CN116939811A - Fusion positioning method and device, electronic equipment and storage medium - Google Patents

Fusion positioning method and device, electronic equipment and storage medium Download PDF

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Publication number
CN116939811A
CN116939811A CN202310835513.3A CN202310835513A CN116939811A CN 116939811 A CN116939811 A CN 116939811A CN 202310835513 A CN202310835513 A CN 202310835513A CN 116939811 A CN116939811 A CN 116939811A
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China
Prior art keywords
positioning
information
measurement
terminal equipment
nrppa
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Inventor
刘琛
邵震
王姣姣
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China Telecom Technology Innovation Center
China Telecom Corp Ltd
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China Telecom Technology Innovation Center
China Telecom Corp Ltd
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Priority to CN202310835513.3A priority Critical patent/CN116939811A/en
Publication of CN116939811A publication Critical patent/CN116939811A/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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention relates to the field of positioning technologies, and in particular, to a fusion positioning method, a fusion positioning device, an electronic device, and a storage medium. The method is applied to the LMF network element with the positioning management function, and comprises the following steps: determining that the terminal equipment supports synchronous measurement of 5G signals and a global satellite positioning system GNSS; sending an NR positioning protocol ANRPPa measurement request message to network equipment, and setting 5G measurement time configuration information; sending an LTE Positioning Protocol (LPP) positioning information request to a terminal device, and receiving satellite measurement time configuration information reported by the terminal device; receiving 5G measurement information sent by network equipment; receiving GNSS observation information sent by the terminal equipment; and carrying out fusion positioning according to the 5G measurement information and the GNSS observation information, and determining target positioning information. Obviously, the invention combines GNSS observation information and 5G measurement information, can more accurately determine the target positioning information, and improves the positioning accuracy.

Description

Fusion positioning method and device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a fusion positioning method, a fusion positioning device, an electronic device, and a storage medium.
Background
At present, in urban canyons and other areas, due to shielding by buildings and trees, when positioning is performed by using only a global navigation satellite system (Global Navigation Satellite System, GNSS), the positioning accuracy is seriously affected, and even the situation that positioning cannot be performed may occur.
Therefore, how to improve the positioning accuracy of the satellite positioning limited area is a technical problem to be solved.
Disclosure of Invention
The embodiment of the invention aims to provide a fusion positioning method, a fusion positioning device, electronic equipment and a storage medium, which are used for improving the positioning accuracy.
In a first aspect, an embodiment of the present invention provides a converged positioning method, which is applied to a positioning management function LMF network element, where the method includes:
determining that the terminal equipment supports synchronous measurement of 5G signals and a global satellite positioning system GNSS;
sending an NR positioning protocol A NRPPa measurement request message to network equipment, and setting 5G measurement time configuration information; the NRPPa measurement request message is used for triggering the network equipment to perform 5G positioning reference signal SRS measurement;
sending an LTE Positioning Protocol (LPP) positioning information request to the terminal equipment, and receiving satellite measurement time configuration information reported by the terminal equipment;
receiving 5G measurement information sent by the network equipment, wherein the 5G measurement information is determined by the network equipment according to the 5G measurement time configuration information by executing 5G positioning reference signal SRS measurement; receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment according to the satellite measurement time configuration information;
and carrying out fusion positioning according to the 5G measurement information and the GNSS observation information, and determining target positioning information.
In one possible implementation, determining that the terminal device supports synchronous measurements of 5G and global satellite positioning system, GNSS, comprises:
requesting the converged positioning capability of the terminal equipment through the request capability of the LPP protocol;
and determining that the terminal equipment supports synchronous measurement of the 5G and the GNSS according to the feedback information sent by the terminal equipment.
In a possible implementation manner, the feedback information includes information indicating that the terminal device has the capability of supporting uplink 5G positioning reference signal UL-SRS transmission and GNSS observation data acquisition synchronization, and information indicating that the terminal device has the capability of supporting the same satellite measurement time configuration information and the 5G measurement time configuration information.
In one possible implementation, the satellite measurement time configuration information and the 5G measurement time configuration information include a system frame number SFN and a measurement period.
In a possible implementation manner, after determining that the terminal device supports synchronous measurement of the 5G signal and the global satellite positioning system GNSS, the method further includes:
sending an NRPPa positioning information request message to the network equipment which is providing service for the terminal equipment, and requesting the network equipment to send UL-SRS information configured for the terminal equipment;
receiving UL-SRS information in NRPPa positioning information response information sent by the network equipment; the NRPPa positioning information response message is sent after the network equipment determines SRS resources according to the UL-SRS information;
an NRPPa positioning activation request message is sent to the network equipment, and the NRPPa positioning activation request message is used for requesting the SRS signal of the terminal equipment to activate so that the terminal equipment performs UL-SRS transmission according to configuration;
and receiving an NRPPa positioning activation response message sent by the network equipment, and sending an NRPPa measurement request message to the network equipment.
In one possible embodiment, the method further comprises:
transmitting an NRPPa positioning disabling message to the network equipment, wherein the NRPPa positioning disabling message is used for indicating the network equipment to finish the measurement report of the 5G signal; the method comprises the steps of,
and sending an LPP (Low-pass protocol) positioning and disabling message to the terminal equipment, wherein the LPP positioning and disabling message is used for indicating the terminal equipment to stop reporting GNSS observation information.
In a second aspect, an embodiment of the present invention provides a converged positioning device applied to an LMF network element, where the device includes:
the determining unit is used for determining that the terminal equipment supports synchronous measurement of the 5G signal and the GNSS;
a first sending unit, configured to send an NRPPa measurement request message of an NR positioning protocol a to a network device, and set 5G measurement time configuration information; the NRPPa measurement request message is used for triggering the network equipment to perform 5G positioning reference signal SRS measurement;
the second sending unit is used for sending an LTE Positioning Protocol (LPP) protocol positioning information request to the terminal equipment and receiving satellite measurement time configuration information reported by the terminal equipment;
a receiving unit, configured to receive 5G measurement information sent by the network device, where the 5G measurement information is determined by the network device by performing 5G positioning reference signal SRS measurement according to the 5G measurement time configuration information; receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment according to the satellite measurement time configuration information;
and the first processing unit is used for carrying out fusion positioning according to the 5G measurement information and the GNSS observation information and determining target positioning information.
In a possible embodiment, the determining unit is specifically configured to:
requesting the converged positioning capability of the terminal equipment through the request capability of the LPP protocol;
and determining that the terminal equipment supports synchronous measurement of the 5G and the GNSS according to the feedback information sent by the terminal equipment.
In a possible implementation manner, the feedback information includes information indicating that the terminal device has the capability of supporting uplink 5G positioning reference signal UL-SRS transmission and GNSS observation data acquisition synchronization, and information indicating that the terminal device has the capability of supporting the same satellite measurement time configuration information and the 5G measurement time configuration information.
In one possible implementation, the satellite measurement time configuration information and the 5G measurement time configuration information include a system frame number SFN and a measurement period.
In a possible implementation manner, after determining that the terminal device supports synchronous measurement of the 5G signal and the global satellite positioning system GNSS, the apparatus further includes a second processing unit, configured to:
sending an NRPPa positioning information request message to the network equipment which is providing service for the terminal equipment, and requesting the network equipment to send UL-SRS information configured for the terminal equipment;
receiving UL-SRS information in NRPPa positioning information response information sent by the network equipment; the NRPPa positioning information response message is sent after the network equipment determines SRS resources according to the UL-SRS information;
an NRPPa positioning activation request message is sent to the network equipment, and the NRPPa positioning activation request message is used for requesting the SRS signal of the terminal equipment to activate so that the terminal equipment performs UL-SRS transmission according to configuration;
and receiving an NRPPa positioning activation response message sent by the network equipment, and sending an NRPPa measurement request message to the network equipment.
In a possible implementation manner, the apparatus further includes a third sending unit, configured to:
transmitting an NRPPa positioning disabling message to the network equipment, wherein the NRPPa positioning disabling message is used for indicating the network equipment to finish the measurement report of the 5G signal; the method comprises the steps of,
and sending an LPP (Low-pass protocol) positioning and disabling message to the terminal equipment, wherein the LPP positioning and disabling message is used for indicating the terminal equipment to stop reporting GNSS observation information.
In a third aspect, an embodiment of the present invention provides an electronic device, including at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the methods provided by the embodiments of the first aspect of the present invention.
In a fourth aspect, embodiments of the present invention provide a computer storage medium, where the computer readable storage medium stores a computer program for causing a computer to perform any of the methods provided by the embodiments of the first aspect of the present invention.
In a fifth aspect, embodiments of the present invention provide a computer program product comprising: computer program code which, when run on a computer, causes the computer to perform any of the methods provided by the embodiments of the first aspect.
The invention has the following beneficial effects:
in the embodiment of the invention, the location management function LMF network element can determine that the terminal equipment supports synchronous measurement of 5G signals and a global satellite positioning system GNSS; sending an NR positioning protocol ANRPPa measurement request message to network equipment, and setting 5G measurement time configuration information; the NRPPa measurement request message is used for triggering the network equipment to perform 5G positioning reference signal SRS measurement; sending an LTE Positioning Protocol (LPP) positioning information request to a terminal device, and receiving satellite measurement time configuration information reported by the terminal device; receiving 5G measurement information sent by network equipment, wherein the 5G measurement information is determined by the network equipment according to the 5G measurement time configuration information by executing 5G positioning reference signal SRS measurement; receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment by executing GNSS observation according to satellite measurement time configuration information; and carrying out fusion positioning according to the 5G measurement information and the GNSS observation information, and determining target positioning information.
Therefore, in the embodiment of the invention, the end-to-end GNSS and 5G fusion positioning capability is realized through the synchronous measurement of the GNSS observation data of the terminal equipment side and the uplink signal of the 5G network equipment side, and the GNSS positioning precision and stability are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario in an embodiment of the present invention;
FIG. 2 is a flow chart of a method for positioning by fusion in an embodiment of the invention;
FIG. 3 is a flow chart of another method for fusion positioning according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a composition structure of a fusion positioning device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the invention and features of the embodiments may be combined with one another arbitrarily without conflict. Also, while a logical order is depicted in the flowchart, in some cases, the steps depicted or described may be performed in a different order than presented herein.
The term "comprising" and any variations thereof in the description of the invention and in the claims is intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
In the embodiment of the invention, the term "and/or" describes the association relation of the association objects, which means that three relations can exist, for example, a and/or B can be expressed as follows: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
The term "plurality" in embodiments of the present invention means two or more, and other adjectives are similar.
For a better understanding of the solution provided by the invention, some of the procedures and terms involved in this solution are described below:
1. terminal equipment:
the terminal device according to the embodiments of the present invention may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem, etc. The names of the terminal devices may also be different in different systems, for example in a 5G system, the terminal devices may be referred to as User Equipment (UE). The wireless terminal device may communicate with one or more Core Networks (CNs) via a radio access Network (Radio Access Network, RAN), which may be mobile terminal devices such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, e.g., portable, pocket, hand-held, computer-built-in or vehicle-mounted mobile devices that exchange voice and/or data with the radio access Network. Such as personal communication services (Personal Communication Service, PCS) phones, cordless phones, session initiation protocol (Session Initiated Protocol, SIP) phones, wireless local loop (Wireless Local Loop, WLL) stations, personal digital assistants (Personal Digital Assistant, PDAs), and the like. The wireless terminal device may also be referred to as a system, subscriber unit (subscriber unit), subscriber station (subscriber station), mobile station (mobile), remote station (remote station), access point (access point), remote terminal device (remote terminal), access terminal device (access terminal), user terminal device (user terminal), user agent (user agent), user equipment (user device), and embodiments of the present invention are not limited in this respect.
2. Network equipment:
the network device according to the embodiment of the present invention may be a base station, where the base station may include a plurality of cells for providing services for the terminal. A base station may also be called an access point or may be a device in an access network that communicates over the air-interface, through one or more sectors, with wireless terminal devices, or other names, depending on the particular application. The network device may be operable to exchange received air frames with internet protocol (Internet Protocol, IP) packets as a router between the wireless terminal device and the rest of the access network, which may include an Internet Protocol (IP) communication network. The network device may also coordinate attribute management for the air interface. For example, the network device according to the embodiment of the present invention may be a network device (Base Transceiver Station, BTS) in a global system for mobile communications (Global System for Mobile communications, GSM) or code division multiple access (Code Division Multiple Access, CDMA), a network device (NodeB) in a wideband code division multiple access (Wide-band Code Division Multiple Access, WCDMA), an evolved network device (evolutional Node B, eNB or e-NodeB) in a long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in a 5G network architecture (next generation system), a home evolved base station (Home evolved Node B, heNB), a relay node (relay node), a home base station (femto), a pico base station (pico), etc., which are not limited in the embodiment of the present invention. In some network structures, the network device may include a Centralized Unit (CU) node and a Distributed Unit (DU) node, which may also be geographically separated.
3. Positioning management function (location management function, LMF) network element:
the LMF network element is a new positioning management function (location management function, LMF) network element of the positioning architecture of the present fifth generation mobile communication technology (5th generation mobile communication technology,5G). Specifically, the LMF network element is used for managing overall coordination and scheduling of resources required for positioning, and is responsible for resolving estimated values such as position, speed, reached precision and the like.
Currently, the 5G positioning protocol stack includes NR positioning protocol a (NRPPa protocol) and LTE positioning protocol (LTE Positioning Protoco, LPP). The NR positioning protocol a (NRPPa protocol) prescribes a control plane wireless network layer signaling process between the base station and the LMF network element, and is suitable for uplink measurement reporting such as 5G uplink arrival time difference positioning (uplink time difference of arrival, UTDOA) and uplink arrival angle (uplink angles of arrival, UL-AOA). The LPP protocol is used for point-to-point protocol transmission between the LMF network element and the terminal device, so that the LMF obtains location-dependent terminal device side measurements to locate the terminal device.
At present, in urban canyons and other areas, due to shielding by buildings and trees, positioning accuracy is seriously affected and even positioning is impossible when positioning is performed by using only a global navigation satellite system (Global Navigation Satellite System, GNSS). Therefore, how to improve the positioning accuracy of the satellite positioning limited area is a technical problem to be solved.
In view of this, the embodiment of the invention provides a fusion positioning method, which realizes the capability of end-to-end GNSS and 5G fusion positioning and improves the precision and stability of GNSS positioning through synchronous measurement of GNSS observation data at a terminal device side and uplink signals at a 5G network device side.
After the design idea of the embodiment of the present invention is introduced, some simple descriptions are made below for application scenarios applicable to the technical solution of the embodiment of the present invention, and it should be noted that the application scenarios described below are only used for illustrating the embodiment of the present invention and are not limiting. In the specific implementation process, the technical scheme provided by the embodiment of the invention can be flexibly applied according to actual needs.
Referring to fig. 1, fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention. Fig. 1 includes a mobile device 101, a base station 102, a 5G core network (5 GC) 103, and a satellite positioning system 104 (e.g., a beidou satellite navigation system (BeiDou navigation satellite system, BDS)). When the mobile device 101 mounted on the vehicle is shielded by a building, the accuracy of satellite positioning may be seriously affected or even the positioning may not be possible.
In the embodiment of the invention, the LMF network element can firstly determine that the vehicle-mounted mobile device supports the fusion positioning capability, namely supports the synchronous measurement of the 5G signal and the GNSS, then can receive the 5G measurement information (such as TOA/TDOA (time of arrival/time difference of arrival) or AoA/AoD (angle of arrival/departure) measurement information) sent by the network equipment and receive the GNSS observation information sent by the terminal equipment, and can carry out fusion calculation on the GNSS observation information and the 5G measurement information, thereby greatly improving the positioning precision of the satellite positioning limited area.
In order to further explain the technical solution provided by the embodiments of the present invention, the following details are described with reference to the accompanying drawings and the detailed description. Although embodiments of the present invention provide the method operational steps shown in the following embodiments or figures, more or fewer operational steps may be included in the method, either on a routine or non-inventive basis. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present invention. The methods may be performed sequentially or in parallel as shown in the embodiments or the drawings when the actual processing or the apparatus is performed.
Referring to fig. 2, fig. 2 is a flow chart of a fusion positioning method according to an embodiment of the invention. The flow of the method may be performed by an electronic device, which may be an LMF network element in fig. 1, and the specific implementation flow of the method is as follows:
step 201: it is determined that the terminal device supports synchronous measurements of 5G signals and global satellite positioning system GNSS.
In the embodiment of the invention, the LMF network element requests the fusion positioning capability of the terminal equipment through the request capability of the LPP protocol; and according to feedback information sent by the terminal equipment, determining that the terminal equipment supports synchronous measurement of 5G and GNSS. The feedback information includes information indicating that the terminal equipment has the capability of supporting uplink 5G positioning reference signal UL-SRS transmission and GNSS observation data acquisition synchronization, and information indicating that the terminal equipment has the capability of supporting the same satellite measurement time configuration information and 5G measurement time configuration information.
It can be seen that, in the embodiment of the present invention, the LPP protocol between the LMF network element and the terminal is used to report the terminal capability request, and the capability indication of the fusion positioning is newly added. That is, a new capability is added in the capability negotiation process, and the new capability is the fused positioning capability NR-UL-fusion PosCapabilities for GNSS observation information and 5G measurement information. The new capability can inform the LMF network element, and the terminal supports the capability of synchronizing the SRS sending of the uplink 5G positioning reference signal and the acquisition of the GNSS observation data. The specific message extensions are as follows:
wherein, two fields (nr-UL-SRS-Capability-r 16, and a-gnss-provide capabilities) inside the new Capability indication are extended by using the original message body of the protocol.
Step 202: sending an NR positioning protocol A NRPPa measurement request message to network equipment, and setting 5G measurement time configuration information; the NRPPa measurement request message is used to trigger the network device to make 5G positioning reference signal SRS measurements.
Step 203: and sending an LTE Positioning Protocol (LPP) positioning information request to the terminal equipment, and receiving satellite measurement time configuration information reported by the terminal equipment.
In the embodiment of the invention, in order to ensure the time consistency of the two measurement data, the satellite measurement time configuration information and the 5G measurement time configuration information can be set to be the same. The satellite measurement time configuration information and the 5G measurement time configuration information comprise a system frame number SFN and a measurement period. Alternatively, the measurement period may be 1024ms, and the initial system frame number sfn=0 is configured.
In other words, in the embodiment of the present invention, the measurement is performed at the time requirement of the measurement period, that is, each network device starts at sfn=0 and the period is 1024ms, and the UL-SRS measurement result (that is, 5G measurement information) is reported to the LMF through the NRPPa Measurement Response message, while the terminal device performs the GNSS measurement and provides the GNSS observation information (or referred to as LPP satellite positioning observation information) to the LMF at the time requirement of starting at sfn=0 and the period is 1024 ms.
Step 204: receiving 5G measurement information sent by network equipment, wherein the 5G measurement information is determined by the network equipment according to the 5G measurement time configuration information by executing 5G positioning reference signal SRS measurement; and receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment according to the satellite measurement time configuration information.
In the embodiment of the invention, the LMF network element can continuously collect GNSS observation information and 5G measurement information.
Step 205: and carrying out fusion positioning according to the 5G measurement information and the GNSS observation information, and determining target positioning information.
After the positioning is finished, the LMF network element can send an NRPPa positioning disabling message to the network equipment, wherein the NRPPa positioning disabling message is used for indicating the network equipment to finish the measurement report of the 5G signal; and sending an LPP (Low-pass protocol) positioning and disabling message to the terminal equipment, wherein the LPP positioning and disabling message is used for indicating the terminal equipment to stop reporting the GNSS observation information.
In order to more accurately describe the fusion positioning method provided by the embodiment of the present invention, please refer to fig. 3, a full flow of the fusion positioning measurement configuration, measurement and decoding is described below. Taking 5G measurement information as UTDOA as an example, the whole flow of the fusion positioning measurement configuration, measurement and solution for the UL-AOA is the same as the whole flow of the fusion positioning measurement configuration, measurement and solution for the UTDOA process by taking 5G measurement information as the UTDOA shown in FIG. 3, and is not repeated.
Step 301: the LMF network element obtains the information of the transmission receiving node required by UTDOA positioning.
In a 5G network, a plurality of transmission-reception points (TRPs) for performing positioning measurement on a terminal device are added under a gNB (next generation node b,5G base station) to accurately position the terminal device. Thus, the LMF network element needs to obtain the transmission receiving node information required for UTDOA positioning.
Step 302: the LMF network element requests converged positioning capabilities of the terminal device via the request capabilities (LPP Request Capability) of the LPP protocol.
Step 303: the terminal device replies supporting 5G UTDOA and GNSS synchronization measurements via the support capabilities of the LPP protocol (LPP Provide Capability).
Step 304: the LMF network element sends an NRPPa positioning information request message to the serving gNB and requests the UL-SRS configuration information of the terminal equipment.
Step 305: after the serving gNB determines the SRS resources, UL-SRS information is provided to the LMF in an NRPPa location information response message (NRPPa POSITIONING INFORMATION RESPONSE).
Because where the terminal equipment sends the SRS is configured by the gNB, but the resource cooperation and triggering of the whole positioning are processed by the LMF network element, the LMF network element needs to inquire the gNB about the resource configuration condition before triggering the terminal to start sending the UL-SRS.
Step 306: the LMF network element requests SRS signal activation of the terminal device by sending an NRPPa location activation request message (NRPPa Positioning Activation Request) to the gNB served by the terminal device.
Step 307: the serving gNB activates UL-SRS transmission and sends an NRPPa location activation response message (NRPPa Positioning Activation Response), and the terminal device performs UL-SRS transmission by configuration.
Step 308: the LMF network element triggers the relevant gNBs/TRPs to perform UL-SRS measurements via NRPPa measurement request message (NRPPa MEASUREMENT REQUEST), requiring trigger measurements on a periodic time basis.
Step 309: the LMF network element sends an LPP protocol positioning information request to the terminal equipment. The LPP positioning information request is used for calling GNSS observation information of the terminal equipment.
Step 310: each gNB/TRPs reports UL-SRS measurement information to the LMF network element in an NRPPa measurement response message (NRPPa Measurement Response) per measured time requirement.
Step 311: and the terminal equipment provides GNSS observation information for the LMF network element according to the measured time requirement.
The GNSS observation information is satellite observation information transmitted based on the LPP protocol.
Step 312: after the positioning is finished, the LMF network element sends an NRPPa positioning disabling message (NRPPa POSITIONING DEACTIVATION) to the serving gNB to finish the reporting of the 5G measurement information, and simultaneously sends an LPP positioning disabling message to the terminal equipment to finish the reporting of the GNSS observation data.
In the embodiment of the invention, the LMF network element controls the synchronous measurement reporting of the GNSS observation information and the 5G measurement information, including the configuration and the periodic reporting of the terminal GNSS observation data based on the LPP protocol and the synchronous reporting of the 5G measurement data, so that the time synchronization requirement for supporting fusion positioning solution can be met, the positioning is realized more accurately based on the GNSS observation information and the 5G measurement information obtained synchronously, and the positioning accuracy of the terminal equipment with inaccurate positioning caused by the existence of the shielding object is improved.
Based on the same inventive concept, the embodiment of the invention also provides a fusion positioning device. As shown in fig. 4, which is a schematic structural diagram of the fusion positioning device 400, may include:
a determining unit 401, configured to determine that the terminal device supports synchronous measurement of the 5G signal and the global satellite positioning system GNSS;
a first sending unit 402, configured to send an NR positioning protocol a NRPPa measurement request message to a network device, and set 5G measurement time configuration information; the NRPPa measurement request message is used for triggering the network equipment to perform 5G positioning reference signal SRS measurement;
the second sending unit 403 is configured to send an LTE positioning protocol LPP positioning information request to the terminal device, and receive satellite measurement time configuration information reported by the terminal device;
a receiving unit 404, configured to receive 5G measurement information sent by the network device, where the 5G measurement information is determined by the network device by performing 5G positioning reference signal SRS measurement according to the 5G measurement time configuration information; receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment according to the satellite measurement time configuration information;
the first processing unit 405 is configured to perform fusion positioning according to the 5G measurement information and the GNSS observation information, and determine target positioning information.
In a possible implementation manner, the determining unit 401 is specifically configured to:
requesting the converged positioning capability of the terminal equipment through the request capability of the LPP protocol;
and determining that the terminal equipment supports synchronous measurement of the 5G and the GNSS according to the feedback information sent by the terminal equipment.
In a possible implementation manner, the feedback information includes information indicating that the terminal device has the capability of supporting uplink 5G positioning reference signal UL-SRS transmission and GNSS observation data acquisition synchronization, and information indicating that the terminal device has the capability of supporting the same satellite measurement time configuration information and the 5G measurement time configuration information.
In one possible implementation, the satellite measurement time configuration information and the 5G measurement time configuration information include a system frame number SFN and a measurement period.
In a possible implementation manner, after determining that the terminal device supports synchronous measurement of the 5G signal and the global satellite positioning system GNSS, the apparatus further includes a second processing unit, configured to:
sending an NRPPa positioning information request message to the network equipment which is providing service for the terminal equipment, and requesting the network equipment to send UL-SRS information configured for the terminal equipment;
receiving UL-SRS information in NRPPa positioning information response information sent by the network equipment; the NRPPa positioning information response message is sent after the network equipment determines SRS resources according to the UL-SRS information;
an NRPPa positioning activation request message is sent to the network equipment, and the NRPPa positioning activation request message is used for requesting the SRS signal of the terminal equipment to activate so that the terminal equipment performs UL-SRS transmission according to configuration;
and receiving an NRPPa positioning activation response message sent by the network equipment, and sending an NRPPa measurement request message to the network equipment.
In a possible implementation manner, the apparatus further includes a third sending unit, configured to:
transmitting an NRPPa positioning disabling message to the network equipment, wherein the NRPPa positioning disabling message is used for indicating the network equipment to finish the measurement report of the 5G signal; the method comprises the steps of,
and sending an LPP (Low-pass protocol) positioning and disabling message to the terminal equipment, wherein the LPP positioning and disabling message is used for indicating the terminal equipment to stop reporting GNSS observation information.
For convenience of description, the above parts are described as being functionally divided into modules (or units) respectively. Of course, the functions of each module (or unit) may be implemented in the same piece or pieces of software or hardware when implementing the present invention.
Having described the fusion positioning method and apparatus of an exemplary embodiment of the present invention, next, an electronic device according to another exemplary embodiment of the present invention is described.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
The embodiment of the invention also provides a computer storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is used for enabling a computer to execute the technical scheme of the fusion positioning method of the embodiment.
Embodiments of the present invention also provide a computer program product comprising: computer program code which, when run on a computer, causes the computer to execute the computer program to implement the technical solution of the fusion positioning method in the above embodiment.
Those skilled in the art will appreciate that: all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions pertaining to a computer program, which may be stored in a computer-readable storage medium, which when executed performs steps comprising the above method embodiments; the readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product of embodiments of the present invention may employ a portable compact disc read only memory (CD-ROM) and include program code and may run on a computing device. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with a command execution system, apparatus, or device.
The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with a command execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's equipment, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. A converged positioning method, characterized by being applied to a positioning management function LMF network element, the method comprising:
determining that the terminal equipment supports synchronous measurement of 5G signals and a global satellite positioning system GNSS;
sending an NR positioning protocol A NRPPa measurement request message to network equipment, and setting 5G measurement time configuration information; the NRPPa measurement request message is used for triggering the network equipment to perform 5G positioning reference signal SRS measurement;
sending an LTE Positioning Protocol (LPP) positioning information request to the terminal equipment, and receiving satellite measurement time configuration information reported by the terminal equipment;
receiving 5G measurement information sent by the network equipment, wherein the 5G measurement information is determined by the network equipment according to the 5G measurement time configuration information by executing 5G positioning reference signal SRS measurement; receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment according to the satellite measurement time configuration information;
and carrying out fusion positioning according to the 5G measurement information and the GNSS observation information, and determining target positioning information.
2. The method of claim 1, wherein determining that the terminal device supports simultaneous measurement of 5G and global satellite positioning system, GNSS, comprises:
requesting the converged positioning capability of the terminal equipment through the request capability of the LPP protocol;
and determining that the terminal equipment supports synchronous measurement of the 5G and the GNSS according to the feedback information sent by the terminal equipment.
3. The method of claim 2, wherein the feedback information comprises information indicating that the terminal device has the capability to support synchronization of uplink 5G positioning reference signal UL-SRS transmission and GNSS observation data acquisition, and information indicating that the terminal device has the capability to support the same satellite measurement time configuration information and the 5G measurement time configuration information.
4. A method according to any of claims 1-3, wherein the satellite measurement time configuration information and the 5G measurement time configuration information comprise a system frame number SFN and a measurement period.
5. A method according to any of claims 1-3, wherein after determining that the terminal device supports simultaneous measurements of 5G signals and global satellite positioning system, GNSS, the method further comprises:
sending an NRPPa positioning information request message to the network equipment which is providing service for the terminal equipment, and requesting the network equipment to send UL-SRS information configured for the terminal equipment;
receiving UL-SRS information in NRPPa positioning information response information sent by the network equipment; the NRPPa positioning information response message is sent after the network equipment determines SRS resources according to the UL-SRS information;
an NRPPa positioning activation request message is sent to the network equipment, and the NRPPa positioning activation request message is used for requesting the SRS signal of the terminal equipment to activate so that the terminal equipment performs UL-SRS transmission according to configuration;
and receiving an NRPPa positioning activation response message sent by the network equipment, and sending an NRPPa measurement request message to the network equipment.
6. The method of claim 5, wherein the method further comprises:
transmitting an NRPPa positioning disabling message to the network equipment, wherein the NRPPa positioning disabling message is used for indicating the network equipment to finish the measurement report of the 5G signal; the method comprises the steps of,
and sending an LPP (Low-pass protocol) positioning and disabling message to the terminal equipment, wherein the LPP positioning and disabling message is used for indicating the terminal equipment to stop reporting GNSS observation information.
7. A converged positioning device, characterized by being applied to a positioning management function LMF network element, the device comprising:
the determining unit is used for determining that the terminal equipment supports synchronous measurement of the 5G signal and the GNSS;
a first sending unit, configured to send an NRPPa measurement request message of an NR positioning protocol a to a network device, and set 5G measurement time configuration information; the NRPPa measurement request message is used for triggering the network equipment to perform 5G positioning reference signal SRS measurement;
the second sending unit is used for sending an LTE Positioning Protocol (LPP) protocol positioning information request to the terminal equipment and receiving satellite measurement time configuration information reported by the terminal equipment;
a receiving unit, configured to receive 5G measurement information sent by the network device, where the 5G measurement information is determined by the network device by performing 5G positioning reference signal SRS measurement according to the 5G measurement time configuration information; receiving GNSS observation information sent by the terminal equipment, wherein the GNSS observation information is determined by the terminal equipment according to the satellite measurement time configuration information;
and the first processing unit is used for carrying out fusion positioning according to the 5G measurement information and the GNSS observation information and determining target positioning information.
8. The apparatus of claim 7, wherein the determining unit is specifically configured to:
requesting the converged positioning capability of the terminal equipment through the request capability of the LPP protocol;
and determining that the terminal equipment supports synchronous measurement of the 5G and the GNSS according to the feedback information sent by the terminal equipment.
9. An electronic device comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to implement the method of any of claims 1-6.
10. A computer storage medium, characterized in that the computer storage medium stores a computer program for enabling a computer to perform the method according to any one of claims 1-6.
CN202310835513.3A 2023-07-07 2023-07-07 Fusion positioning method and device, electronic equipment and storage medium Pending CN116939811A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310835513.3A CN116939811A (en) 2023-07-07 2023-07-07 Fusion positioning method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310835513.3A CN116939811A (en) 2023-07-07 2023-07-07 Fusion positioning method and device, electronic equipment and storage medium

Publications (1)

Publication Number Publication Date
CN116939811A true CN116939811A (en) 2023-10-24

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