implementation, the calculating the position of the unknown terminal according to the true value of the round trip time between the unknown terminal and the known base station includes:
and based on a triangulation algorithm, calculating the position of the unknown position terminal according to the real values of the round trip time between the unknown position terminal and at least three known base stations.
In one possible implementation, the round trip time measurement between the terminal and the known base station is calculated by the following expression:
wherein the content of the first and second substances,
for the measured time instants at which the known base stations transmit signals,
in order to measure the time instant at which the terminal receives the signal,
for the moment of time measured at which the terminal transmits a signal,
is the measured time instant at which the base station receives the signal.
In a second aspect, embodiments of the present disclosure provide an apparatus for positioning, comprising:
the first calculation module is used for calculating the time delay error between the terminal with the known position and the known base station;
a second calculation module for calculating a round trip time measurement between an unknown location terminal and a known base station;
a third calculation module, configured to calculate a true round trip time value between an unknown location terminal and a known base station according to the delay error and the round trip time measurement value;
and the positioning module is used for calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the method for positioning when executing the program stored in the memory.
In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the method for positioning described above.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure at least has part or all of the following advantages:
the method for positioning according to the embodiment of the present disclosure calculates a delay error between a terminal with a known position and a known base station; calculating a round trip time measurement value between the terminal with the unknown position and the known base station; calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value; the position of the unknown position terminal is calculated according to the real value of the round trip time between the unknown position terminal and the known base station, and the time delay error between the unknown position terminal and the known base station is eliminated or compensated through the time delay error between the known position terminal and the known base station, so that the positioning accuracy of the unknown position terminal can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the related art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 schematically shows a flow diagram of a method for positioning according to an embodiment of the present disclosure;
fig. 2 schematically shows a detailed flowchart of step S1 according to an embodiment of the present disclosure;
fig. 3 schematically shows a detailed flowchart of step S21 according to an embodiment of the present disclosure;
fig. 4 schematically illustrates a location relationship diagram among a known location terminal, a known base station, and an unknown location terminal according to an embodiment of the disclosure;
FIG. 5 schematically illustrates a process for calculating a round trip time measurement according to an embodiment of the disclosure;
FIG. 6 schematically illustrates a calculation process of round trip time measurements with latency errors taken into account according to an embodiment of the disclosure;
FIG. 7 schematically illustrates a block diagram of an apparatus for positioning according to an embodiment of the present disclosure; and
fig. 8 schematically shows a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The RTT positioning method does not require synchronization between the UE and the gNB, and has higher positioning accuracy compared to the TDOA method requiring high-accuracy synchronization, but because the RTT is measured, timing delay exists between the base station and the user equipment, the measured RTT value often includes delay errors. According to the method for positioning, the timing error during RTT measurement is obtained by introducing a calibration terminal with a known Position, then the measurement timing error is transmitted to an LMF (Location Management Function) from a 5G access network node through NRPPa (NR Position Protocol a, NR definition Protocol A), and then transmitted to UE (user equipment) from the LMF through LPP (LTE Position Protocol), so that an RTT value with a smaller error is obtained, and higher positioning accuracy is obtained.
Referring to fig. 1, an embodiment of the present disclosure provides a method for positioning, including the steps of:
s1, calculating the time delay error between the terminal with the known position and the known base station;
s2, calculating the round trip time measurement value between the terminal with unknown position and the known base station;
s3, calculating the real value of the round trip time between the terminal with unknown position and the known base station according to the time delay error and the round trip time measurement value;
in practical applications, in step S3, the calculating a true value of the round trip time between the unknown location terminal and the known base station according to the delay error and the round trip time measurement value includes:
and taking the difference between the round trip time measurement value between the unknown position terminal and the known base station and the delay error as the real round trip time value between the unknown position terminal and the known base station.
And S4, calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.
In practical applications, in step S4, the calculating the position of the unknown terminal according to the true value of the round trip time between the unknown terminal and the known base station includes:
and based on a triangulation algorithm, calculating the position of the unknown position terminal according to the real values of the round trip time between the unknown position terminal and at least three known base stations.
Referring to fig. 2, in step S1, the calculating a delay error between the terminal with the known location and the known base station includes:
s21, calculating the real value of the round trip time between the terminal with the known position and the known base station by using the distance between the terminal with the known position and the known base station and the speed of light;
s22, calculating the round trip time measurement value between the terminal with the known position and the known base station;
and S23, calculating the time delay error between the terminal with the known position and the known base station according to the real value of the round trip time between the terminal with the known position and the known base station and the measured value of the round trip time.
In practical applications, in step S23, the calculating a delay error between the terminal with a known location and the known base station according to the actual value of the round trip time between the terminal with a known location and the measured value of the round trip time includes:
and taking the difference value between the real value of the round trip time and the measured value of the round trip time between the terminal with the known position and the known base station as the time delay error between the terminal with the known position and the known base station.
Referring to fig. 3, in step S21, the calculating a true value of a round trip time between the terminal with the known location and the known base station by using the distance between the terminal with the known location and the known base station and the speed of light includes:
s31, taking the ratio of the distance between the terminal with the known position and the known base station to the speed of light as the real value of the one-way time between the terminal with the known position and the known base station;
and S32, taking twice of the one-way time real value as the round-trip time real value between the terminal with the known position and the known base station.
In this embodiment, the round trip time measurement between the terminal and the known base station is calculated by the following expression:
wherein the content of the first and second substances,
for the measured time instants at which the known base stations transmit signals,
in order to measure the time instant at which the terminal receives the signal,
for the measured moment of time at which the terminal transmits the signal,
the terminal here may be a terminal of known location or a terminal of unknown location, in order to measure the time at which the base station receives the signal.
In practical application, a schematic diagram of a position relationship among a terminal with a known position, a known base station and a terminal with an unknown position is shown in fig. 4 according to a distance d between the terminal with the known position and the known base stationKnown positionThe calculated time delay error is used for calculating the distance d between the terminal with the unknown position and the known base stationUnknown positionWhen the distances between at least three known base stations and the terminal with the unknown position are known, the position of the terminal with the unknown position can be determined by utilizing a triangulation method.
In this embodiment, the calculation relationship among the delay error, the round trip time measurement value and the round trip time true value is determined by the following steps:
the positioning method of this embodiment is a positioning method combining 5G R16 uplink positioning and downlink positioning, and has higher positioning accuracy, as shown in fig. 5, for downlink signals, the base station records the transmission time t with the local clock of the base station0User terminal UE measures arrival time t of downlink signal by using local clock of terminal1(ii) a For the uplink signal, the terminal records the transmission time t by using the local clock of the terminal2The base station measures the arrival time t of the uplink signal by using the local clock of the base station3。
As can be seen from fig. 5, the round trip time measurement RTT is calculated by the following expression:
RTT=(t3-t0) – (t2– t1)
when considering the delay error, a diagram of the relationship between the delay error, the round trip time measurement value and the actual round trip time is shown in fig. 6.
In the context of figure 6 of the drawings,
indicating the observable base station side transmission signal moment,
indicating the true transmit signal time at the base station side,
indicating the time delay when the base station side transmits a signal,
indicating the time at which the UE actually received the signal,
indicating the observable time instants at which the UE receives the signal,
indicating the time delay when the UE side receives the signal,
indicating the observable UE transmit signal instants,
indicating the time instant when the UE actually transmits the signal,
represents the time delay when the UE side transmits the signal,
indicating the time when the signal is actually received at the base station side,
indicating the observable time at which the base station side receives the signal,
which represents the time delay when the base station side receives the signal.
From the expression of the round trip time measurement RTT, the observed RRT value is expressed as
As can be seen from fig. 6, the relationship between the observable time and the true transmit/receive value is as follows:
substituting the above relationship into
In the expression of (1), can obtain
Order to
Simple and available
At this time, a location-known terminal is introduced, which can be obtained by normal RTT measurement
. Meanwhile, because the position of the terminal with the known position is known, the distance between the terminal with the known position and the base station in the service area can be obtained, and then the real RTT value, namely the RTT value is theoretically calculated according to the relation between the light speed and the distance
Therefore, the delay error data can be calculated.
After obtaining the delay error data, positioning the unknown position terminal UE, transmitting the delay measurement value to the LMF from the NR-RANN node through NRPPa, and then transmitting the delay measurement value to the UE from the LMF through LPP to obtain more accurate RTT measurement value, namely
And calculating a more accurate positioning result of the unknown position terminal according to the amount calculated by the formula.
Referring to fig. 7, an embodiment of the present disclosure provides an apparatus for positioning, including:
a first calculating module 11, configured to calculate a time delay error between a terminal with a known location and a known base station;
a second calculation module 12 for calculating a round trip time measurement between a terminal of unknown location and a known base station;
a third calculating module 13, configured to calculate a true round trip time value between the unknown location terminal and the known base station according to the delay error and the round trip time measurement value;
and the positioning module 14 is used for calculating the position of the terminal with the unknown position according to the true value of the round trip time between the terminal with the unknown position and the known base station.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement it without inventive effort.
In this embodiment, any plurality of the first calculation module 11, the second calculation module 12, the third calculation module 13, and the positioning module 14 may be combined and implemented in one module, or any one of the modules may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. At least one of the first computing module 11, the second computing module 12, the third computing module 13 and the positioning module 14 may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or in any one of or a suitable combination of software, hardware and firmware implementations. Alternatively, at least one of the first calculation module 11, the second calculation module 12, the third calculation module 13 and the positioning module 14 may be at least partly implemented as a computer program module, which when executed may perform a corresponding function.
Referring to fig. 8, an electronic device provided by an embodiment of the present disclosure includes a processor 1110, a communication interface 1120, a memory 1130, and a communication bus 1140, where the processor 1110, the communication interface 1120, and the memory 1130 complete communication with each other through the communication bus 1140;
a memory 1130 for storing computer programs;
the processor 1110, when executing the program stored in the memory 1130, implements the method for positioning as follows:
calculating the time delay error between the terminal with the known position and the known base station;
calculating a round trip time measurement value between the terminal with the unknown position and the known base station;
calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value;
and calculating the position of the unknown position terminal according to the round-trip time real value between the unknown position terminal and the known base station.
The communication bus 1140 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus 1140 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface 1120 is used for communication between the electronic device and other devices.
The Memory 1130 may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory 1130 may also be at least one memory device located remotely from the processor 1110.
The Processor 1110 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, implements the method for positioning as described above.
The computer-readable storage medium may be contained in the apparatus/device described in the above embodiments; or may be present alone without being assembled into the device/apparatus. The computer-readable storage medium carries one or more programs which, when executed, implement the method for positioning according to an embodiment of the present disclosure.
According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description is only for the purpose of describing particular embodiments of the present disclosure, so as to enable those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for positioning, comprising the steps of:
calculating the time delay error between the terminal with the known position and the known base station;
calculating a round trip time measurement value between the terminal with the unknown position and the known base station;
calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value;
and calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.
2. The method of claim 1, wherein calculating the delay error between the terminal with the known location and the known base station comprises:
calculating the true value of the round trip time between the terminal with the known position and the known base station by using the distance between the terminal with the known position and the known base station and the speed of light;
calculating a round trip time measurement between a terminal at a known location and a known base station;
and calculating the time delay error between the terminal with the known position and the known base station according to the real value of the round trip time between the terminal with the known position and the known base station and the measured value of the round trip time.
3. The method of claim 2, wherein the calculating the true round trip time value between the terminal with the known location and the known base station by using the distance between the terminal with the known location and the known base station and the speed of light comprises:
taking the ratio of the distance between the terminal with the known position and the known base station to the speed of light as the real value of the one-way time between the terminal with the known position and the known base station;
and taking twice of the one-way time real value as a round-trip time real value between the terminal with the known position and the known base station.
4. The method of claim 2, wherein calculating the delay error between the known position terminal and the known base station according to the true round trip time value and the measured round trip time value between the known position terminal and the known base station comprises:
and taking the difference value between the real value of the round trip time and the measured value of the round trip time between the terminal with the known position and the known base station as the time delay error between the terminal with the known position and the known base station.
5. The method of claim 1, wherein said calculating a true round trip time value between the unknown terminal and the known base station according to the delay error and the round trip time measurement value comprises:
and taking the difference between the round trip time measurement value between the unknown position terminal and the known base station and the delay error as the real round trip time value between the unknown position terminal and the known base station.
6. The method of claim 1, wherein the calculating the position of the unknown terminal according to the true value of the round trip time between the unknown terminal and the known base station comprises:
and based on a triangulation algorithm, calculating the position of the unknown position terminal according to the real values of the round trip time between the unknown position terminal and at least three known base stations.
7. Method according to any of claims 1 to 6, characterized in that the round trip time measurement between a terminal and a known base station is calculated by the following expression:
wherein the content of the first and second substances,
for a measured moment when a base station is known to transmit a signal,
in order to measure the time instant at which the terminal receives the signal,
for the moment of time measured at which the terminal transmits a signal,
is the measured time instant at which the base station receives the signal.
8. An apparatus for positioning, comprising:
the first calculation module is used for calculating the time delay error between the terminal with the known position and the known base station;
a second calculation module for calculating a round trip time measurement between an unknown location terminal and a known base station;
a third calculation module, configured to calculate a true round trip time value between an unknown location terminal and a known base station according to the delay error and the round trip time measurement value;
and the positioning module is used for calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the method for positioning according to any one of claims 1-7 when executing a program stored on a memory.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for positioning according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210415334.XA CN114521017A (en) | 2022-04-20 | 2022-04-20 | Method and device for positioning, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210415334.XA CN114521017A (en) | 2022-04-20 | 2022-04-20 | Method and device for positioning, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114521017A true CN114521017A (en) | 2022-05-20 |
Family
ID=81600160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210415334.XA Pending CN114521017A (en) | 2022-04-20 | 2022-04-20 | Method and device for positioning, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114521017A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023116435A1 (en) * | 2021-12-23 | 2023-06-29 | 华为技术有限公司 | Communication method and apparatus |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1913703A (en) * | 2006-07-31 | 2007-02-14 | 华为技术有限公司 | Method and system for correcting RTT measuring valve by multi-sector cell |
| CN108680899A (en) * | 2011-09-19 | 2018-10-19 | 高通股份有限公司 | Positioning system based on the arrival time |
| CN110895326A (en) * | 2012-12-12 | 2020-03-20 | 波尔特公司 | Method for determining the position of a user equipment in a wireless system |
| WO2020209053A1 (en) * | 2019-04-08 | 2020-10-15 | 日本電信電話株式会社 | Position estimating method, position estimating system, position estimating server, and position estimating program |
| CN113207086A (en) * | 2021-04-20 | 2021-08-03 | 武汉大学 | 5G base station time synchronization error elimination method based on known coordinate reference station |
| CN113287347A (en) * | 2019-01-11 | 2021-08-20 | 高通股份有限公司 | Network calibration using Round Trip Time (RTT) based positioning procedure |
-
2022
- 2022-04-20 CN CN202210415334.XA patent/CN114521017A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1913703A (en) * | 2006-07-31 | 2007-02-14 | 华为技术有限公司 | Method and system for correcting RTT measuring valve by multi-sector cell |
| CN108680899A (en) * | 2011-09-19 | 2018-10-19 | 高通股份有限公司 | Positioning system based on the arrival time |
| CN110895326A (en) * | 2012-12-12 | 2020-03-20 | 波尔特公司 | Method for determining the position of a user equipment in a wireless system |
| CN113287347A (en) * | 2019-01-11 | 2021-08-20 | 高通股份有限公司 | Network calibration using Round Trip Time (RTT) based positioning procedure |
| WO2020209053A1 (en) * | 2019-04-08 | 2020-10-15 | 日本電信電話株式会社 | Position estimating method, position estimating system, position estimating server, and position estimating program |
| CN113207086A (en) * | 2021-04-20 | 2021-08-03 | 武汉大学 | 5G base station time synchronization error elimination method based on known coordinate reference station |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023116435A1 (en) * | 2021-12-23 | 2023-06-29 | 华为技术有限公司 | Communication method and apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9332383B2 (en) | Time of arrival based positioning system | |
| EP2564230B1 (en) | Device for round trip time measurements | |
| JP5587292B2 (en) | Position location transfer system and method | |
| JP5450081B2 (en) | Method, software and system for determining the position of a user device | |
| CN103096462B (en) | Non-ranging node locating method of wireless sensor network | |
| CN109743777A (en) | A kind of localization method, device, electronic equipment and readable storage medium storing program for executing | |
| WO2021227741A1 (en) | Information reporting method, apparatus and device, and readable storage medium | |
| CN109618284A (en) | Three-dimensional base station positioning method and device | |
| CN102395198A (en) | Signal intensity-based node positioning method and device for wireless sensing network | |
| US20180279251A1 (en) | Fingerprint Positioning For Mobile Terminals | |
| AU2020101369A4 (en) | Method and device for indoor positioning of mobile terminal | |
| WO2020177041A1 (en) | Method for information processing and terminal device | |
| US8150378B2 (en) | Determining position of a node based on aged position data | |
| CN115767415A (en) | Method for sending and receiving information and communication device | |
| CN110730413A (en) | Terminal positioning method and device | |
| CN114521017A (en) | Method and device for positioning, electronic equipment and storage medium | |
| CN113923772B (en) | Base station calibration method and device, computer equipment and storage medium | |
| KR101079158B1 (en) | Method for measuring node location using temporary anchor node in wireless sensor network | |
| CN111565357B (en) | Positioning method and terminal | |
| KR100524180B1 (en) | Position tracking method of a mobile phone using cell position and receiving/pre-measured radio wave characteristic information | |
| CN116033339A (en) | Information reporting method, device, equipment and readable storage medium | |
| CN109901109A (en) | A kind of method, terminal and system for realizing time service based on latency measurement of eating dishes without rice or wine | |
| KR101058098B1 (en) | A terminal and a system for measuring its own location according to the location information of another terminal and the reliability of the location information and a method for measuring the location | |
| CN103458500A (en) | Method and device for positioning user equipment | |
| CN113923587A (en) | Positioning method, system and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220520 |