CN117014794A

CN117014794A - Information transmission method, positioning method and equipment

Info

Publication number: CN117014794A
Application number: CN202210473987.3A
Authority: CN
Inventors: 任晓涛; 达人; 任斌
Original assignee: Datang Mobile Communications Equipment Co Ltd
Current assignee: Datang Mobile Communications Equipment Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2023-11-07

Abstract

The invention provides an information transmission method, a positioning method and equipment, wherein the information transmission method comprises the following steps: the first device sends first pointing information to the positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal; the method compensates the position measurement deviation caused by the pointing change due to the movement of the terminal, assists the positioning calculation equipment to calculate the more accurate terminal position, and avoids the terminal positioning position deviation caused by lack of pointing information in the prior art, thereby improving the positioning precision of the system.

Description

Information transmission method, positioning method and equipment

Technical Field

The present invention relates to the field of communications technologies, and in particular, to an information transmission method, a positioning method, and an apparatus.

Background

The current positioning schemes based on the cellular network comprise a downlink positioning scheme, an uplink positioning scheme or a downlink and uplink mixed positioning scheme. Taking a downlink positioning scheme as an example, the downlink positioning scheme mainly comprises a downlink arrival time difference (Downlink Time Difference Of Arrival, DL-TDOA) positioning method based on time delay, a downlink departure angle (Downlink Angle of Departure, DL-AoD) positioning method based on angle and the like. For the DL-TDOA time delay positioning method, namely the base station transmits a downlink positioning reference signal, the terminal estimates the distance of the terminal relative to each base station through the received downlink positioning reference signal. And estimating the position of the terminal through the relative time delay between the base stations according to the difference of the propagation distances of the terminal relative to each base station. For the DL-AoD angle positioning method, the position of the terminal is determined through a plurality of angle parameters according to the position direction of the terminal relative to the base station.

For the above various positioning solutions, the base station is stationary, and the terminal is typically stationary or in low-speed motion, whichever is the case. In this way, the terminal is in a static state or a low-speed motion state, the change of the pointing direction is not obvious, and the influence on the positioning precision is not too great, so that the pointing information of the terminal is not measured and notified in a positioning scheme. The pointing information of the terminal described herein includes, but is not limited to, information such as the head orientation of a stationary vehicle, the movement direction of a moving vehicle, the facing direction of a stationary pedestrian, the walking direction of a moving pedestrian, the air attitude and heading of an unmanned aerial vehicle, and the like. For vehicle positioning in the Internet of vehicles system, as the terminal is in a high-speed motion state and the pointing information is in a change, the loss of the pointing information can finally influence the comprehensive positioning accuracy of the terminal while the vehicle position is positioned.

Disclosure of Invention

The embodiment of the invention aims to provide an information transmission method, a positioning method and equipment, which are used for solving the problem that the terminal positioning accuracy is affected by the change of terminal pointing information in the prior art.

In order to solve the above problems, an embodiment of the present invention provides an information transmission method, including:

The first device sends first pointing information to the positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

the first device includes: at least one of a first terminal, a base station, a Road Side Unit (RSU) and a satellite; the positioning calculation device includes: at least one of a first terminal, a second terminal, a base station, a road side unit RSU, and a satellite.

Wherein the first pointing information includes at least one of:

the first vertical angle is used for indicating an included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the global coordinate system GCS;

the first azimuth angle is used for indicating an included angle between a first projection of the facing direction or the moving direction or the acceleration direction of the target terminal and the X axis of the GCS; wherein the first projection is: the projection of the facing direction or the moving direction or the acceleration direction of the target terminal on a plane formed by the X axis and the Y axis of the GCS;

The second vertical angle is used for indicating an included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the local coordinate system LCS;

a second azimuth angle, which is used for indicating an included angle between a second projection of the facing direction or the moving direction or the acceleration direction of the target terminal and the X axis of the LCS; wherein the second projection is: the projection of the facing direction or the moving direction or the acceleration direction of the target terminal on a plane formed by an X axis and a Y axis of the LCS;

the target terminal is the first terminal or the second terminal.

Wherein the first pointing information further includes at least one of:

first indication information for indicating a source of the first pointing information;

the second indication information is used for indicating that the first indication information is first indication information corresponding to a Global Coordinate System (GCS), or the second indication information is used for indicating that the first indication information is first indication information corresponding to a Local Coordinate System (LCS);

LCS to GCS conversion relationship information.

Wherein the first pointing information further includes at least one of:

the first uncertainty of the first vertical angle is given by the following value: when the included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the GCS is 0, the value of the first vertical angle sent by the first equipment is taken;

A second uncertainty of the first azimuth angle, wherein the value of the second uncertainty is as follows: when the included angle between the first projection of the target terminal facing the direction or the moving direction or the acceleration direction and the X axis of the GCS is 0, the value of the first azimuth angle sent by the first equipment is taken;

and a third uncertainty of the second vertical angle, wherein the third uncertainty has the following value: when the included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the LCS is 0, the value of the second vertical angle sent by the first equipment is taken;

a fourth uncertainty of the second azimuth angle, wherein the value of the fourth uncertainty is as follows: and when the included angle between the second projection of the target terminal facing the direction or the moving direction or the acceleration direction and the X axis of the LCS is 0, the value of the second azimuth angle sent by the first equipment is taken.

Wherein the method further comprises at least one of:

determining a first actual vertical angle from the first vertical angle and the first uncertainty; the value range of the first actual vertical angle is as follows: [ ZOH 1-HeadingUencrtainty 1, ZOH1+HeadingUencrtainty 1]; wherein ZOH1 is a first vertical angle, and headingunauthentity 1 is a first uncertainty;

Determining a first actual azimuth angle based on the first azimuth angle and the second uncertainty; the range of the first actual azimuth angle is as follows: [ AOH 1-HeadingUncertaity 2, AOH2+HeadingUncertaity 2]; wherein AOH1 is a first azimuth angle, and HeadingUncertainty2 is a second uncertainty;

determining a second actual vertical angle based on the second vertical angle and the third uncertainty; the value range of the second actual vertical angle is as follows: [ ZOH 2-HeadingUncertinty 3, ZOH2+HeadingUncertinty 3]; wherein ZOH2 is the second vertical angle and headingunauthentity 3 is the third uncertainty;

determining a second actual azimuth according to the second azimuth and the fourth uncertainty; the range of the second actual azimuth angle is as follows: [ AOH 2-HeadingUncertaity 4, AOH2+HeadingUncertaity 4]; wherein AOH2 is the second azimuth and HeadingUncertainty4 is the fourth uncertainty.

Wherein the first pointing information further includes at least one of:

the first measurement confidence level is used for indicating the probability that the error value of the first vertical angle or the first azimuth angle is in a first confidence interval;

And a second measurement confidence level corresponding to the second vertical angle or the second azimuth angle, wherein the second measurement confidence level is used for indicating the probability that the error value of the second vertical angle or the second azimuth angle is in a second confidence interval.

Wherein the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

wherein Y1 is the first measurement confidence level, E1 _V Error value of first vertical angle or first azimuth angle, [ X1 ] _min ,X1 _max ]For the first confidence interval, X1 _min And X1 _max Is configuration information.

Wherein the second measurement confidence level is indicated by a second formula:

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

wherein Y2 represents a second measurement confidence level, E2 _V For the error value of the second vertical angle or the second azimuth angle, [ X2 ] _min ,X2 _max ]For the second confidence interval, X2 _min And X2 _max Is configuration information.

Wherein the first pointing information further includes at least one of:

measurement quality indication information corresponding to the first vertical angle or the first azimuth angle;

measuring quality indication information corresponding to the second vertical angle or the second azimuth angle;

wherein the measurement quality indication information includes: at least one of an error value, an error resolution, and a number of error sampling points;

The error value is the optimal estimated value of uncertainty of a vertical angle or an azimuth angle; the error resolution is the quantization step length of the indication domain where the error value is located; the number of the error sampling points is the number of vertical angles or azimuth angles used for calculating the error value; the vertical angle is a first vertical angle or a second vertical angle, and the azimuth angle is a first azimuth angle or a second azimuth angle.

Wherein the first pointing information further includes at least one of:

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

Wherein the resolution of the first vertical angle or the first azimuth angle is:

wherein R is ₁ For the resolution of the first vertical angle or first azimuth angle, k ₁ Is a configurable real number;

and/or the resolution of the second vertical angle or the second azimuth angle is:

wherein R is ₂ For the resolution of the second vertical angle or second azimuth angle, k ₂ Is a configurable real number.

Wherein the resolution of the first vertical angle or first azimuth angle and/or the resolution of the second vertical angle or second azimuth angle is related to the first information; the first information includes at least one of:

carrier operating frequency;

Carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

Wherein the method further comprises:

the first terminal or the RSU acquires the first pointing information by measuring a direct link positioning reference signal sent by the second terminal;

the base station acquires the first pointing information by measuring an uplink positioning reference signal sent by the second terminal;

and the satellite acquires the first pointing information by measuring the movement speed or acceleration of the second terminal.

The first device sends first pointing information to the positioning resolving device, and the first device comprises:

the first terminal sends the first pointing information to the base station through an LTE Positioning Protocol (LPP) signaling;

or,

the first terminal sends the first pointing information to the second terminal or RSU through PC5 radio resource control RRC signaling or PC5 LPP signaling or PC5-S signaling;

or,

the base station sends the first pointing information to the second terminal through RRC signaling;

or,

and the base station sends the first pointing information to the second terminal through LPP signaling.

The embodiment of the invention also provides a positioning method, which comprises the following steps:

The method comprises the steps that positioning resolving equipment receives first pointing information sent by first equipment, wherein the first pointing information comprises pointing information of a first terminal or pointing information of a second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

the positioning resolving equipment performs terminal positioning according to the first pointing information;

Wherein the first pointing information includes at least one of:

the target terminal is the first terminal or the second terminal.

Wherein the first pointing information further includes at least one of:

LCS to GCS conversion relationship information.

Wherein the first pointing information further includes at least one of:

Wherein the method further comprises at least one of:

Wherein the first pointing information further includes at least one of:

Wherein the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

Wherein the first pointing information further includes at least one of:

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

carrier operating frequency;

Carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

The positioning resolving device receives first pointing information sent by a first device, and the positioning resolving device comprises:

the base station receives the first pointing information sent by the first terminal through the LTE Positioning Protocol (LPP) signaling;

or,

the second terminal or the RSU receives the first pointing information sent by the first terminal through PC5 Radio Resource Control (RRC) signaling or PC5 LPP signaling or PC5-S signaling;

or,

the second terminal receives the first pointing information sent by the base station through RRC signaling;

or,

and the second terminal receives the first pointing information sent by the base station through the LPP signaling.

The embodiment of the invention also provides first equipment, which comprises a memory, a transceiver and a processor:

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

transmitting first pointing information to a positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

The embodiment of the invention also provides first equipment, which comprises:

a transmitting unit, configured to transmit first pointing information to a positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

The embodiment of the invention also provides a positioning resolving device, which comprises a memory, a transceiver and a processor:

receiving first pointing information sent by first equipment, wherein the first pointing information comprises pointing information of a first terminal or pointing information of a second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

according to the first pointing information, positioning a terminal;

The embodiment of the invention also provides a positioning resolving device, which comprises:

the receiving unit is used for receiving first pointing information sent by the first equipment, wherein the first pointing information comprises pointing information of the first terminal or pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

The positioning unit is used for positioning the terminal according to the first pointing information;

The embodiment of the invention also provides a processor-readable storage medium, which is characterized in that the processor-readable storage medium stores a computer program for causing the processor to execute the method as described above.

The technical scheme of the invention has at least the following beneficial effects:

according to the information transmission method, the positioning method and the equipment, the position measurement deviation caused by the pointing change due to the movement of the terminal is compensated by sending the pointing information of the terminal to the positioning resolving equipment, the positioning resolving equipment is assisted to calculate the more accurate terminal position, the terminal positioning position deviation caused by the lack of the pointing information in the prior art is avoided, and therefore the system positioning precision is improved.

Drawings

Fig. 1 shows a block diagram of a wireless communication system to which embodiments of the present invention are applicable;

Fig. 2 is a schematic diagram illustrating steps of an information transmission method according to an embodiment of the present application;

fig. 3 shows an application example one of the information transmission method provided in the embodiment of the present application;

fig. 4 shows an application example two in the information transmission method provided in the embodiment of the present application;

fig. 5 shows an application example III in the information transmission method provided in the embodiment of the present application;

FIG. 6 is a flowchart showing steps of a positioning method according to an embodiment of the present application;

FIG. 7 shows one of the schematic structural diagrams of the first device according to the embodiment of the present application;

FIG. 8 is a second schematic diagram of a first device according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a positioning calculation device according to an embodiment of the present application;

fig. 10 shows a second schematic structural diagram of a positioning calculation device according to an embodiment of the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.

Fig. 1 shows a block diagram of a wireless communication system to which an embodiment of the present application is applicable. The wireless communication system includes a terminal device 11 and a network device 12. The terminal device 11 may also be referred to as a terminal or User Equipment (UE). It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network side device 12 may be a base station or a core network, and it should be noted that, in the embodiment of the present application, only the base station in the NR system is taken as an example, but the specific type of the base station is not limited.

In the embodiment of the application, 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 application means two or more, and other adjectives are similar.

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The technical scheme provided by the embodiment of the application can be suitable for various systems, in particular to a 5G system. For example, suitable systems may be global system for mobile communications (global system of mobile communication, GSM), code division multiple access (code division multiple access, CDMA), wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) universal packet Radio service (general packet Radio service, GPRS), long term evolution (long term evolution, LTE), LTE frequency division duplex (frequency division duplex, FDD), LTE time division duplex (time division duplex, TDD), long term evolution-advanced (long term evolution advanced, LTE-a), universal mobile system (universal mobile telecommunication system, UMTS), worldwide interoperability for microwave access (worldwide interoperability for microwave access, wiMAX), 5G New air interface (New Radio, NR), and the like. Terminal devices and network devices are included in these various systems. Core network parts such as evolved packet system (Evloved Packet System, EPS), 5G system (5 GS) etc. may also be included in the system.

The terminal device according to the embodiment of the present application 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 application are not limited in this respect.

The network device according to the embodiment of the present application 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 application 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 application. 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.

Multiple-input Multiple-output (Multi Input Multi Output, MIMO) transmissions may each be made between a network device and a terminal device using one or more antennas, and the MIMO transmissions may be Single User MIMO (SU-MIMO) or Multiple User MIMO (MU-MIMO). The MIMO transmission may be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, or may be diversity transmission, precoding transmission, beamforming transmission, or the like, depending on the form and number of the root antenna combinations.

As shown in fig. 2, an embodiment of the present invention provides an information transmission method, which includes:

step 201, a first device sends first pointing information to a positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

optionally, the pointing information of the first terminal is used for indicating at least one of a facing direction of the first terminal, a movement direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is used to indicate at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal. Illustratively, the pointing information of the first terminal is used for positioning the terminal, which may include, but is not limited to, specifically, the pointing information may be used for assisting the relevant positioning calculation device to perform positioning related operations or calculations such as positioning measurement, positioning calculation, and the like;

As an alternative embodiment, in a UE-based positioning scheme, the first pointing information is sent to the terminal (i.e. the positioning resolution device is a terminal or RSU), and the terminal performs terminal position resolution according to the first pointing information and other positioning related information.

As another alternative embodiment, in a Network-based positioning scheme, the first pointing information is sent to a Network side device (i.e. the positioning resolving device is a base station or a satellite), and the Network side device completes the terminal position resolving according to the first pointing information and other positioning related information (e.g. the geographic coordinates of the base station).

Optionally, when the first device is a base station or a road side unit RSU or a satellite, and the positioning resolving device is a first terminal, the first pointing information includes pointing information of a second terminal. Or when the first device is a first terminal, a base station, a road side unit RSU or a satellite, and the positioning resolving device is a second terminal, a base station, an RSU or a satellite, the first pointing information includes the pointing information of the first terminal.

In at least one alternative embodiment of the invention, the first pointing information comprises at least one of:

a first vertical angle (i.e., a first ZOH) for indicating an angle between a facing direction or a moving direction or an acceleration direction of the target terminal and a Z-axis of the global coordinate system GCS;

a first azimuth angle (i.e., a first AOH) for indicating an angle between a first projection of a facing direction or a moving direction or an acceleration direction of the target terminal and an X-axis of the GCS; wherein the first projection is: projection of the facing direction or the moving direction or the acceleration direction of the target terminal on a plane formed by the X axis and the Y axis of the GCS;

a second vertical angle (i.e., a second ZOH) for indicating an included angle between a facing direction or a moving direction or an acceleration direction of the target terminal and a Z-axis of the local coordinate system LCS;

a second azimuth angle (i.e. a second AOH) for indicating an angle between a second projection of the target terminal facing or moving or accelerating direction and the X-axis of the LCS; wherein the second projection is: projection of the facing direction or the moving direction or the acceleration direction of the target terminal on a plane formed by an X axis and a Y axis of the LCS;

the target terminal is a first terminal or a second terminal.

Optionally, the X-axis in the GCS coordinate system is geographic north and the Z-axis in the GCS coordinate system is zenith.

Optionally, the units of the first vertical angle, the units of the first azimuth angle, the units of the second vertical angle, and the units of the second azimuth angle are radians or degrees.

For example, as shown in fig. 3, assuming terminal a is located within the coverage, a priori information of the global coordinate system GCS (Global Coordinate System) may be obtained. In the GCS, a first vertical angle (ZOH) represents an angle θ between the pointing direction (i.e., the facing direction, the moving direction, or the acceleration direction) of the terminal A and the Z-axis (i.e., the zenith direction) of the GCS ₁ =45 degrees. The first azimuth Angle (AOH) represents the angle between the projection direction and the X axis of the GCS (i.e. the geographic north) after the pointing direction (i.e. the facing direction, the moving direction or the acceleration direction) of the terminal A is projected on the plane (i.e. the horizontal plane) formed by the X axis and the Y axis of the GCSDegree.

In this embodiment, the first pointing information is sent to the positioning resolving device to inform the positioning resolving device of the first vertical angle and the first azimuth angle defined in the GCS, so that the positioning resolving device can be better assisted to calculate a more accurate terminal position, and deviation of the terminal positioning position caused by lack of the pointing information in the prior art is avoided, so that the positioning accuracy of the system is improved, and the positioning resolving device is suitable for absolute positioning or relative positioning.

As another example, as shown in fig. 4, assuming that the terminal a is out of coverage, the global coordinate system GCS (Global Coordinate System) of the terminal a cannot be known, so only the local coordinate system LCS (Local Coordinate System) can be used, and the second vertical angle (ZOH) represents the angle θ between the pointing direction (i.e., the facing direction, the moving direction, or the acceleration direction) of the terminal a and the Z-axis of the LCS ₂ =55 degrees. The second Azimuth (AOH) represents the angle between the projection direction and the X-axis of the LCS after the pointing direction (i.e. facing direction, moving direction or acceleration direction) of the terminal A is projected on the plane formed by the X-axis and the Y-axis of the LCSDegree.

It should be noted that if the relative positioning between terminals is performed, it is sufficient to have only the first pointing information under LCS, but if the absolute positioning is required, it is also necessary to indicate the conversion relationship information between LCS and GCS to another terminal or the positioning resolving unit, so that the positioning resolving device can calculate the absolute position of the terminal a.

In this embodiment, the first pointing information is sent to the positioning resolving device to inform the positioning resolving device of the second vertical angle and the second azimuth angle defined in the LCS, so that the terminal or the positioning resolving unit can be better assisted to calculate a more accurate terminal relative position, and deviation of the terminal positioning position caused by lack of the pointing information in the prior art is avoided, so that the relative positioning precision of the system is improved.

In yet another alternative embodiment of the present invention, the first pointing information further includes at least one of:

the second indication information is used for indicating that the first indication information is first indication information corresponding to the global coordinate system GCS, or the second indication information is used for indicating that the first indication information is first indication information corresponding to the local coordinate system LCS;

the conversion relation information from LCS to GCS, for example, an included angle between the X axis of LCS and the X axis of GCS, an included angle between the Y axis of LCS and the Y axis of GCS, an included angle between the Z axis of LCS and the Z axis of GCS, and the like.

Wherein the source of the first pointing information comprises at least one of:

a first terminal;

a base station;

RSU；

and (3) a satellite.

Optionally, in the case that the second indication information indicates that the first indication information is first indication information corresponding to LCS, the first indication information further needs to include conversion relationship information from LCS to GCS, so that the positioning resolving device can calculate an absolute position of the terminal.

In an optional embodiment of the present invention, according to different scenarios, the first terminal, the base station, the RSU or the satellite may send the first pointing information to the second terminal or the network side positioning calculation unit; for example, in an in-coverage scenario, since the second terminal is within the signal coverage of the base station or satellite, the first pointing information may be transmitted by the base station or satellite to the second terminal. In the out-of-coverage scenario, the second terminal cannot receive the signal of the base station or the satellite, and only the first terminal or the RSU can send the first pointing information to the second terminal.

For example, as shown in fig. 5, both the terminal a and the terminal B are within the coverage of the base station 1, first pointing information may be transmitted from the base station 1 to the terminal B, and the first pointing information includes first pointing information indicating that its source is the base station 1.

As another example, as shown in fig. 5, the first directional information transmitted by the base station 1 to the terminal B is the directional information between the terminal a and the terminal B, and the first directional information includes the directional information that the directional information is the GCS or the LCS.

According to the source and type indication scheme of the first pointing information, which is provided by the embodiment of the invention, the source and type of the first pointing information can be informed to the positioning resolving equipment by sending the indication information to the positioning resolving equipment, so that the positioning resolving equipment can be better assisted to calculate a more accurate terminal position, the deviation of the terminal positioning position caused by lack of the pointing information in the prior art is avoided, and the positioning precision of the system is improved.

Since measurement of the pointing information is susceptible to various factors such as an error of angle calculation, stability of crystal oscillator, interference of reference signal, etc., the pointing information has uncertainty, there is a certain measurement error, and in order to notify the positioning resolving device of the uncertainty of the first pointing information and the measurement error so that the positioning resolving device can analyze the positioning accuracy according to the uncertainty, the embodiment defines a first uncertainty, a second uncertainty, a third uncertainty and a fourth uncertainty, which are used to represent the uncertainty of the first vertical angle, the uncertainty of the first azimuth angle, the uncertainty of the second vertical angle, and the uncertainty of the second azimuth angle, respectively.

In at least one embodiment of the present invention, the first pointing information further includes at least one of:

the first uncertainty of the first vertical angle is given by: when the included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the GCS is 0, the value of the first vertical angle sent by the first equipment is taken; optionally, the first uncertainty is in degrees or radians; the first uncertainty can be understood as: when the theoretical included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the GCS is 0, the actual included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the GCS is taken as a value;

the second uncertainty of the first azimuth angle is given by the following value: when the included angle between the first projection of the target terminal facing the direction or the moving direction or the acceleration direction and the X axis of the GCS is 0, the value of the first azimuth angle sent by the first equipment is taken; optionally, the second uncertainty is in degrees or radians; the second uncertainty can be understood as: when the theoretical included angle between the first projection of the target terminal facing direction or moving direction or acceleration direction and the X axis of the GCS is 0, the actual included angle between the first projection of the target terminal facing direction or moving direction or acceleration direction and the X axis of the GCS is valued;

And the third uncertainty of the second vertical angle is given by the following value: when the included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the LCS is 0, the value of the second vertical angle sent by the first equipment is taken; optionally, the third uncertainty is in degrees or radians; the third uncertainty can be understood as: when the theoretical included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the LCS is 0, the actual included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the LCS is taken as a value;

and a fourth uncertainty of the second azimuth angle, wherein the value of the fourth uncertainty is as follows: when the included angle between the second projection of the target terminal facing the direction or the moving direction or the acceleration direction and the X axis of the LCS is 0, the value of the second azimuth angle sent by the first equipment is taken; optionally, the fourth uncertainty is in degrees or radians; the fourth uncertainty can be understood as: when the theoretical included angle between the first projection of the target terminal facing direction or moving direction or acceleration direction and the X axis of the LCS is 0, the actual included angle between the first projection of the target terminal facing direction or moving direction or acceleration direction and the X axis of the LCS is taken as a value.

As an alternative embodiment, the method further comprises at least one of:

determining a first actual vertical angle based on the first vertical angle and the first uncertainty; the value range of the first actual vertical angle is as follows: [ ZOH 1-HeadingUencrtainty 1, ZOH1+HeadingUencrtainty 1]; wherein ZOH1 is a first vertical angle, and headingunauthentity 1 is a first uncertainty;

determining a first actual azimuth based on the first azimuth and the second uncertainty; the range of the first actual azimuth angle is as follows: [ AOH 1-HeadingUncertaity 2, AOH2+HeadingUncertaity 2]; wherein AOH1 is a first azimuth angle, and HeadingUncertainty2 is a second uncertainty;

In this embodiment, the uncertainty of the first vertical angle/the first azimuth angle and the uncertainty of the second vertical angle/the second azimuth angle of the positioning resolving device can be informed by sending the uncertainty information of the first pointing information to the positioning resolving device, so that the positioning resolving device can be better assisted to calculate a more accurate terminal position, the terminal positioning position deviation caused by the measurement error of the measured value is avoided, and the positioning precision of the system is improved.

a first measurement confidence level corresponding to the first vertical angle or the first azimuth angle, the first measurement confidence level being used for indicating a probability that an error value of the first vertical angle or the first azimuth angle is in a first confidence interval;

Wherein the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

For example, when the system configures confidence interval [ X1 ] _min ,X1 _max ]Is [ -5 degrees, 5 degrees]At the same time, if the first pointing measure (e.g. vertical or azimuth) has 1000 error values E1 _V With 950 error values lying in the interval [ -5 degrees, 5 degrees]When confidence level y1=95%. The first terminal may measure and report the confidence level in order to locate the resolving device to evaluate the quality of the measurement of the first pointing information at this time.

Using the method in this embodiment, the first terminal may measure and report the confidence level information in order to locate the resolving device to evaluate the quality of the measurements of the first vertical angle/azimuth, the second vertical angle/azimuth this time.

Wherein measuring the quality indication information includes: at least one of an error value, an error resolution, and a number of error sampling points;

the error value is the optimal estimated value of uncertainty of the vertical angle or the azimuth angle; the error resolution is the quantization step length of the indication domain where the error value is; the number of error sampling points is the number of vertical angles or azimuth angles used in calculating an error value; the vertical angle is a first vertical angle or a second vertical angle, and the azimuth angle is a first azimuth angle or a second azimuth angle.

Optionally, the measurement quality indication information corresponding to the first vertical angle or the first azimuth angle includes: error value E1 _V Error resolution E1 _R Number of error sampling points E1 _N And the like. Wherein the error value E1 _R Refers to an optimal estimate of the uncertainty of the measured value (e.g., the first vertical angle or the first azimuth angle); error resolution E1 _R Refers to the error value E1 _V Quantization step length of the indication domain; error sampling point number E1 _N Refers to calculating an error value E1 _V The number of measurements (e.g., first vertical angle or first azimuth angle) used.

Optionally, the measurement quality indication information corresponding to the second vertical angle or the second azimuth angle includes: : error value E2 _V Error resolution E2 _R Number of error sampling points E2 _N And the like. Wherein the error value E2 _R Refers to an optimal estimate of uncertainty of the measured value (e.g., the second vertical angle or the second azimuth angle); error resolution E2 _R Refers to the error value E2 _V Quantity of indication fieldStep length is changed; error sampling point number E2 _N Refers to calculating an error value E2 _V The number of measurements used (e.g., second vertical angle or second azimuth angle).

For example, when the unit of the first pointing information is a degree, the error value E _V With 5 bits instead, different bit sequences represent different error values, and error resolution E _R The first terminal selects and reports the first terminal from the {0.01 degree, 0.1 degree, 1 degree and 5 degree } sets so as to meet different positioning precision requirements indoors or outdoors. Error sampling point number E _N The number of sampling points for error measurement by terminal a may be set to 1000, for example.

By using the method in this embodiment, the first terminal may measure and report the error value E _V Error resolution E _R Number of error sampling points E _N And information to position the resolving device to evaluate the quality of the measurements of the first vertical angle/first azimuth angle and the second vertical angle/second azimuth angle at this time.

Resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

wherein R is ₁ Resolution of a first vertical angle or a first azimuth angle, k ₁ Is a configurable real number; k (k) ₁ The smaller the value is, the higher the resolution of the first vertical angle or the first azimuth angle is;

wherein R is ₂ Resolution of a second vertical angle or a second azimuth angle, k ₂ Is a configurable real number, k ₂ The smaller the value, the higher the resolution of the second vertical angle or the second azimuth angle.

Optionally, the resolution of the first vertical angle or the first azimuth angle, and/or the resolution of the second vertical angle or the second azimuth angle is related to the first information; for example, k ₁ The value of (2) and k ₂ The value of (2) is related to the first information so as to meet the requirement of positioning accuracy; wherein the first information comprises at least one of:

carrier operating frequency;

carrier bandwidth;

a subcarrier spacing SCS;

coverage areas of base stations or satellites;

the first terminal is located, for example, indoors or outdoors;

a movement speed interval;

locating the priority;

positioning accuracy is required.

By using the method for configuring the resolution ratio provided in the embodiment, different resolution ratios of the first vertical angle/the first azimuth angle and the second vertical angle/the second azimuth angle can be configured according to the actual positioning requirement of the system, so that positioning resolving equipment can be better assisted to calculate a more accurate terminal position, terminal positioning position deviation caused by lack of pointing information in the prior art is avoided, and the positioning accuracy of the system is improved.

In at least one embodiment of the application, the method further comprises:

the method comprises the steps that a first terminal or RSU obtains first pointing information by measuring a direct link positioning reference signal sent by a second terminal;

the base station acquires first pointing information by measuring an uplink positioning reference signal sent by a second terminal;

the satellite acquires the first pointing information by measuring the movement speed or acceleration of the second terminal.

In at least one embodiment of the present application, step 201 includes:

the first device periodically sends first pointing information to the positioning resolving device; for example, the first pointing information is sent periodically, and the sending period is T;

or,

under the condition that the first pointing information meets a preset trigger event, the first equipment sends the first pointing information to the positioning resolving equipment; the first pointing information is sent by event and triggered by event. For example, when the measured value of the first pointing information (such as the first vertical angle, the first azimuth angle, the second vertical angle, the second azimuth angle, etc.) exceeds a certain preset threshold H, the transmission of the first pointing information is triggered.

In at least one embodiment of the present invention, step 201 includes:

the first terminal sends first pointing information to the base station through an LTE Positioning Protocol (LPP) signaling;

or,

the first terminal sends first pointing information to the second terminal or RSU through PC5 radio resource control RRC signaling or PC5 LPP signaling or PC5-S signaling;

or,

the base station sends first pointing information to the second terminal through RRC signaling;

or,

the base station sends the first pointing information to the second terminal through LPP signaling.

According to different application scenes and positioning requirements, the terminal or other network elements can flexibly select a proper transmission period and a proper transmission path of the first pointing information, and signaling indication is flexible and efficient.

In summary, the embodiment of the invention compensates the position measurement deviation caused by the pointing change due to the movement of the terminal by sending the pointing information of the terminal to the positioning resolving device, assists the positioning resolving device to calculate a more accurate terminal position, and avoids the terminal positioning position deviation caused by lack of the pointing information in the prior art, thereby improving the positioning precision of the system.

As shown in fig. 6, an embodiment of the present invention further provides a positioning method, where the method includes:

Step 601, a positioning resolving device receives first pointing information sent by a first device, where the first pointing information includes pointing information of a first terminal or pointing information of a second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

step 602, positioning the terminal by the positioning calculation equipment according to the first pointing information;

optionally, the pointing information of the first terminal is used for indicating at least one of a facing direction of the first terminal, a movement direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is used to indicate at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal.

the target terminal is a first terminal or a second terminal.

For example, as shown in fig. 3, assuming terminal a is located within the coverage, a priori information of the global coordinate system GCS (Global Coordinate System) may be obtained. In the GCS, a first vertical angle (ZOH) represents the pinch between the pointing direction of the terminal A (i.e., the facing direction, the moving direction, or the acceleration direction) and the Z-axis of the GCS (i.e., the zenith direction) Angle theta ₁ =45 degrees. The first azimuth Angle (AOH) represents the angle between the projection direction and the X axis of the GCS (i.e. the geographic north) after the pointing direction (i.e. the facing direction, the moving direction or the acceleration direction) of the terminal A is projected on the plane (i.e. the horizontal plane) formed by the X axis and the Y axis of the GCSDegree.

As another example, as shown in fig. 4, assuming that the terminal a is out of coverage, the global coordinate system GCS (Global Coordinate System) of the terminal a cannot be known, so only the local coordinate system LCS (Local Coordinate System) can be used, and the second vertical angle (ZOH) represents the angle θ between the pointing direction (i.e., the facing direction, the moving direction, or the acceleration direction) of the terminal a and the Z-axis of the LCS ₂ =55 degrees. The second Azimuth (AOH) represents the angle between the projection direction and the X-axis of the LCS after the pointing direction (i.e. facing direction, moving direction or acceleration direction) of the terminal A is projected on the plane formed by the X-axis and the Y-axis of the LCS Degree.

Wherein the source of the first pointing information comprises at least one of:

a first terminal;

a base station;

RSU；

and (3) a satellite.

As an alternative embodiment, the method further comprises at least one of:

Wherein the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

Optionally, the measurement quality indication information corresponding to the second vertical angle or the second azimuth angle includes: : error value E2 _V Error resolution E2 _R Number of error sampling points E2 _N And the like. Wherein the error value E2 _R Refers to an optimal estimate of uncertainty of the measured value (e.g., the second vertical angle or the second azimuth angle); error resolution E2 _R Refers to the error value E2 _V Quantization step length of the indication domain; error sampling point number E2 _N Refers to calculating an error value E2 _V The number of measurements used (e.g., second vertical angle or second azimuth angle).

For example, when the unit of the first pointing information is a degree, the error value E _V Instead of the 5 bits of the data,different bit sequences represent different error values, and the error resolution E _R The first terminal selects and reports the first terminal from the {0.01 degree, 0.1 degree, 1 degree and 5 degree } sets so as to meet different positioning precision requirements indoors or outdoors. Error sampling point number E _N The number of sampling points for error measurement by terminal a may be set to 1000, for example.

Resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

Optionally, the first vertical angle or the first azimuth angleResolution, and/or resolution of a second vertical angle or a second azimuth angle, is related to the first information; for example, k ₁ The value of (2) and k ₂ The value of (2) is related to the first information so as to meet the requirement of positioning accuracy; wherein the first information comprises at least one of:

carrier operating frequency;

carrier bandwidth;

a subcarrier spacing SCS;

coverage areas of base stations or satellites;

the first terminal is located, for example, indoors or outdoors;

a movement speed interval;

locating the priority;

positioning accuracy is required.

In at least one embodiment of the present invention, the positioning resolving device receives first pointing information sent by a first device, including:

the base station receives first pointing information sent by a first terminal through an LTE Positioning Protocol (LPP) signaling;

or,

the second terminal or the RSU receives first pointing information sent by the first terminal through PC5 Radio Resource Control (RRC) signaling or PC5 LPP signaling or PC5-S signaling;

or,

the second terminal receives first pointing information sent by the base station through RRC signaling;

or,

the second terminal receives first pointing information sent by the base station through LPP signaling.

As shown in fig. 7, the embodiment of the present invention further provides a first device, including:

a transmitting unit 701, configured to transmit the first pointing information to the positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

As an alternative embodiment, the first pointing information comprises at least one of:

the first azimuth angle is used for indicating an included angle between a first projection of the facing direction or the moving direction or the acceleration direction of the target terminal and the X axis of the GCS; wherein the first projection is: projection of the facing direction or the moving direction or the acceleration direction of the target terminal on a plane formed by the X axis and the Y axis of the GCS;

a second azimuth angle, which is used for indicating an included angle between a second projection of the facing direction or the moving direction or the acceleration direction of the target terminal and the X axis of the LCS; wherein the second projection is: projection of the facing direction or the moving direction or the acceleration direction of the target terminal on a plane formed by an X axis and a Y axis of the LCS;

the target terminal is a first terminal or a second terminal.

As an alternative embodiment, the first pointing information further comprises at least one of the following:

LCS to GCS conversion relationship information.

the first uncertainty of the first vertical angle is given by: when the included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the GCS is 0, the value of the first vertical angle sent by the first equipment is taken;

the second uncertainty of the first azimuth angle is given by the following value: when the included angle between the first projection of the target terminal facing the direction or the moving direction or the acceleration direction and the X axis of the GCS is 0, the value of the first azimuth angle sent by the first equipment is taken;

and the third uncertainty of the second vertical angle is given by the following value: when the included angle between the facing direction or the moving direction or the acceleration direction of the target terminal and the Z axis of the LCS is 0, the value of the second vertical angle sent by the first equipment is taken;

And a fourth uncertainty of the second azimuth angle, wherein the value of the fourth uncertainty is as follows: and when the included angle between the second projection of the target terminal facing the direction or the moving direction or the acceleration direction and the X axis of the LCS is 0, the value of the second azimuth angle sent by the first equipment is taken.

As an alternative embodiment, the first device further comprises at least one of:

a first determination unit configured to determine a first actual vertical angle based on the first vertical angle and the first uncertainty; the value range of the first actual vertical angle is as follows: [ ZOH 1-HeadingUencrtainty 1, ZOH1+HeadingUencrtainty 1]; wherein ZOH1 is a first vertical angle, and headingunauthentity 1 is a first uncertainty;

a second determining unit configured to determine a first actual azimuth based on the first azimuth and the second uncertainty; the range of the first actual azimuth angle is as follows: [ AOH 1-HeadingUncertaity 2, AOH2+HeadingUncertaity 2]; wherein AOH1 is a first azimuth angle, and HeadingUncertainty2 is a second uncertainty;

a third determination unit configured to determine a second actual vertical angle based on the second vertical angle and a third uncertainty; the value range of the second actual vertical angle is as follows: [ ZOH 2-HeadingUncertinty 3, ZOH2+HeadingUncertinty 3]; wherein ZOH2 is the second vertical angle and headingunauthentity 3 is the third uncertainty;

A fourth determining unit configured to determine a second actual azimuth according to the second azimuth and a fourth uncertainty; the range of the second actual azimuth angle is as follows: [ AOH 2-HeadingUncertaity 4, AOH2+HeadingUncertaity 4]; wherein AOH2 is the second azimuth and HeadingUncertainty4 is the fourth uncertainty.

As an alternative embodiment, the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

As an alternative embodiment, the second measurement confidence level is indicated by a second formula, the second formula being:

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

the error value is the optimal estimated value of uncertainty of the vertical angle or the azimuth angle; the error resolution is the quantization step length of the indication domain where the error value is; the number of error sampling points is the number of vertical angles or azimuth angles used in calculating the error value; the vertical angle is a first vertical angle or a second vertical angle, and the azimuth angle is a first azimuth angle or a second azimuth angle.

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

As an alternative embodiment, the resolution of the first vertical angle or first azimuth angle is:

Wherein R is ₁ Resolution of a first vertical angle or a first azimuth angle, k ₁ Is a configurable real number;

wherein R is ₂ Resolution of a second vertical angle or a second azimuth angle, k ₂ Is a configurable real number.

As an alternative embodiment, the resolution of the first vertical angle or first azimuth angle and/or the resolution of the second vertical angle or second azimuth angle is related to the first information; the first information includes at least one of:

carrier operating frequency;

carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

As an alternative embodiment, the first device further comprises:

an acquisition unit for acquiring a direct link positioning reference signal transmitted by the second terminal by measuring the direct link positioning reference signal, acquiring first pointing information;

or, the method is used for obtaining the first pointing information by measuring an uplink positioning reference signal sent by the second terminal;

or the first pointing information is obtained by measuring the movement speed or acceleration of the second terminal.

As an alternative embodiment, the transmitting unit comprises:

A sending subunit, configured to send first pointing information to a base station through LTE positioning protocol LPP signaling;

or, the method is used for sending the first pointing information to the second terminal or the RSU through PC5 radio resource control RRC signaling or PC5 LPP signaling or PC5-S signaling;

or, the method is used for sending the first pointing information to the second terminal through RRC signaling;

or, the method is used for sending the first pointing information to the second terminal through LPP signaling.

According to the embodiment of the invention, the pointing information of the terminal is sent to the positioning resolving device, so that the position measurement deviation caused by the pointing change due to the movement of the terminal is compensated, the positioning resolving device is assisted to calculate the more accurate terminal position, the terminal positioning position deviation caused by the lack of the pointing information in the prior art is avoided, and the positioning precision of the system is improved.

It should be noted that, the first device provided in the embodiment of the present invention is a device capable of executing the above information transmission method, and all embodiments of the above information transmission method are applicable to the device, and the same or similar beneficial effects can be achieved.

As shown in fig. 8, the embodiment of the present invention further provides a first device, including a memory 820, a transceiver 810, and a processor 800:

A memory 820 for storing a computer program; a transceiver 810 for transceiving data under the control of the processor 800; a processor 800 for reading the computer program in the memory and performing the following operations:

transmitting first pointing information to a positioning resolving device; the first pointing information comprises the pointing information of the first terminal or the pointing information of the second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

the target terminal is a first terminal or a second terminal.

LCS to GCS conversion relationship information.

As an alternative embodiment, the processor is further configured to perform at least one of:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

As an alternative embodiment, the first pointing information further includes at least one of the following:

the error value is the optimal estimated value of uncertainty of the vertical angle or the azimuth angle; the error resolution is the quantization step length of the indication domain where the error value is; the number of the error sampling points is the number of vertical angles or azimuth angles used for calculating the error value; the vertical angle is a first vertical angle or a second vertical angle, and the azimuth angle is a first azimuth angle or a second azimuth angle.

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

carrier operating frequency;

carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

acquiring the first pointing information by measuring a direct link positioning reference signal sent by a second terminal;

acquiring the first pointing information by measuring an uplink positioning reference signal sent by a second terminal;

and acquiring the first pointing information by measuring the movement speed or acceleration of the second terminal.

sending first pointing information to a base station through an LTE Positioning Protocol (LPP) signaling;

or,

transmitting first pointing information to a second terminal or RSU through PC5 Radio Resource Control (RRC) signaling or PC5 LPP signaling or PC5-S signaling;

Or,

sending the first pointing information to the second terminal through RRC signaling;

or,

and sending the first pointing information to the second terminal through the LPP signaling.

Wherein in fig. 8, a bus architecture may comprise any number of interconnected buses and bridges, and in particular, one or more processors represented by processor 800 and various circuits of memory represented by memory 820, linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 810 may be a number of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium, including wireless channels, wired channels, optical cables, etc. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 in performing operations.

The processor 800 may be a Central Processing Unit (CPU), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA) or a complex programmable logic device (Complex Programmable Logic Device, CPLD), or it may employ a multi-core architecture.

As shown in fig. 9, an embodiment of the present invention further provides a positioning resolving device, including:

a receiving unit 901, configured to receive first pointing information sent by a first device, where the first pointing information includes pointing information of a first terminal or pointing information of a second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

A positioning unit 902, configured to perform terminal positioning according to the first pointing information;

the first azimuth angle is used for indicating an included angle between a first projection of the facing direction or the moving direction or the acceleration direction of the target terminal and the X axis of the GCS; wherein the first projection is: projection of the facing direction or the moving direction or the acceleration direction of the target end on a plane formed by the X axis and the Y axis of the GCS;

The target terminal is a first terminal or a second terminal.

LCS to GCS conversion relationship information.

As an alternative embodiment, the positioning resolving device further comprises at least one of:

a fifth determining unit for determining a first actual vertical angle based on the first vertical angle and the first uncertainty; the value range of the first actual vertical angle is as follows: [ ZOH 1-HeadingUencrtainty 1, ZOH1+HeadingUencrtainty 1]; wherein ZOH1 is a first vertical angle, and headingunauthentity 1 is a first uncertainty;

a sixth determining unit configured to determine a first actual azimuth based on the first azimuth and the second uncertainty; the range of the first actual azimuth angle is as follows: [ AOH 1-HeadingUncertaity 2, AOH2+HeadingUncertaity 2]; wherein AOH1 is a first azimuth angle, and HeadingUncertainty2 is a second uncertainty;

a seventh determining unit configured to determine a second actual vertical angle based on the second vertical angle and the third uncertainty; the value range of the second actual vertical angle is as follows: [ ZOH 2-HeadingUncertinty 3, ZOH2+HeadingUncertinty 3]; wherein ZOH2 is the second vertical angle and headingunauthentity 3 is the third uncertainty;

An eighth determining unit configured to determine a second actual azimuth according to the second azimuth and the fourth uncertainty; the range of the second actual azimuth angle is as follows: [ AOH 2-HeadingUncertaity 4, AOH2+HeadingUncertaity 4]; wherein AOH2 is the second azimuth and HeadingUncertainty4 is the fourth uncertainty.

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

carrier operating frequency;

carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

As an alternative embodiment, the receiving unit comprises:

a receiving subunit, configured to receive first pointing information sent by a first terminal through an LTE positioning protocol LPP signaling;

or, the first pointing information is used for receiving the first terminal sent by the PC5 radio resource control RRC signaling or the PC5 LPP signaling or the PC5-S signaling;

or, the method is used for receiving the first pointing information sent by the base station through RRC signaling;

or, the first pointing information is used for receiving the first pointing information sent by the base station through the LPP signaling.

It should be noted that, the positioning resolving device provided in the embodiment of the present invention is a device capable of executing the positioning method, and all embodiments of the positioning method are applicable to the device, and the same or similar beneficial effects can be achieved.

As shown in fig. 10, the embodiment of the present invention further provides a positioning resolving device, including a memory 1020, a transceiver 1010, and a processor 1000:

a memory 1020 for storing a computer program; a transceiver 1010 for transceiving data under the control of the processor 1000; a processor 1000 for reading the computer program in the memory 1020 and performing the following operations:

receiving first pointing information sent by first equipment, wherein the first pointing information comprises pointing information of a first terminal or pointing information of a second terminal; the pointing information of the first terminal is related to at least one of a facing direction of the first terminal, a moving direction of the first terminal, and an acceleration direction of the first terminal; the pointing information of the second terminal is related to at least one of a facing direction of the second terminal, a moving direction of the second terminal, and an acceleration direction of the second terminal;

Positioning the terminal according to the first pointing information;

The target terminal is a first terminal or a second terminal.

LCS to GCS conversion relationship information.

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

carrier operating frequency;

carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

As an alternative embodiment, the processor is further configured to perform the steps of:

receiving first pointing information sent by a first terminal through an LTE Positioning Protocol (LPP) signaling;

or,

receiving first pointing information sent by a first terminal through a PC5 Radio Resource Control (RRC) signaling or a PC5 LPP signaling or a PC5-S signaling;

or,

receiving first pointing information sent by a base station through RRC signaling;

Or,

the receiving base station sends the first pointing information through the LPP signaling.

Wherein in fig. 10, a bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by the processor 1000 and various circuits of the memory, represented by the memory 1020, are chained together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., which are well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 1010 may be a number of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatus over transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 1000 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 1000 in performing operations.

Processor 1000 may be a Central Processing Unit (CPU), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or complex programmable logic device (Complex Programmable Logic Device, CPLD), and may also employ a multi-core architecture.

According to the embodiment of the application, the pointing information of the terminal is sent to the positioning resolving device, so that the position measurement deviation caused by the pointing change due to the movement of the terminal is compensated, the positioning resolving device is assisted to calculate the more accurate terminal position, the terminal positioning position deviation caused by the lack of the pointing information in the prior art is avoided, and the positioning precision of the system is improved.

It should be noted that, the positioning resolving device provided in the embodiment of the present application is a device capable of executing the positioning method, and all embodiments of the positioning method are applicable to the device, and the same or similar beneficial effects can be achieved.

It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

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

The embodiment of the present application also provides a processor-readable storage medium storing a computer program for causing the processor to execute the steps in the embodiment of the information transmission method as described above or the steps in the embodiment of the positioning method as described above. The processor-readable storage medium may be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic storage (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical storage (e.g., CD, DVD, BD, HVD, etc.), semiconductor storage (e.g., ROM, EPROM, EEPROM, nonvolatile storage (NAND FLASH), solid State Disk (SSD)), and the like.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These processor-executable instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. An information transmission method, comprising:

2. The method of claim 1, wherein the first pointing information comprises at least one of:

the target terminal is the first terminal or the second terminal.

3. The method of claim 1, wherein the first pointing information further comprises at least one of:

LCS to GCS conversion relationship information.

4. The method of claim 2, wherein the first pointing information further comprises at least one of:

5. The method of claim 4, further comprising at least one of:

6. The method of claim 2, wherein the first pointing information further comprises at least one of:

7. The method of claim 6, wherein the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

8. The method of claim 6, wherein the second measurement confidence level is indicated by a second formula, the second formula being:

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

9. The method of claim 2, wherein the first pointing information further comprises at least one of:

10. The method of claim 2, wherein the first pointing information further comprises at least one of:

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

11. The method of claim 10, wherein the resolution of the first vertical angle or the first azimuth angle is:

12. The method according to claim 11, wherein the resolution of the first vertical angle or first azimuth angle and/or the resolution of the second vertical angle or second azimuth angle is related to the first information; the first information includes at least one of:

carrier operating frequency;

carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

13. The method according to any one of claims 1-12, further comprising at least one of:

14. The method of any of claims 1-12, wherein the first device sending the first pointing information to the positioning resolution device comprises:

or,

15. A method of positioning, the method comprising:

16. The method of claim 15, wherein the first pointing information comprises at least one of:

The target terminal is the first terminal or the second terminal.

17. The method of claim 15, wherein the first pointing information further comprises at least one of:

LCS to GCS conversion relationship information.

18. The method of claim 16, wherein the first pointing information further comprises at least one of:

19. The method of claim 18, further comprising at least one of:

20. The method of claim 16, wherein the first pointing information further comprises at least one of:

21. The method of claim 20, wherein the first measurement confidence level is indicated by a first formula:

Y1＝Prob{X1 _min ≤E1 _V ≤X1 _max }

22. The method of claim 20, wherein the second measurement confidence level is indicated by a second formula, the second formula being:

Y2＝Prob{X2 _min ≤E2 _V ≤X2 _max }

23. The method of claim 16, wherein the first pointing information further comprises at least one of:

24. The method of claim 16, wherein the first pointing information further comprises at least one of:

resolution of the first vertical angle or the first azimuth angle;

resolution of the second vertical angle or the second azimuth angle.

25. The method of claim 24, wherein the resolution of the first vertical angle or the first azimuth angle is:

26. The method of claim 24, wherein the resolution of the first vertical angle or first azimuth angle and/or the resolution of the second vertical angle or second azimuth angle is related to the first information; the first information includes at least one of:

carrier operating frequency;

carrier bandwidth;

subcarrier spacing;

coverage areas of base stations or satellites;

the position of the first terminal is located;

a movement speed interval;

locating the priority;

positioning accuracy is required.

27. The method of any of claims 15-26, wherein the positioning resolving device receives the first pointing information sent by the first device, comprising:

or,

28. A first device comprising a memory, a transceiver, and a processor:

29. A first device, comprising:

30. A positioning resolution device comprising a memory, a transceiver, and a processor:

according to the first pointing information, positioning a terminal;

31. A positioning resolution device, comprising:

32. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing the processor to perform the method of any one of claims 1 to 14 or to perform the method of any one of claims 15 to 27.