CN114598987A - Positioning method, positioning device, electronic equipment and computer readable storage medium - Google Patents

Positioning method, positioning device, electronic equipment and computer readable storage medium Download PDF

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Publication number
CN114598987A
CN114598987A CN202011409067.2A CN202011409067A CN114598987A CN 114598987 A CN114598987 A CN 114598987A CN 202011409067 A CN202011409067 A CN 202011409067A CN 114598987 A CN114598987 A CN 114598987A
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measurement
dimensional
horizontal coordinate
positioning
height
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张振宇
达人
任斌
李刚
方荣一
秦娟
孙韶辉
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Datang Mobile Communications Equipment Co Ltd
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Datang Mobile Communications Equipment Co Ltd
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Priority to CN202011409067.2A priority Critical patent/CN114598987A/en
Priority to PCT/CN2021/131889 priority patent/WO2022116857A1/en
Publication of CN114598987A publication Critical patent/CN114598987A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • 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 application provides a positioning method, a positioning device, an electronic device and a computer readable storage medium, comprising: receiving a positioning measurement value sent by a positioning reference information receiver in a communication system, wherein the positioning reference information receiver is User Equipment (UE) to be positioned or at least two base stations; acquiring three-dimensional measurement distances between each base station and the UE to be positioned based on the positioning measurement values; and acquiring the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned. According to the scheme, the three-dimensional measurement distances between the base stations and the UE to be positioned are obtained, and then the horizontal coordinate of the UE to be positioned is obtained based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.

Description

Positioning method, positioning device, electronic equipment and computer readable storage medium
Technical Field
The present application relates to the field of communications technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a computer-readable storage medium.
Background
In a communication system, an existing user equipment positioning method includes: a two-dimensional positioning method of outputting two-dimensional positioning information of the user equipment with a two-dimensional TDOA (Time difference of Arrival) measurement value as an input, and a three-dimensional positioning method of outputting three-dimensional positioning information of the user equipment with a three-dimensional TDOA measurement value as an input.
In many scenarios, the height (i.e. Z-axis coordinate in three-dimensional coordinate) of a User Equipment (UE) is known and fixed, for example, the height of a certain intelligent robot is 1.5 meters and is fixed, and when positioning the User Equipment with the known and fixed height, people are more interested in two-dimensional positioning, i.e. more hopefully acquiring the horizontal coordinate of the User Equipment.
However, if the horizontal coordinate of the UE is obtained by using the two-dimensional positioning method in the prior art, after the corresponding two-dimensional TDOA measurement value needs to be obtained from the three-dimensional TDOA measurement value, two-dimensional positioning is performed to obtain the horizontal coordinate, which may result in a decrease in positioning performance. If the horizontal coordinate of the UE is obtained by using the three-dimensional positioning method in the prior art, the corresponding horizontal coordinate needs to be converted from the output three-dimensional positioning information, which may result in that the obtained two-dimensional positioning information is not accurate enough.
Disclosure of Invention
The purpose of this application aims at solving at least one of the above technical defects, and the technical solution provided by this application embodiment is as follows:
in a first aspect, an embodiment of the present application provides a positioning method, including:
receiving a positioning measurement value sent by a positioning reference information receiver in a communication system, wherein the positioning reference information receiver is User Equipment (UE) to be positioned or at least two base stations;
acquiring three-dimensional measurement distances between each base station and the UE to be positioned based on the positioning measurement values;
and acquiring the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an alternative embodiment of the present application, the positioning measurements comprise at least one of time of arrival, TOA, time difference of arrival, TDOA, carrier phase, and differential carrier phase measurements.
In an optional embodiment of the present application, the obtaining a horizontal coordinate of the UE to be positioned based on each three-dimensional measurement distance, the three-dimensional coordinate of each base station, and the height of the UE to be positioned includes:
acquiring a corresponding first measurement equation based on a corresponding error relationship between three-dimensional calculation distances of each base station and the UE to be positioned and each three-dimensional measurement distance, wherein each three-dimensional calculation distance is obtained by coordinate operation of a three-dimensional coordinate of the corresponding base station and a three-dimensional coordinate of the UE to be positioned;
and calculating to obtain the horizontal coordinate of the UE to be positioned through a first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an optional embodiment of the present application, the calculating, based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations, and the height of the UE to be positioned, a horizontal coordinate of the UE to be positioned by using a first measurement equation includes:
solving a first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned and a first measurement error value corresponding to each three-dimensional measurement distance to obtain a first estimated horizontal coordinate of the UE to be positioned, wherein the first measurement error value is a preset value;
acquiring a second measurement error value corresponding to each three-dimensional measurement distance based on the first estimated horizontal coordinate, the height of the UE to be positioned and the three-dimensional coordinates of each base station;
solving the first measurement equation again based on each three-dimensional measurement distance, the height of the UE to be positioned and a second measurement error value corresponding to each corresponding three-dimensional measurement distance to obtain a second estimated horizontal coordinate of the UE to be positioned;
and acquiring the horizontal coordinate of the UE to be positioned based on the second estimated horizontal coordinate.
In an optional embodiment of the present application, obtaining horizontal coordinates of the UE to be located based on the second estimated horizontal coordinates includes:
and taking the second estimated horizontal coordinate as the horizontal coordinate of the UE to be positioned.
In an optional embodiment of the present application, obtaining horizontal coordinates of the UE to be located based on the second estimated horizontal coordinates includes:
acquiring a corresponding second measurement equation based on a corresponding error relation between the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;
solving a second measurement equation based on the second estimated horizontal coordinate, the three-dimensional coordinates of each base station and the height of the UE to be positioned to obtain a calculation result of the second measurement equation;
and acquiring the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation.
In an optional embodiment of the present application, obtaining the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation includes:
determining a symbol of a horizontal coordinate of the UE to be positioned based on the symbol of the second estimated horizontal coordinate;
acquiring the size of a horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation;
and obtaining the horizontal coordinate of the UE to be positioned based on the symbol and the size of the horizontal coordinate of the UE to be positioned.
In a second aspect, an embodiment of the present application provides a positioning apparatus, including:
the positioning measurement value receiving module is used for receiving a positioning measurement value sent by a positioning reference information receiver in the communication system, wherein the positioning reference information receiver is User Equipment (UE) to be positioned or at least two base stations;
the three-dimensional measurement distance acquisition module is used for acquiring three-dimensional measurement distances between each base station and the UE to be positioned based on the positioning measurement values;
and the horizontal coordinate acquisition module is used for acquiring the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an optional embodiment of the present application, the positioning measurements comprise at least one of time of arrival, TOA, time difference of arrival, TDOA, carrier phase and differential carrier phase measurements.
In an optional embodiment of the present application, the horizontal coordinate acquiring module includes: a first measurement equation acquisition submodule and a horizontal coordinate acquisition submodule, wherein:
the first measurement equation acquisition submodule is used for acquiring a corresponding first measurement equation based on the corresponding error relationship between the three-dimensional calculation distance of each base station and the UE to be positioned and each three-dimensional measurement distance, wherein each three-dimensional calculation distance is obtained by coordinate operation of the three-dimensional coordinate of the corresponding base station and the three-dimensional coordinate of the UE to be positioned;
and the horizontal coordinate acquisition submodule is used for calculating and obtaining the horizontal coordinate of the UE to be positioned through a first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is specifically configured to:
solving a first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned and a first measurement error value corresponding to each three-dimensional measurement distance to obtain a first estimated horizontal coordinate of the UE to be positioned, wherein the first measurement error value is a preset value;
acquiring a second measurement error value corresponding to each three-dimensional measurement distance based on the first estimated horizontal coordinate, the height of the UE to be positioned and the three-dimensional coordinates of each base station;
solving the first measurement equation again based on each three-dimensional measurement distance, the height of the UE to be positioned and a second measurement error value corresponding to each corresponding three-dimensional measurement distance to obtain a second estimated horizontal coordinate of the UE to be positioned;
and acquiring the horizontal coordinate of the UE to be positioned based on the second estimated horizontal coordinate.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further configured to: :
and taking the second estimated horizontal coordinate as the horizontal coordinate of the UE to be positioned.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further configured to: :
acquiring a corresponding second measurement equation based on a corresponding error relation between the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;
solving a second measurement equation based on the second estimated horizontal coordinate, the three-dimensional coordinates of each base station and the height of the UE to be positioned to obtain a calculation result of the second measurement equation;
and acquiring the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further configured to:
determining a symbol of a horizontal coordinate of the UE to be positioned based on the symbol of the second estimated horizontal coordinate;
acquiring the size of a horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation;
and obtaining the horizontal coordinate of the UE to be positioned based on the symbol and the size of the horizontal coordinate of the UE to be positioned.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor;
the memory has a computer program stored therein;
a processor configured to execute a computer program to implement the method provided in the embodiment of the first aspect or any optional embodiment of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program, when executed by a processor, implements the method provided in the embodiment of the first aspect or any optional embodiment of the first aspect.
The beneficial effect that technical scheme that this application provided brought is:
the method comprises the steps of obtaining three-dimensional measurement distances between a plurality of base stations and the UE to be positioned, and obtaining a horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, three-dimensional coordinates of the base stations and the height of the UE to be positioned.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a positioning apparatus according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a positioning method according to an embodiment of the present application, and as shown in fig. 1, the method may include:
step S101, receiving a positioning measurement value sent by a positioning reference information receiver in a communication system, wherein the positioning reference information receiver is User Equipment (UE) to be positioned or at least two base stations.
In a communication system, positioning of a UE may be achieved by sending and receiving positioning reference information between a base station and the UE (User Equipment). In a specific implementation, the sender of the positioning reference information may be a base station or a UE, that is, when the sender of the positioning reference information is each base station, the receiver of the positioning reference information is a UE (i.e., a downlink scenario), and when the sender of the positioning reference information is a UE, the receiver of the positioning reference information is each base station (i.e., an uplink scenario). After receiving the positioning reference information, the positioning reference information receiver acquires a corresponding positioning measurement value according to the configuration information of the positioning reference information received in advance, and sends the positioning measurement value to a corresponding positioning server in the communication system. It is to be understood that the execution subject of the embodiment of the present application may be the positioning server described above.
And step S102, acquiring three-dimensional measurement distances between each base station and the UE to be positioned based on the positioning measurement values.
Specifically, the positioning server receives at least two positioning measurement values, and each positioning measurement value corresponds to a three-dimensional measurement distance between one base station and the UE to be positioned, so that the three-dimensional measurement distances between the at least two base stations and the UE to be positioned are obtained.
Step S103, acquiring a horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
Specifically, since the three-dimensional coordinates (including the horizontal coordinates and the heights) of the plurality of base stations, the three-dimensional measurement distances from the plurality of base stations to the UE to be positioned, and the height of the UE to be positioned are known, the corresponding measurement equation can be obtained based on the relationship between the three-dimensional measurement distances and the three-dimensional calculation distances (i.e., obtained through coordinate operation) between the plurality of base stations and the UE to be positioned, and only the horizontal coordinates of the UE to be positioned in the measurement equation are unknown, so that the horizontal coordinates of the UE to be positioned can be obtained by solving the measurement equation.
According to the scheme provided by the application, the three-dimensional measurement distances between the base stations and the UE to be positioned are obtained, and the horizontal coordinate of the UE to be positioned is obtained based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an alternative embodiment of the present application, the location measurements include at least one of time of arrival (toa) measurements, time difference of arrival (tdoa) measurements, carrier phase measurements, and differential carrier phase measurements.
Specifically, in a communication system, a sender (Base Station (BS) or UE) may configure two or more Carrier frequencies to send Carrier phase Reference signals (C-PRS) for Carrier phase Positioning, in addition to configuring and sending conventional PRS (Positioning Reference Signal); in FDD (Frequency Division duplex) mode, for example, the first and last REs (Resource Element) of a carrier with a bandwidth of 100MHz may also be used to transmit C-PRS. The conventional positioning measurement values corresponding to the PRS include TOA measurement values or TDOA measurement values, and the positioning measurement values corresponding to the C-PRS are carrier phase measurement values or differential carrier phase measurement values.
It should be noted that there are several basic ways to perform positioning using TOA measurement, TDOA measurement, carrier phase measurement, or differential carrier phase measurement:
(1) non-differential mode: the UE location is calculated directly using TOA, TDOA, and carrier-phase measurements without using differential techniques.
(2) Difference mode: the TOA measurements or carrier phase measurements are first differentiated to eliminate some common bias in the measurements, and then the UE position is calculated using the differentiated TDOA measurements or differential carrier phase measurements. The differential mode includes a single differential mode and a double differential mode.
Single difference method: a certain sender (or receiver) is selected as a reference terminal, and then the measurement values related to other senders (or receivers) are differentiated from the measurement values related to the reference terminal. The purpose of single differencing is to eliminate measurement bias for one party (either the receiving party or the transmitting party). Double differential mode: the single-differenced measurements are differenced again to simultaneously remove measurement errors associated with the sender and receiver, e.g., clock offsets of the BS and the UE. For example, the double difference technique may be used in a down-line positioning scenario. In this case, there are a plurality of transmitters (base stations) and two receivers, one of which is a reference receiver whose location is known. The other receiver is a UE whose location is unknown. At this time, two receivers simultaneously receive the positioning signals transmitted by the base station, and the double difference technology is used to eliminate the common error related to the transmitter and the receiver in the measured values of the two receivers, and then the position of the receiver with unknown position is accurately calculated.
In an optional embodiment of the present application, the obtaining a horizontal coordinate of the UE to be positioned based on each three-dimensional measurement distance, the three-dimensional coordinate of each base station, and the height of the UE to be positioned includes:
acquiring a corresponding first measurement equation based on a corresponding error relationship between three-dimensional calculation distances of each base station and the UE to be positioned and each three-dimensional measurement distance, wherein each three-dimensional calculation distance is obtained by coordinate operation of a three-dimensional coordinate of the corresponding base station and a three-dimensional coordinate of the UE to be positioned;
and calculating to obtain the horizontal coordinate of the UE to be positioned through a first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
Specifically, it can be understood that the three-dimensional calculation distance between each base station and the UE to be positioned may be obtained through coordinate operation, and a difference between the three-dimensional calculation distance and the corresponding three-dimensional measurement value is equal to the prediction error, so that the corresponding first measurement equation may be established according to the above relationship, and only the horizontal coordinate position of the UE to be positioned is in the equation, so that the first measurement equation may be solved based on the known multiple three-dimensional measurement distances, the three-dimensional coordinates of the multiple base stations, and the height of the UE to be positioned.
The above solving process is explained in detail by a specific calculation example.
First, the parameters involved in this example are defined:
si＝(xi,yi,zi)Tand i is (1, …, M) the three-dimensional coordinate of the ith base station in the M base stations participating in positioning, and the base station is the receiving side in the example.
su＝(xu,yu,zu)TThree-dimensional coordinates for the UE to be located, wherein zuIs the height coordinate of the user and is known in advance.
Figure BDA0002817592860000081
The distance is calculated in meters for the three dimensions between the UE and the ith base station.
yiAnd the unit of the three-dimensional measurement distance between the UE and each ith base station is meter. Wherein s isiAnd yiCan be expressed as:
yi＝si+wi
wherein, wiIs yiThe corresponding measurement error, which can be generally expressed as white Gaussian noise
Figure BDA0002817592860000091
The unit is meter.
ri＝(xi,yi)TAnd i is (1, …, M) the horizontal coordinate of the ith base station.
ru＝(xu,yu)THorizontal coordinates for the UE with location.
Figure BDA0002817592860000092
The distance is calculated in meters for two dimensions between the UE and the ith base station.
Then, this example uses the differentially processed positioning measurement values, and the three-dimensional measurement distances acquired from the positioning measurement values are as follows:
yij＝sij+wij(i＝1,2,…,M) (1)
yij＝yi-yj；sij＝si-sj；wij＝wi-wj (2)
wherein, yjFor three-dimensional measurement distance of the reference base station in the differential processing, for example, the first base station may be used as the reference base station, and then equation (1) may be expressed as:
y＝s+w (3)
wherein:
Figure BDA0002817592860000093
then, the corresponding first measurement equation is constructed according to the above definitions and derivations:
according to si＝‖si-suII, taking the square and unfolding to obtain:
Figure BDA0002817592860000094
Figure BDA0002817592860000095
will be provided with
Figure BDA0002817592860000096
Substituting equation (5) yields:
Figure BDA0002817592860000097
by substituting equation (5) with i ═ 1 and subtracting equation (7), we can obtain:
Figure BDA0002817592860000101
suppose that
Figure BDA0002817592860000102
Is an unknown vector in which ruFor the horizontal coordinate of the UE to be positioned, and s1For the three-dimensional measurement distance between the UE to be positioned and the first base station, considering the measurement error corresponding to each three-dimensional measurement distance, the following first measurement equation may be obtained according to formula (8):
Figure BDA0002817592860000103
wherein:
Figure BDA0002817592860000104
Figure BDA0002817592860000105
Q1＝B1QB1,B1＝2diag{[s2,s3,…sM]}；si＝‖si-su‖ (12)
and finally, calculating to obtain the horizontal coordinate of the UE to be positioned through the first measurement equation (namely the formula (9)) based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
The least squares solution of equation (9) can be expressed as:
Figure BDA0002817592860000106
in an optional embodiment of the present application, the calculating, based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations, and the height of the UE to be positioned, a horizontal coordinate of the UE to be positioned by using a first measurement equation includes:
solving a first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned and a first measurement error value corresponding to each three-dimensional measurement distance to obtain a first estimated horizontal coordinate of the UE to be positioned, wherein the first measurement error value is a preset value;
acquiring a second measurement error value corresponding to each three-dimensional measurement distance based on the first estimated horizontal coordinate, the height of the UE to be positioned and the three-dimensional coordinates of each base station;
solving the first measurement equation again based on each three-dimensional measurement distance, the height of the UE to be positioned and a second measurement error value corresponding to each corresponding three-dimensional measurement distance to obtain a second estimated horizontal coordinate of the UE to be positioned;
and acquiring the horizontal coordinate of the UE to be positioned based on the second estimated horizontal coordinate.
The following example describes the solution process of the first measurement equation in detail.
First, assume weighting matrix B1The measurement error value corresponding to each three-dimensional measurement distance is assumed to be 1 (i.e., the first measurement error value, it can be understood that the preset measurement error value may also be set to other values), and the first measurement equation is solved based on each three-dimensional measurement distance, the height of the UE to be positioned, and the first measurement error value corresponding to each three-dimensional measurement distance, so as to obtain a first estimated horizontal coordinate, that is, the position of the UE to be positioned is preliminarily estimated.
Specifically, B1Contains true source location information, but is unknown. First, B can be1Setting the unit matrix to carry out least square solution to obtain
Figure BDA0002817592860000111
I.e., the first estimated horizontal coordinate, may be expressed as:
Figure BDA0002817592860000112
Q(0)1＝B(0)1QB(0)1,B(0)1＝2diag{[1,1,…1]}
then, based on the first estimated horizontal coordinate, the height of the UE to be positioned and the three-dimensional coordinates of each base station, obtaining a second measurement error value corresponding to each three-dimensional measurement distance, further solving a first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned and the corresponding second measurement error value corresponding to each three-dimensional measurement distance, obtaining a second estimated horizontal coordinate of the UE to be positioned, namely further setting a weighting array B according to the preliminarily estimated position of the UE to be positioned1And the more accurate UE position to be located is solved again.
Specifically, after the first estimated horizontal coordinate of the UE to be positioned is obtained, the estimated position of the UE to be positioned can be obtained by combining the height of the UE to be positioned
Figure BDA0002817592860000113
And pass through
Figure BDA0002817592860000114
Manner of calculating B1The diagonal elements of (a). This time is:
Figure BDA0002817592860000115
then, a second estimated horizontal coordinate of the UE to be positioned is calculated according to equation (9):
Figure BDA0002817592860000116
in an optional embodiment of the present application, obtaining horizontal coordinates of the UE to be located based on the second estimated horizontal coordinates includes:
and taking the second estimated horizontal coordinate as the horizontal coordinate of the UE to be positioned.
Specifically, if the estimation error is not considered, the second estimated horizontal coordinate may be used as the horizontal coordinate of the UE to be located.
Then, in order to further improve the accuracy of the horizontal coordinate of the UE to be located, the UE to be located may also be located based on the second estimated horizontal coordinate.
In an optional embodiment of the present application, obtaining horizontal coordinates of the UE to be located based on the second estimated horizontal coordinates includes:
acquiring a corresponding second measurement equation based on a corresponding error relation between the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;
solving a second measurement equation based on the second estimated horizontal coordinate, the three-dimensional coordinates of each base station and the height of the UE to be positioned to obtain a calculation result of the second measurement equation;
and acquiring the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation.
By way of example, first, based on the second estimated horizontal coordinate
Figure BDA0002817592860000121
Horizontal coordinates of the UE to be positioned
Figure BDA0002817592860000122
And corresponding estimation error
Figure BDA0002817592860000123
The following equation is obtained:
Figure BDA0002817592860000124
wherein:
Figure BDA0002817592860000125
simultaneously:
Figure BDA0002817592860000126
Figure BDA0002817592860000127
it is thus possible to obtain:
Figure BDA0002817592860000128
in the process of eliminating high-order error
Figure BDA0002817592860000129
After the corresponding term, a second measurement equation is obtained:
Figure BDA00028175928600001210
wherein:
Figure BDA0002817592860000131
Figure BDA0002817592860000132
Figure BDA0002817592860000133
finally, the result of the calculation of the second measurement equation
Figure BDA0002817592860000134
Can be calculated by the following least squaresSolving to obtain:
Figure BDA0002817592860000135
then, the horizontal coordinate of the UE to be positioned can be further obtained according to the result obtained by the formula (22). By
Figure BDA0002817592860000136
Form (and)
Figure BDA0002817592860000137
Consistent in form) can know that to acquire the horizontal coordinate of the UE to be positioned, the pair is needed
Figure BDA0002817592860000138
The sum of squares variation is performed.
In an optional embodiment of the present application, obtaining the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation includes:
determining a symbol of a horizontal coordinate of the UE to be positioned based on the symbol of the second estimated horizontal coordinate;
acquiring the size of a horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation;
and obtaining the horizontal coordinate of the UE to be positioned based on the symbol and the size of the horizontal coordinate of the UE to be positioned.
Specifically, since the second estimated horizontal coordinate is only relatively less accurate than the horizontal coordinate of the UE to be located, the two are of the same sign. Then, based on the sign of the second estimated horizontal coordinate, the sign of the horizontal coordinate of the UE to be positioned is determined, i.e. the sign of the second estimated horizontal coordinate is determined as the sign of the horizontal coordinate of the UE to be positioned.
In summary, the positioning method provided in the embodiment of the present application may include the following steps:
(1) a sender (BS or UE) in a communication system is configured to transmit a traditional PRS or two or more carrier frequencies are configured to transmit a C-PRS, and meanwhile, the sender (BS or UE) transmits configuration information corresponding to the PRS or the C-PRS to a positioning server.
Wherein, for the UE positioning method based on the downlink positioning reference signal, such as OTDOA (Observed Time Difference of Arrival), the BS is the sender; for a UE positioning method based on an Uplink positioning reference signal, for example, UTDOA (Uplink Observed Time Difference of Arrival), the UE is the sender.
(2) The positioning server correspondingly sends configuration information corresponding to the PRS or the C-PRS to a receiver (BS or UE) of the PRS or the C-PRS respectively.
(3) And the sender (BS or UE) correspondingly sends the PRS or the C-PRS according to the corresponding configuration of the PRS or the C-PRS, wherein the C-PRS is sent at two or more carrier frequencies.
(4) The receiver respectively correspondingly receives the PRS or the C-PRS according to the configuration of the received PRS or the C-PRS to obtain the TOA and the carrier phase measurement value; for carrier phase positioning, when three-dimensional measurement value conversion is performed, the integer ambiguity of the corresponding carrier phase measurement needs to be calculated to ensure that the carrier phase and the integer ambiguity can form the TOA/TDOA measurement value.
(5) And the receiver reports the value obtained after measuring the PRS or the C-PRS to the positioning server. If the receiver is a UE, the measurement value reported by the receiver may be a TOA measurement value or a carrier phase measurement value that is not differentiated, or may be a TDOA measurement value or a single-differentiated carrier phase measurement value that is subjected to single differentiation.
(6) And the positioning server processes the positioning measurement value according to the scheme provided by the application according to the positioning measurement value reported by the receiver. Namely, the three-dimensional measurement distance between each base station and the UE to be positioned is obtained based on the positioning measurement value, and then the horizontal coordinate of the UE to be positioned is obtained based on each three-dimensional measurement distance, the three-dimensional coordinate of each base station and the height of the UE to be positioned.
Fig. 2 is a block diagram of a positioning apparatus according to an embodiment of the present disclosure, and as shown in fig. 2, the apparatus 200 may include: a positioning measurement value receiving module 201, a three-dimensional measurement distance obtaining module 202, and a horizontal coordinate obtaining module 203, wherein:
the positioning measurement value receiving module 201 is configured to receive a positioning measurement value sent by a positioning reference information receiver in a communication system, where the positioning reference information receiver is to-be-positioned user equipment UE or at least two base stations;
the three-dimensional measurement distance acquisition module 202 is configured to acquire a three-dimensional measurement distance between each base station and the UE to be positioned based on the positioning measurement value;
the horizontal coordinate obtaining module 203 is configured to obtain a horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations, and the height of the UE to be positioned.
According to the scheme provided by the application, the three-dimensional measurement distances between the base stations and the UE to be positioned are obtained, and the horizontal coordinate of the UE to be positioned is obtained based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an optional embodiment of the present application, the positioning measurements comprise at least one of time of arrival, TOA, time difference of arrival, TDOA, carrier phase and differential carrier phase measurements.
In an optional embodiment of the present application, the horizontal coordinate acquiring module includes: a first measurement equation acquisition submodule and a horizontal coordinate acquisition submodule, wherein:
the first measurement equation acquisition submodule is used for acquiring a corresponding first measurement equation based on the corresponding error relationship between the three-dimensional calculation distance of each base station and the UE to be positioned and each three-dimensional measurement distance, wherein each three-dimensional calculation distance is obtained by coordinate operation of the three-dimensional coordinate of the corresponding base station and the three-dimensional coordinate of the UE to be positioned;
and the horizontal coordinate acquisition submodule is used for calculating and obtaining the horizontal coordinate of the UE to be positioned through a first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is specifically configured to:
solving a first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned and a first measurement error value corresponding to each three-dimensional measurement distance to obtain a first estimated horizontal coordinate of the UE to be positioned, wherein the first measurement error value is a preset value;
acquiring a second measurement error value corresponding to each three-dimensional measurement distance based on the first estimated horizontal coordinate, the height of the UE to be positioned and the three-dimensional coordinates of each base station;
solving the first measurement equation again based on each three-dimensional measurement distance, the height of the UE to be positioned and a second measurement error value corresponding to each corresponding three-dimensional measurement distance to obtain a second estimated horizontal coordinate of the UE to be positioned;
and acquiring the horizontal coordinate of the UE to be positioned based on the second estimated horizontal coordinate.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further configured to: :
and taking the second estimated horizontal coordinate as the horizontal coordinate of the UE to be positioned.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further configured to: :
acquiring a corresponding second measurement equation based on a corresponding error relation between the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;
solving a second measurement equation based on the second estimated horizontal coordinate, the three-dimensional coordinates of each base station and the height of the UE to be positioned to obtain a calculation result of the second measurement equation;
and acquiring the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation.
In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further configured to:
determining a symbol of a horizontal coordinate of the UE to be positioned based on the symbol of the second estimated horizontal coordinate;
acquiring the size of a horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation;
and obtaining the horizontal coordinate of the UE to be positioned based on the symbol and the size of the horizontal coordinate of the UE to be positioned.
Based on the same principle, an embodiment of the present application further provides an electronic device, where the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method provided in any optional embodiment of the present application is implemented, and specifically, the following situations are implemented:
receiving a positioning measurement value sent by a positioning reference information receiver in a communication system, wherein the positioning reference information receiver is User Equipment (UE) to be positioned or at least two base stations; acquiring three-dimensional measurement distances between each base station and the UE to be positioned based on the positioning measurement values; and acquiring the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method shown in any embodiment of the present application.
It is understood that the medium may store a computer program corresponding to the data transmission method.
Fig. 3 is a schematic structural diagram of an electronic device to which the embodiment of the present application is applied, and as shown in fig. 3, the electronic device 300 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein processor 301 is coupled to memory 303, such as via bus 302. Further, the electronic device 300 may further include a transceiver 304, and the electronic device 300 may interact with other electronic devices through the transceiver 304. It should be noted that the transceiver 304 is not limited to one in practical applications, and the structure of the electronic device 300 is not limited to the embodiment of the present application.
The processor 301, applied in the embodiment of the present application, may be used to implement the functions of the positioning apparatus shown in fig. 2.
The processor 301 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 301 may also be a combination of computing functions, e.g., comprising one or more microprocessors in combination, a DSP and a microprocessor in combination, or the like.
Bus 302 may include a path that carries information between the aforementioned components. The bus 302 may be a PCI bus or an EISA bus, etc. The bus 302 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 in FIG. 3, but this does not mean only one bus or one type of bus.
Memory 303 may be, but is not limited to, ROM or other type of static storage device that can store static information and instructions, RAM or other type of dynamic storage device that can store information and instructions, EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
The memory 303 is used for storing application program codes for executing the scheme of the application, and the processor 301 controls the execution. The processor 301 is configured to execute application code stored in the memory 303 to implement the actions of the positioning apparatus provided by the embodiment shown in fig. 2.
The technical scheme provided by the embodiment of the application can be suitable for various systems, particularly 5G 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 Worldwide Interoperability for Mobile Access (WiMAX) system, a New Radio network (NR 5) 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 (5GS), and the like.
The terminal device referred to in the embodiments of the present application may be 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 called a User Equipment (UE). A wireless terminal device, which may be a mobile terminal device such as a mobile telephone (or "cellular" telephone) and a computer having a mobile terminal device, e.g., 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 language and/or data with the Radio Access Network. 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.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims (10)

1. A method of positioning, comprising:
receiving a positioning measurement value sent by a positioning reference information receiver in a communication system, wherein the positioning reference information receiver is User Equipment (UE) to be positioned or at least two base stations;
acquiring three-dimensional measurement distances between each base station and the UE to be positioned based on the positioning measurement values;
and acquiring the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
2. The method of claim 1, wherein the location measurements comprise at least one of time of arrival (TOA) measurements, time difference of arrival (TDOA) measurements, carrier phase measurements, and differential carrier phase measurements.
3. The method according to claim 1 or 2, wherein the obtaining the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations, and the height of the UE to be positioned comprises:
acquiring a corresponding first measurement equation based on a corresponding error relationship between the three-dimensional calculation distance of each base station and the UE to be positioned and each three-dimensional measurement distance, wherein each three-dimensional calculation distance is obtained by coordinate operation of a three-dimensional coordinate of the corresponding base station and a three-dimensional coordinate of the UE to be positioned;
and calculating to obtain the horizontal coordinate of the UE to be positioned through the first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
4. The method according to claim 3, wherein the calculating a horizontal coordinate of the UE to be positioned by the first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations, and the height of the UE to be positioned comprises:
solving the first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned and a first measurement error value corresponding to each three-dimensional measurement distance to obtain a first estimated horizontal coordinate of the UE to be positioned, wherein the first measurement error value is a preset value;
acquiring a second measurement error value corresponding to each three-dimensional measurement distance based on the first estimated horizontal coordinate, the height of the UE to be positioned and the three-dimensional coordinates of each base station;
solving the first measurement equation again based on each three-dimensional measurement distance, the height of the UE to be positioned and a second measurement error value corresponding to each corresponding three-dimensional measurement distance to obtain a second estimated horizontal coordinate of the UE to be positioned;
and acquiring the horizontal coordinate of the UE to be positioned based on the second estimated horizontal coordinate.
5. The method of claim 4, wherein the obtaining horizontal coordinates of the UE to be located based on the second estimated horizontal coordinates comprises:
and taking the second estimated horizontal coordinate as the horizontal coordinate of the UE to be positioned.
6. The method of claim 4, wherein the obtaining horizontal coordinates of the UE to be located based on the second estimated horizontal coordinates comprises:
acquiring a corresponding second measurement equation based on a corresponding error relation between the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;
solving the second measurement equation based on the second estimated horizontal coordinate, the three-dimensional coordinates of each base station and the height of the UE to be positioned to obtain a calculation result of the second measurement equation;
and acquiring the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation.
7. The method of claim 6, wherein the obtaining horizontal coordinates of the UE to be positioned based on the calculation of the second measurement equation comprises:
determining a sign of a horizontal coordinate of the UE to be positioned based on the sign of the second estimated horizontal coordinate;
acquiring the size of the horizontal coordinate of the UE to be positioned based on the calculation result of the second measurement equation;
and obtaining the horizontal coordinate of the UE to be positioned based on the symbol and the size of the horizontal coordinate of the UE to be positioned.
8. A positioning device, comprising:
a positioning measurement value receiving module, configured to receive a positioning measurement value sent by a positioning reference information receiver in a communication system, where the positioning reference information receiver is to-be-positioned User Equipment (UE) or at least two base stations;
a three-dimensional measurement distance acquisition module, configured to acquire, based on the positioning measurement value, a three-dimensional measurement distance between each base station and the UE to be positioned;
and the horizontal coordinate acquisition module is used for acquiring the horizontal coordinate of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of the base stations and the height of the UE to be positioned.
9. An electronic device comprising a memory and a processor;
the memory has stored therein a computer program;
the processor for executing the computer program to implement the method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method of any one of claims 1 to 7.
CN202011409067.2A 2020-12-04 2020-12-04 Positioning method, positioning device, electronic equipment and computer readable storage medium Pending CN114598987A (en)

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