CN115087097A - Terminal positioning method, system, processing equipment and storage medium - Google Patents

Terminal positioning method, system, processing equipment and storage medium Download PDF

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Publication number
CN115087097A
CN115087097A CN202210884786.2A CN202210884786A CN115087097A CN 115087097 A CN115087097 A CN 115087097A CN 202210884786 A CN202210884786 A CN 202210884786A CN 115087097 A CN115087097 A CN 115087097A
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base station
target terminal
hyperbola
sided
difference
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Chinese (zh)
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刘磊
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Shenzhen Ailing Network Co ltd
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Shenzhen Ailing Network Co ltd
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Priority to CN202210884786.2A priority Critical patent/CN115087097A/en
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    • 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
    • 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

Abstract

The embodiment of the application provides a positioning method, a positioning system, processing equipment and a storage medium of a terminal, and relates to the field of wireless communication. Acquiring time differences of measurement signals respectively sent by a plurality of base stations, wherein each time difference of the measurement signals is used for describing a time difference between a signal measurement request message sent by each base station to a target terminal and a measurement signal response message sent by each base station to a target terminal; generating a plurality of single-side hyperbolas according to the time difference of each measurement signal and the position information of each base station, wherein the single-side hyperbolas are used for describing the alternative position of the target terminal; and determining the position of the target terminal according to the intersection point between the single-side hyperbolas. Under the condition that the target terminal is not required to provide measuring time, the position of the target terminal is directly determined, the accuracy of positioning the mobile terminal is improved, and the version compatibility of the mobile terminal is improved.

Description

Terminal positioning method, system, processing equipment and storage medium
Technical Field
The present application relates to the field of wireless communications, and in particular, to a method, a system, a processing device, and a storage medium for positioning a terminal.
Background
A positioning service of a terminal (User Equipment, UE for short) is an important location service in a wireless cellular communication system, and accurate geographic positioning of the terminal is a basis for performing network operation and maintenance such as network structure optimization, fault positioning, service information collection, and the like.
The existing positioning architecture of the 5G network is composed of a terminal, a plurality of base stations and a data center. When the terminal communicates with a plurality of adjacent base stations, wireless information of the terminal is transmitted to the data center through the main cell base station, and the data center determines the position of the terminal according to the transmission time of signals recorded and uploaded by the terminal and the base stations in a channel and by combining the geographic coordinates of the base stations.
However, in the prior art, the data center needs to acquire the signal transmission time provided by the terminal and the multiple base stations at the same time, and the terminal with a lower version does not have this function, which may result in that the accurate positioning of the terminal cannot be acquired.
Disclosure of Invention
The application provides a positioning method, a system, a processing device and a storage medium of a terminal, which can generate a plurality of single-side hyperbolas according to the time difference of a measuring signal sent by a base station and the position information of the base station, and directly determine the position of a target terminal according to an intersection point between the plurality of hyperbolas under the condition that the target terminal does not need to provide measuring time, thereby improving the positioning accuracy of the mobile terminal and the version compatibility of the mobile terminal.
The embodiment of the application can be realized as follows:
in a first aspect, an embodiment of the present application provides a method for positioning a terminal, which is applied to a data center in a positioning system of the terminal, where the positioning system of the terminal includes: the data center, a plurality of base stations and a target terminal, wherein the base stations are respectively in communication connection with the data center and the target terminal;
the method comprises the following steps:
acquiring time differences of measurement signals respectively sent by a plurality of base stations, wherein each time difference of the measurement signals is used for describing a time difference between a signal measurement request message sent by each base station to the target terminal and a measurement signal response message sent by each base station to receive the target terminal;
generating a plurality of single-side hyperbolas according to the time difference of each measurement signal and the position information of each base station, wherein the single-side hyperbolas are used for describing the alternative position of the target terminal;
and determining the position of the target terminal according to the intersection point between the single-side hyperbolas.
In an optional implementation, the generating a plurality of single-sided hyperbolas according to the time difference of each measurement signal and the location information of each base station includes:
calculating and obtaining the equipment distance difference between the target terminal and each base station according to the product of the measured signal time difference and the preset signal propagation speed;
and generating a plurality of single-side hyperbolas according to the equipment distance difference of each base station and the position information of each base station.
In an optional implementation manner, the generating a plurality of single-sided hyperbolas according to the device distance difference of each base station and the location information of each base station includes:
determining a first bilateral hyperbola according to a difference value between a first device distance difference of a first base station and a second device distance difference of a second base station, wherein the first base station is any one of the base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is larger than the first device distance difference;
determining one of the first two-sided hyperbolas as a first one-sided hyperbola according to a comparison result of the first device distance difference and the second device distance difference, wherein a curve distance between the first one-sided hyperbola and the first base station is smaller than a curve distance between the first one-sided hyperbola and the second base station;
determining a second bilateral hyperbola according to a difference value between a first device distance difference of the first base station and a third device distance difference of a third base station, wherein the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is greater than the second device distance difference;
and according to the comparison result of the first device distance difference and the third device distance difference, determining one of the second double-sided hyperbolas as a second single-sided hyperbola, wherein the curve distance between the second single-sided hyperbola and the third base station is greater than the curve distance between the first single-sided hyperbola and the first base station.
In an alternative embodiment, the method further comprises:
determining a third double-sided hyperbola according to a difference value between a second device distance difference of the second base station and a third device distance difference of the third base station, wherein the third device distance difference is larger than the second device distance difference;
and determining one of the third double-sided hyperbolas as a third single-sided hyperbola according to a comparison result of the second device distance difference and the third device distance difference, wherein the curve distance between the third single-sided hyperbola and the second base station is smaller than the curve distance between the first single-sided hyperbola and the third base station.
In an alternative embodiment, the determining the location of the target terminal according to the intersection point between the single-sided hyperbolas includes:
and determining the position of the target terminal according to the intersection point of the first single-side hyperbola and the second single-side hyperbola.
In an optional embodiment, the determining the location of the target terminal according to an intersection of the single-sided hyperbolas includes:
and determining the position of the target terminal according to the intersection point of the first single-side hyperbola, the second single-side hyperbola and the third single-side hyperbola.
In an optional implementation manner, the obtaining time differences of measurement signals transmitted by a plurality of base stations includes:
responding to a positioning instruction of a user, generating an equipment positioning request and sending the equipment positioning request to each base station, wherein the equipment positioning request is used for indicating each base station to generate the measurement signal time difference;
and respectively receiving the time difference of the measurement signal sent by each base station according to the equipment positioning request.
In a second aspect, an embodiment of the present application provides a positioning system for a terminal, including: the system comprises a data center, a plurality of base stations and a target terminal, wherein the base stations are respectively in communication connection with the data center and the target terminal;
each base station is used for sending a signal measurement request message to the target terminal, receiving a measurement signal response message sent by the target terminal, and determining a corresponding measurement signal time difference according to the signal measurement request message and the measurement signal response message;
the data center is configured to perform the method for positioning a terminal according to any one of the first aspect, and position a target terminal.
In a third aspect, an embodiment of the present application provides a positioning apparatus for a terminal, including:
an obtaining module, configured to obtain time differences of measurement signals respectively sent by multiple base stations, where each time difference of the measurement signals is used to describe a time difference between a request message for sending a signal measurement to the target terminal by each base station and a response message for receiving the measurement signal sent by the target terminal by each base station;
a generating module, configured to generate multiple unilateral hyperbolas according to the time difference between the measurement signals and the location information of each base station, where the unilateral hyperbolas are used to describe alternative locations of the target terminal;
and the determining module is used for determining the position of the target terminal according to the intersection point between the single-side hyperbolas.
The generating module is further specifically configured to calculate and obtain a device distance difference between the target terminal and each of the base stations according to a product of the measured signal time difference and a preset signal propagation speed; and generating a plurality of single-side hyperbolas according to the device distance difference of each base station and the position information of each base station.
The generating module is further specifically configured to determine a first bilateral hyperbola according to a difference between a first device range difference of a first base station and a second device range difference of a second base station, where the first base station is any one of the plurality of base stations, the second base station is a base station adjacent to the first base station, and the second device range difference is greater than the first device range difference; determining one of the first two-sided hyperbolas as a first one-sided hyperbola according to a comparison result of the first device distance difference and the second device distance difference, wherein a curve distance between the first one-sided hyperbola and the first base station is smaller than a curve distance between the first one-sided hyperbola and the second base station; determining a second bilateral hyperbola according to a difference between a first device distance difference of the first base station and a third device distance difference of a third base station, wherein the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is larger than the second device distance difference; and according to the comparison result of the first device distance difference and the third device distance difference, determining one of the second double-sided hyperbolas as a second single-sided hyperbola, wherein the curve distance between the second single-sided hyperbola and the third base station is greater than the curve distance between the first single-sided hyperbola and the first base station.
The generating module is further specifically configured to determine a third bilateral hyperbola according to a difference between a second device distance difference of the second base station and a third device distance difference of the third base station, where the third device distance difference is greater than the second device distance difference; and determining one of the third double-sided hyperbolas as a third single-sided hyperbola according to a comparison result of the second device distance difference and the third device distance difference, wherein the curve distance between the third single-sided hyperbola and the second base station is smaller than the curve distance between the first single-sided hyperbola and the third base station.
The determining module is specifically further configured to determine the location of the target terminal according to an intersection of the first single-sided hyperbola and the second single-sided hyperbola.
The determining module is further specifically configured to determine the location of the target terminal according to an intersection of the first single-sided hyperbola, the second single-sided hyperbola, and the third single-sided hyperbola.
The obtaining module is further specifically configured to generate an equipment positioning request in response to a positioning instruction of a user, and send the equipment positioning request to each base station, where the equipment positioning request is used to instruct each base station to generate the measurement signal time difference; and respectively receiving the time difference of the measurement signal sent by each base station according to the equipment positioning request.
In a fourth aspect, an embodiment of the present application provides a processing apparatus, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the processing device is running, the processor executing the machine-readable instructions to perform the steps of the method of positioning a terminal according to any one of the first aspect.
In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the positioning method for a terminal according to any one of the first aspect.
The beneficial effects of the embodiment of the application include:
by adopting the terminal positioning method, the terminal positioning system, the terminal processing device and the terminal positioning storage medium provided by the embodiment of the application, the data center can generate a plurality of single-side hyperbolas according to the synchronous measurement signal time difference of each base station and the position information of each base station, and determine the position of the target terminal according to the intersection point of the single-side hyperbolas. Therefore, the data center directly determines the position of the target terminal according to the information provided by the base station under the condition of not needing to know the time measured by the target terminal side, and the version compatibility of the positioning function of the data center to the target terminal and the positioning accuracy of the target terminal are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram illustrating an interaction flow of Multi-RTT positioning in the prior art;
fig. 2 is a schematic structural diagram of a positioning system of a terminal according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart illustrating steps of a positioning method for a terminal according to an embodiment of the present application;
fig. 4 is a schematic flowchart illustrating another step of the method for positioning a terminal according to the embodiment of the present application;
fig. 5 is a schematic view of a positioning manner of a positioning method of a terminal according to an embodiment of the present application;
fig. 6 is a flowchart illustrating another step of a positioning method for a terminal according to an embodiment of the present application;
fig. 7 is a schematic diagram illustrating another positioning manner of a positioning method of a terminal according to an embodiment of the present application;
fig. 8 is a schematic view of another positioning method of the terminal according to the embodiment of the present application;
fig. 9 is a flowchart illustrating a further step of a positioning method for a terminal according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a positioning apparatus of a terminal according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a processing apparatus according to an embodiment of the present application.
Icon: 101-LMF; 102-gNB/TRP; 103-user equipment; 201-a data center; 2021-a first base station; 2022-a second base station; 2023-a third base station; 203-target terminal; 100-positioning means of the terminal; 1001-acquisition module; 1002-a generation module; 1003-determination module; 2001-a processor; 2002-memory.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The positioning service of the mobile terminal is a service for acquiring terminal position information through a wireless network or other positioning systems and providing various information related to the position for a user by combining a geographic information system. The positioning capability is one of the core capabilities of 5G, and 5G includes a series of key technologies such as a new coding mode, beamforming, large bandwidth, and the like. The third Generation partnership project (3rd Generation partnership project, 3GPP) has specified that a Location Management Function (LMF) of a server for 5G communication system Location mainly employs a Multi-Round Trip Time (Multi-RTT), and by combining uplink Location and downlink Location, the LMF may mutually transmit reference signals based on a User Equipment (User Equipment, UE) or other mobile terminals and a plurality of next Generation base stations (the next Generation Node B, gNB) or Transmission Reception Points (TRP), and determine the Location of the UE according to a Time difference between a UE reception signal and a transmission signal, and a Time difference between a gNB/TRP reception signal and a transmission signal. The interaction flow of the gNB/TRP with the user equipment in the positioning process of the Multi-RTT can be represented by FIG. 1.
Hereinafter, for convenience of description, an entity for implementing the LMF will be referred to as an LMF. It should be understood that the above-mentioned names are only used for distinguishing different functions, and do not represent that these network elements are separate physical devices, and the present application is not limited to the specific form of the above-mentioned network elements, for example, the network elements may be integrated in the same physical device, or may be different physical devices. Furthermore, the above nomenclature is only used to distinguish between different functions, and should not be construed as limiting the application in any way, and this application does not exclude the possibility of other nomenclature being used in 5G networks and other networks in the future. For example, in a 6G network, some or all of the above network elements may follow the terminology in 5G, and may also adopt other names, etc. The description is unified here, and will not be repeated below.
The gNB/TRP shown in fig. 1 may be understood as a network element in the core network for implementing different functions, which may be combined into a network slice, for example, as needed. The core network elements may be independent devices, or may be integrated in the same device to implement different functions, which is not limited in this application.
As shown in fig. 1, LMF101 first sends a location request to gNB/TRP102 in response to a user equipment location command of a user, it is understood that multiple gNB/TRPs 102 near user equipment 103 may receive the location request and interact with user equipment 103 to perform RTT measurement signal, and hereinafter, only the interaction process of one of the gNB/TRPs 102 with user equipment 103 will be described.
After receiving the location request of LMF101, gNB/TRP102 may send an RTT measurement request to user equipment 103, and at t 0 The time instant sends an RTT measurement signal to the user equipment 103.
User equipment 103 is at t 1 After receiving the downlink positioning RTT measurement signal sent by each gNB/TRP102 at a moment, generating an RTT measurement signal at the user equipment 103 end and sending the RTT measurement signal at t 2 The signal is transmitted at time, after which gNB/TRP102 transmits at t 3 The RTT measurement signal from the ue 103 is received at this moment. Then, the user equipment 103 sends t 2 Time and t 1 Time difference t of time 2 -t 1 Synchronize to gNB/TRP 102.
After each gNB/TRP102 synchronously performs the interaction process with the user equipment, each gNB/TRP102 and the user are obtainedTwo-way measurement of the time difference t of signal transmission between the devices 103 3 -t 0 。
Finally, LMF101 is based on t reported by user equipment 103 via each gNB/TRP102 forwarding 2 -t 1 Time difference of (a), and t reported by each gNB/TRP102 3 -t 0 The time difference between the user equipment 103 and each gNB/TRP102 can be determined as follows: (t) 3 -t 0 )-(t 2 -t 1 ). Further, the LMF101 may determine the location of the UE according to the known geographic coordinates of each gNB/TRP102 and the distance between the user equipment 103 and each gNB/TRP102 determined according to the time difference between the user equipment 103 and each gNB/TRP 102.
The Multi-RTT-based positioning method is a function proposed by 3GPP in release R16, and the positioning function of the LMF101 requires that each gNB/TRP102 and the ue 103 provide the measurement time of the RTT measurement signal.
However, for the previous version of R16, the ue 103 has no measurement function, i.e. the ue 103 cannot measure and report the LMF101t 2 、t 1 The time of (c). If Multi-RTT is used for positioning, after the gNB/TRP102 sends an RTT measurement request and an RTT measurement signal to the user equipment 103, it is only able to receive the RTT measurement signal sent back by the user equipment 103, but is unable to receive the delay time t of the user equipment 103 side 2 -t 1 . This allows LMF101 to receive only t synchronized by each gNB/TRP102 3 -t 0 Time difference, t of synchronization of the user equipment 103 cannot be known 2 -t 1 Therefore, LMF101 cannot determine the distance between each gNB/TRP102 and user equipment 103, and it is difficult to locate user equipment 103.
Based on the foregoing problems, embodiments of the present application provide a method, a system, a processing device, and a storage medium for positioning a terminal, where a data center can directly generate multiple single-sided hyperbolas according to information synchronized by a base station, and directly determine a location of a target terminal according to an intersection of the multiple single-sided hyperbolas without requiring measurement time synchronized by the target terminal. The positioning accuracy of the data center for the target terminal and the version compatibility of the target terminal are improved.
The technical scheme of the embodiment of the application can be applied to various local communication systems, for example: global system for mobile communications (GSM) systems, Code Division Multiple Access (CDMA) systems, Wideband Code Division Multiple Access (WCDMA) systems, General Packet Radio Service (GPRS), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD), universal mobile telecommunications system (universal mobile telecommunications system, UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, fifth generation (5G) communication systems, or future radio access (NR) technologies.
A positioning method, a positioning system, a positioning processing device, and a storage medium for a terminal provided in the embodiments of the present application are explained with reference to a plurality of specific application examples as follows.
Fig. 2 is a schematic structural diagram of a terminal positioning system provided in an embodiment of the present application, and as shown in fig. 2, the system includes: the system comprises a data center 201, a plurality of base stations and a target terminal 203, wherein the plurality of base stations are respectively connected with the data center 201 and the target terminal 203 in a communication mode.
Each base station is configured to send a signal measurement request message to the target terminal 203, receive a measurement signal response message sent by the target terminal 203, and determine a corresponding measurement signal time difference according to the signal measurement request message and the measurement signal response message.
The data center 201 is configured to perform a terminal positioning method in the following embodiments to position the target terminal 203.
The data center 201 may be a set of one or more servers provided by an operator, and may include an access and mobility management Function (AMF) entity, a Session Management Function (SMF) entity, a User Plane Function (UPF) entity, and a Location Management Function (LMF) entity in this embodiment, which is not limited thereto.
The target terminal 203, which may be called a User Equipment (UE), is a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a 5G network or a terminal device in a future evolved Public Land Mobile Network (PLMN), and the like, and may also be an end device, a logic entity, an intelligent device, a terminal device such as a mobile phone or an intelligent terminal, or a communication device such as a server, a gateway, a base station, a controller, and the like, or an Internet of things (IoT) device such as a sensor, an electric meter, a water meter, and the like, the embodiments of the present application do not limit this.
The base station may be the above-mentioned gb node, TRP node, evolved node B (eNB), Radio Network Controller (RNC), Node B (NB), Base Station Controller (BSC), Base Transceiver Station (BTS), home base station (e.g., home node B or home node B), baseband unit (BBU), Access Point (AP) in wireless fidelity (WIFI) system, wireless relay node, wireless backhaul node, Transmission Point (TP), etc., and may also be 5G, such as NR, or transmission point (TRP or TP), one or a group (including multiple antennas) of base station in 5G system, or may also be a panel of antenna, such as a NB, a baseband unit (BBU), a BBU, a radio transceiver station (BTS), a radio relay node, a wireless backhaul node, a Transmission Point (TP), etc., or may also be a panel of antenna (including multiple antennas) of base station in 5G system, or may also be a panel of antenna (including multiple antennas) of base station (NB), or a network node B, such as BBU, a base transceiver station (BBU), a base transceiver station (RNC, a radio relay node B, a radio network controller, a base station (NB), a base transceiver station (BBU), a wireless relay node B, a wireless terminal (wireless terminal, a wireless network terminal, a wireless network, or, Distributed Unit (DU), etc.
As shown in fig. 2, the target terminal 203 may be disposed in a signal coverage area of at least one base station, which may be, for example, a first base station 2021, a second base station 2022, and a third base station 2023 shown in fig. 2, through which the target terminal 203 may communicate with a data center. The target terminal 203 may be communicatively coupled to each base station via a wireless network, and each base station may be communicatively coupled to the data center 201 via a wired or wireless network.
It should be understood that the network architecture applied to the embodiments of the present application is only an exemplary network architecture described in terms of a conventional point-to-point architecture and a service architecture, and the network architecture to which the embodiments of the present application are applied is not limited thereto, and any network architecture capable of implementing the functions of the network elements described above is applicable to the embodiments of the present application.
It should also be understood that the name of the interface between each network element in fig. 2 is only an example, and the name of the interface in the specific implementation may be other names, which is not specifically limited in this application. In addition, the name of the transmitted message (or signaling) between the network elements is only an example, and the function of the message itself is not limited in any way.
Fig. 3 is a schematic flowchart illustrating steps of a positioning method for a terminal according to an embodiment of the present application, where an execution subject of the method may be a data center in the above embodiment. As shown in fig. 3, the method comprises the steps of:
s301, acquiring time difference of measurement signals respectively transmitted by a plurality of base stations.
The time difference of each measurement signal is used for describing the time difference between the time when each base station sends a signal measurement request message to the target terminal and the time when each base station receives a measurement signal response message sent by the target terminal.
It can be understood that, because the distances between the base stations and the target terminal are different, the time difference from the time when the base stations send the signal measurement request message to the time when the measurement signal response message is received, that is, t in fig. 1, is that 3 -t 0 And may not be the same. Therefore, each measured signal time difference has a one-to-one correspondence with each base station.
Each base station interacts with a target terminal, and the target terminal does not have a time measurement function, namely t cannot be measured 2 -t 1 Only the corresponding measurements can be made in case the time difference is transmitted back to the base stationTime difference t of quantity signal 3 -t 0 Synchronizing to a data center.
It should be noted that, since there may be a plurality of base stations whose signal ranges cover the target terminal at the same time, the data center may synchronize to the adjacent base station by sending a positioning request to one of the base stations, or the data center directly determines a plurality of base stations whose signal ranges cover the target terminal, and synchronously sends a positioning request to each base station.
S302, a plurality of one-sided hyperbolas are generated based on the time difference between the measurement signals and the location information of the base stations.
Wherein a single sided hyperbola is used to describe alternative locations of the target terminal.
The location information of each base station may be geographical location information of each base station, represented by longitude and latitude, which is pre-stored in the data center.
It can be understood that, in the case of equal signal transmission speeds, the measured signal time difference corresponding to each base station also has a one-to-one correspondence relationship with the distance between each base station and the target terminal. Thus, two pairs of the position information of each base station can be taken as focuses, and a plurality of hyperbolas are determined according to the time difference of the measurement signals of each base station. By the nature of a hyperbola, a hyperbola is a locus of points whose difference in distance from two fixed points is constant. Therefore, the distance difference between a point on one hyperbola and the corresponding two base stations is a constant value, and meets the condition of the position of the target terminal, and the point set of the hyperbola can be used as the candidate position of the target terminal.
Further, since the hyperbolas have two sides, a point set in which one hyperbola is a candidate location of the target terminal may be determined according to a measurement signal time difference between the target terminal and each base station.
And S303, determining the position of the target terminal according to the intersection point between the single-side hyperbolas.
Each single-sided hyperbola is a point set representing an alternative position of the target terminal, and therefore, an intersection point between a plurality of single-sided hyperbolas, that is, a point at which the target terminal satisfies a time difference with the measurement signal of each base station, may be used as the position of the target terminal.
It should be noted that, when the positioning time is short and each base station only performs one-time communication with the target terminal, the time difference of the measurement signal sent by each base station may have an error, at this time, each single-side hyperbola may not intersect at one point, the intersection may be an intersection area, and when the intersection area is smaller than a preset minimum area, the intersection area may be used as the location of the target terminal.
In this embodiment, the data center determines the position of the target terminal directly according to the information provided by the base station, without knowing the time measured by the target terminal side, according to the position information of each base station and the time difference of the measurement signal corresponding to each base station, so that the version compatibility of the positioning function of the data center to the target terminal and the positioning accuracy to the target terminal are improved.
Alternatively, as shown in fig. 4, the step S302 may be implemented by generating a plurality of one-sided hyperbolas from the time difference between the measurement signals and the location information of the base stations, and by the following steps S401 to S402.
S401, calculating and obtaining the device distance difference between the target terminal and each base station according to the product of the measured signal time difference and the preset signal propagation speed.
The device range difference may be a product of a measured signal time difference and a predetermined signal propagation speed. The preset signal propagation speed may be determined according to a propagation medium, and the preset signal propagation speed may be set to c when the target terminal performs communication through a wireless network or a wired optical fiber. Recording the time difference t of the measured signal of each base station 3 -t 0 With T, the device distance difference is T × c.
The measured signal time difference T corresponding to each base station indicates the sum of the two-way communication time between each base station and the target terminal and the processing delay time of the target terminal, and therefore, the device distance difference corresponding to each base station does not indicate the actual distance between the target terminal and each base station.
S402, a plurality of single-sided hyperbolas are generated based on the device distance difference of each base station and the location information of each base station.
As can be seen from the above steps, the device distance difference corresponding to each base station does not represent the actual distance, but the difference between the device distance differences corresponding to each base station is constant. Therefore, each base station can be paired up two by two to generate a plurality of groups of double-sided hyperbolas as focuses.
After a plurality of groups of double-sided hyperbolas are determined, because the hyperbolas also have the actual meaning of describing the distance between the target terminal and each base station, one single-sided hyperbolas can be determined as a candidate point set of the position of the target terminal according to the time difference of the measurement signals or the distance difference of the equipment corresponding to each base station.
In this embodiment, the device distance difference corresponding to each base station is calculated from the measured signal time difference and the preset signal propagation speed of the target terminal, and then a plurality of single-sided hyperbolas are generated, thereby ensuring the accuracy of the position of the target terminal.
Alternatively, the step S402 may be implemented by the following steps S501 to S504, in which a plurality of one-sided hyperbolas are generated based on the device distance difference of each base station and the location information of each base station. It should be noted that the execution steps of the following steps S501-S502 and the following steps S503-S504 are not limited, and may be executed synchronously, or the steps S501-S502 are executed first, and then the steps S503-S504 are executed, or the steps S503-S504 are executed first, and then the steps S501-S502 are executed.
S501, a first bilateral hyperbola is determined according to a difference value between a first device distance difference of a first base station and a second device distance difference of a second base station.
The first base station is any one of a plurality of base stations, the second base station is a base station adjacent to the first base station, and the distance difference of the second device is larger than that of the first device.
Note first base station P 1 The first distance to the target terminal is smaller than that of the second base station P 2 The second distance from the target terminal, the time difference T of the measured signal corresponding to the second base station 2 Greater than the corresponding time difference T of the measurement signal of the first base station 1 . Further, the second base station corresponds to the second device distance difference T 2 C is greater than the first device distance difference T corresponding to the first base station 1 *c。
From the above examplesA trace in which the difference in distance from two fixed points in a plane is equal to a constant is called a hyperbola. Since the second device range difference is greater than the first device range difference, and for the same target terminal, the second device range difference is reduced by the value of the first device range difference T 2 *c-T 1 C is a constant value, therefore, T can be expressed 2 *c-T 1 C as a constant, first base station P 1 A second base station P 2 To the focus, a hyperbola is generated.
S502, according to a comparison result between the first device distance difference and the second device distance difference, determining one of the first two-sided hyperbolas as a first one-sided hyperbola, where a curve distance between the first one-sided hyperbola and the first base station is smaller than a curve distance between the first one-sided hyperbola and the second base station.
The hyperbola generated in the above step S501 is close to the first base station P 1 Is the distance difference T from the second device 2 Difference T between c and the first device distance 1 The difference of c being generated as a constant, close to the second base station P 2 Is the distance difference T from the first device 1 Difference T between c and the second device distance 2 The absolute value of the difference of c is generated as a constant.
In addition, according to the physical meaning of the hyperbola in the embodiment of the present application, the difference value cannot be a negative number, and the second distance between the target terminal and the second base station is greater than the distance between the target terminal and the first base station, then as shown in fig. 5, the target terminal should be disposed close to the first base station P 1 First one-sided hyperbola Q 12 The above.
S503, determining a second bilateral hyperbola according to a difference between the first device distance difference of the first base station and the third device distance difference of the third base station.
The third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is larger than the second device distance difference.
Optionally, if there is a third base station P 3 Includes a target terminal in the signal coverage area of the base station P, and a third base station P 3 If the third distance from the target terminal is greater than the first distance and the second distance, the first base station P can be used 1 A third base station P 3 As a focus, by a third device distance difference T 3 Difference T between c and the first device distance 1 C is a constant, generating a double sided hyperbola.
And S504, according to the comparison result of the distance difference between the first device and the distance difference between the third device, determining one of the second two-sided hyperbolas as a second one-sided hyperbola, wherein the curve distance between the second one-sided hyperbola and the third base station is greater than the curve distance between the first one-sided hyperbola and the first base station.
Further, for the same reason as in the above-described step S502, the third device distance difference T corresponding to the third terminal is due to 3 C is greater than the first device distance difference T corresponding to the first terminal 1 C, so, as shown in fig. 5, it can be close to the first base station P 1 Of a single-sided hyperbola Q 13 As a second single-sided hyperbola.
In this embodiment, two of the first base station, the second base station, and the third base station are taken as focuses, and a difference value of device aggregation distance differences between the two is taken as a constant, so as to generate a plurality of hyperbolas, where each hyperbola can accurately represent a point set of the candidate location of the target terminal.
Optionally, in step S303, determining the position of the target terminal according to an intersection point between the single-sided hyperbolas may include: and determining the position of the target terminal according to the intersection point of the first single-side hyperbola and the second single-side hyperbola.
With continued reference to fig. 5, since the first one-sided hyperbola is generated by using the difference between the second device distance difference and the first device distance difference as a constant, even though the difference does not represent the difference between the actual distances of the target terminal and the first and second base stations, in the case that the actual distance is unknown, the difference can be regarded as the sum of the difference between the actual distance and the fixed offset.
Likewise, the second one-sided hyperbola contains the same offset. Therefore, when the time difference between the measurement signals corresponding to the first base station and the time difference between the measurement signals corresponding to the second base station are accurate, the data center may use the intersection of the first single-sided hyperbola and the second single-sided hyperbola, that is, the five-pointed star position in fig. 5 as the position of the target terminal.
In this embodiment, when the data center cannot know the delay processing time on the target terminal side, the data center directly determines the position of the target terminal according to the intersection point of the first single-side hyperbola and the second single-side hyperbola, and ensures the accuracy of positioning the target terminal.
It should be noted that, when the number of the base stations is greater than 3, the position of the target terminal may be determined through other fitting algorithms, such as a least square method, or the method in the embodiment of the present application may be adopted, and 3 of the base stations are selected to determine the position of the target terminal.
The above steps describe the step of generating a plurality of single-sided hyperbolas when the time difference of the measurement signal corresponding to each base station has no error, and the following embodiments may be further performed when the time difference of the measurement signal corresponding to each base station has an error, so as to improve the accuracy of positioning the target terminal.
Optionally, as shown in fig. 6, the method for positioning a terminal provided in the embodiment of the present application may further include the following steps:
s601, determining a third double-sided hyperbola according to a difference between a second device distance difference of the second base station and a third device distance difference of the third base station.
The third device range difference is greater than the second device range difference.
To further improve the positioning accuracy, the first one-sided hyperbola Q can be constructed in the above steps S501-S504 12 Second one-sided hyperbola Q 13 On the basis of the first base station P, continuing with the second base station P 2 A third base station P 3 To the focus, with the third base station P 3 Corresponding third device distance difference T 3 C second device distance difference T corresponding to second base station 2 The difference of c is a constant, generating a third two-sided hyperbola.
And S602, determining one of the third double-sided hyperbolas as a third single-sided hyperbola according to the comparison result of the distance difference between the second device and the third device.
The curve distance of the third single-sided hyperbola from the second base station is smaller than the curve distance of the first single-sided hyperbola from the third base station.
For the same reason as in steps S502 and S504 described above, the third device distance difference T corresponding to the third terminal is used 3 C is greater than the first device distance difference T corresponding to the second terminal 2 C, so, as shown in fig. 7, it can be close to the second base station P 2 Of a single-sided hyperbola Q 23 As a second single-sided hyperbola.
In this embodiment, a third single-sided hyperbola is constructed on the basis of the first single-sided hyperbola and the second single-sided hyperbola, and accuracy of positioning of the target terminal is improved when a time difference of measurement signals synchronized by each base station has an error.
Optionally, in step S303, determining the position of the target terminal according to an intersection point between the single-sided hyperbolas, which may further include: and determining the position of the target terminal according to the intersection point of the first single-side hyperbola, the second single-side hyperbola and the third single-side hyperbola.
The third one-sided hyperbola is constructed by taking a difference between the third device distance difference and the second device distance difference as a constant, which can be understood as a sum of a difference between an actual distance of the third base station from the target terminal and an actual distance of the second base station from the target terminal and a fixed offset. In this way, even if the third one-sided hyperbola does not represent a difference in actual distance, when the first one-sided hyperbola and the second one-sided hyperbola both include the same offset, the three one-sided hyperbolas will meet at a point, which is the position of the target terminal.
From the above-described embodiment, referring to fig. 7, if the measured signal time difference of each base station is accurate, the position of the five-pointed star in fig. 7, which is the intersection of the first single-sided hyperbola, the second single-sided hyperbola, and the third single-sided hyperbola, can be used as the position of the target terminal.
Alternatively, if the time difference of the measurement signals of each base station is inaccurate, the first single-sided hyperbola, the second single-sided hyperbola and the third single-sided hyperbola may not intersect at a point, but in the area of fig. 8 where the shadow is located. If the area of the region is smaller than the minimum comparison area, the shadow region may be used as the location of the target terminal.
In this embodiment, the intersection point or the intersection area of the first single-side hyperbola, the second single-side hyperbola and the third single-side hyperbola is used as the position of the target terminal, so that the accuracy of positioning the target terminal is improved.
Alternatively, as shown in fig. 9, in the step S301, the time difference of the measurement signals respectively transmitted by the plurality of base stations may be obtained by the following steps S701 to S702.
And S701, responding to a positioning instruction of a user, generating a device positioning request and sending the device positioning request to each base station, wherein the device positioning request is used for indicating each base station to generate a measuring signal time difference.
The user may send the positioning instruction to the data center through a terminal different from the target terminal, and it may be understood that, in order to protect the privacy of the target terminal, the user who has a part of the pre-authorized rights may generate the positioning instruction and send the positioning instruction to the data center. Optionally, the positioning instruction may include an identity string uniquely identifying the target terminal.
After receiving the positioning instruction, the data center may generate an equipment positioning request according to the positioning instruction. And determining the position of the corresponding target terminal and at least one base station through which the target terminal passes when communicating with the data center according to the identity serial code of the target terminal in the positioning instruction.
Next, the target terminal sends a device location request to at least one base station whose signal range covers the target terminal. And determining the time difference of the measurement signal corresponding to each base station through the communication between each base station and the target terminal.
S702, respectively receiving the time difference of the measurement signal sent by each base station according to the equipment positioning request.
And finally, each base station sends the corresponding measurement signal time difference to a data center. It should be noted that, in order to improve the accuracy, each base station may communicate with the target terminal multiple times, and send the average value of the time differences of the measurement signals obtained through multiple communications to the data center as the time difference of the measurement signals.
In this embodiment, each base station responds to a positioning instruction of a user, generates a measurement signal time difference corresponding to each base station, and sends the measurement signal time difference to the data center, so that the version compatibility of the positioning function of the data center to the target terminal is improved.
Referring to fig. 10, an embodiment of the present application further provides a positioning apparatus 100 of a terminal, where the positioning apparatus 100 of the terminal may be integrated in the aforementioned data center, and optionally, the positioning apparatus 100 of the terminal includes:
an obtaining module 1001, configured to obtain time differences of measurement signals respectively sent by multiple base stations, where each time difference of measurement signals is used to describe a time difference between a request message for sending a signal to a target terminal by each base station and a response message for receiving a measurement signal sent by the target terminal by each base station;
a generating module 1002, configured to generate multiple single-sided hyperbolas according to the time difference between each measurement signal and the location information of each base station, where the single-sided hyperbolas are used to describe alternative locations of the target terminal;
the determining module 1003 is configured to determine the location of the target terminal according to an intersection between the single-side hyperbolas.
In this embodiment, the obtaining module determines the position of the target terminal directly by the determining module according to the information provided by the base station after the generating module generates the single-sided hyperbola according to the position information of each base station and the time difference of the measurement signal corresponding to each base station without knowing the time measured by the target terminal, so that the version compatibility of the positioning function of the data center to the target terminal and the positioning accuracy to the target terminal are improved.
The generating module 1002 is further configured to calculate and obtain a device distance difference between the target terminal and each base station according to a product of the measured signal time difference and a preset signal propagation speed; a plurality of one-sided hyperbolas are generated based on the device distance difference of each base station and the location information of each base station.
The generating module 1002 is further specifically configured to determine a first bilateral hyperbola according to a difference between a first device distance difference of a first base station and a second device distance difference of a second base station, where the first base station is any one of the plurality of base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is greater than the first device distance difference; determining one of the first two-sided hyperbolas as a first one-sided hyperbola according to a comparison result of the distance difference between the first device and the distance difference between the second device, wherein the curve distance between the first one-sided hyperbola and the first base station is smaller than the curve distance between the first one-sided hyperbola and the second base station; determining a second bilateral hyperbola according to a difference value between a first device distance difference of the first base station and a third device distance difference of a third base station, wherein the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is larger than the second device distance difference; and according to the comparison result of the distance difference of the first device and the distance difference of the third device, determining one of the second two-sided hyperbolas as a second one-sided hyperbola, wherein the curve distance between the second one-sided hyperbola and the third base station is larger than the curve distance between the first one-sided hyperbola and the first base station.
The generating module 1002 is further specifically configured to determine a third bilateral hyperbola according to a difference between a second device distance difference of the second base station and a third device distance difference of a third base station, where the third device distance difference is greater than the second device distance difference; and according to the comparison result of the distance difference of the second device and the distance difference of the third device, determining one of the third double-sided hyperbolas as a third single-sided hyperbola, wherein the curve distance between the third single-sided hyperbola and the second base station is smaller than the curve distance between the first single-sided hyperbola and the third base station.
The determining module 1003 is further specifically configured to determine the location of the target terminal according to an intersection of the first single-side hyperbola and the second single-side hyperbola.
The determining module 1003 is further specifically configured to determine the location of the target terminal according to an intersection point of the first single-side hyperbola, the second single-side hyperbola, and the third single-side hyperbola.
The obtaining module is specifically further configured to generate an equipment positioning request in response to a positioning instruction of a user, and send the equipment positioning request to each base station, where the equipment positioning request is used to instruct each base station to generate a measurement signal time difference; and respectively receiving the time difference of the measurement signals sent by each base station according to the equipment positioning request.
Referring to fig. 11, the present embodiment further provides a processing apparatus, including: a processor 2001, a memory 2002 and a bus, wherein the memory 2002 stores machine-readable instructions executable by the processor 2001, and when the processing device runs, the machine-readable instructions are executed, the processor 2001 and the memory 2002 are communicated through the bus, and the processor 2001 is used for executing the steps of the face recognition method in the above embodiments.
The memory 2002, processor 2001, and bus elements are electrically coupled to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The data processing means of the face recognition system comprises at least one software function module which can be stored in the memory 2002 in the form of software or firmware (firmware) or fixed in an Operating System (OS) of the processing device. The processor 2001 is used to execute executable modules stored in the memory 2002, such as software functional modules and computer programs included in a data processing apparatus of the face recognition system.
The Memory 2002 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to corresponding processes in the method embodiments, and are not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some communication interfaces, indirect coupling or communication connection between devices or modules, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A terminal positioning method is applied to a data center in a terminal positioning system, and the terminal positioning system comprises: the system comprises a data center, a plurality of base stations and a target terminal, wherein the base stations are respectively in communication connection with the data center and the target terminal;
the method comprises the following steps:
acquiring time differences of measurement signals respectively sent by a plurality of base stations, wherein each time difference of the measurement signals is used for describing a time difference between a signal measurement request message sent by each base station to the target terminal and a measurement signal response message sent by each base station to receive the target terminal;
generating a plurality of single-side hyperbolas according to the time difference of each measurement signal and the position information of each base station, wherein the single-side hyperbolas are used for describing the alternative position of the target terminal;
and determining the position of the target terminal according to the intersection point between the single-side hyperbolas.
2. The method of claim 1, wherein the generating a plurality of single-sided hyperbolas according to the time difference between the measurement signals and the location information of the base stations comprises:
calculating and obtaining the equipment distance difference between the target terminal and each base station according to the product of the measured signal time difference and the preset signal propagation speed;
and generating a plurality of single-side hyperbolas according to the equipment distance difference of each base station and the position information of each base station.
3. The method of claim 2, wherein the generating a plurality of hyperbolas according to the device distance difference of each base station and the location information of each base station comprises:
determining a first bilateral hyperbola according to a difference value between a first device distance difference of a first base station and a second device distance difference of a second base station, wherein the first base station is any one of the plurality of base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is greater than the first device distance difference;
determining one of the first two-sided hyperbolas as a first one-sided hyperbola according to a comparison result of the first device distance difference and the second device distance difference, wherein a curve distance between the first one-sided hyperbola and the first base station is smaller than a curve distance between the first one-sided hyperbola and the second base station;
determining a second bilateral hyperbola according to a difference between a first device distance difference of the first base station and a third device distance difference of a third base station, wherein the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is larger than the second device distance difference;
and according to the comparison result of the first device distance difference and the third device distance difference, determining one of the second double-sided hyperbolas as a second single-sided hyperbola, wherein the curve distance between the second single-sided hyperbola and the third base station is greater than the curve distance between the first single-sided hyperbola and the first base station.
4. The method for positioning a terminal according to claim 3, wherein the method further comprises:
determining a third bilateral hyperbola according to a difference value between a second device distance difference of the second base station and a third device distance difference of the third base station, wherein the third device distance difference is larger than the second device distance difference;
and according to the comparison result of the distance difference of the second device and the distance difference of the third device, determining one of the third double-sided hyperbolas as a third single-sided hyperbola, wherein the curve distance between the third single-sided hyperbola and the second base station is smaller than the curve distance between the first single-sided hyperbola and the third base station.
5. The method of claim 3, wherein the determining the location of the target terminal according to the intersection between the single-sided hyperbolas comprises:
and determining the position of the target terminal according to the intersection point of the first single-side hyperbola and the second single-side hyperbola.
6. The method of claim 4, wherein the determining the location of the target terminal according to the intersection of the single-sided hyperbolas comprises:
and determining the position of the target terminal according to the intersection point of the first single-side hyperbola, the second single-side hyperbola and the third single-side hyperbola.
7. The method according to claim 1, wherein the obtaining time differences of the measurement signals transmitted by the base stations comprises:
responding to a positioning instruction of a user, generating an equipment positioning request and sending the equipment positioning request to each base station, wherein the equipment positioning request is used for indicating each base station to generate the measurement signal time difference;
and respectively receiving the time difference of the measurement signal sent by each base station according to the equipment positioning request.
8. A positioning system for a terminal, comprising: the system comprises a data center, a plurality of base stations and a target terminal, wherein the base stations are respectively in communication connection with the data center and the target terminal;
each base station is used for sending a signal measurement request message to the target terminal, receiving a measurement signal response message sent by the target terminal, and determining a corresponding measurement signal time difference according to the signal measurement request message and the measurement signal response message;
the data center is used for executing the positioning method of the terminal according to any one of claims 1 to 7 to position the target terminal.
9. A processing device, characterized in that the processing device comprises: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor communicating with the storage medium via the bus when the processing device is running, the processor executing the machine-readable instructions to perform the steps of the method of positioning a terminal according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for positioning a terminal according to any one of claims 1 to 7.
CN202210884786.2A 2022-07-26 2022-07-26 Terminal positioning method, system, processing equipment and storage medium Pending CN115087097A (en)

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