CN117014796A

CN117014796A - Positioning method, information transmission method, terminal equipment and positioning management function

Info

Publication number: CN117014796A
Application number: CN202210475111.2A
Authority: CN
Inventors: 师源谷; 张振宇; 任斌; 达人; 任晓涛; 方荣一; 于哲; 孙韶辉
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 a positioning method, an information transmission method, terminal equipment and a positioning management function, wherein the positioning method comprises the following steps: receiving a first measurement information set sent by a plurality of positioning reference devices PRUs; measuring based on reference signals sent by a plurality of RSUs to obtain a second measurement information set; and positioning the terminal equipment according to the plurality of first measurement information sets and the plurality of second measurement information sets. The first measurement information set sent by the PRUs is adopted, namely, the plurality of first measurement information sets are adopted, and the terminal equipment is also adopted to measure and obtain the second measurement information set based on the reference signals sent by the RSUs, so that the positioning of the terminal equipment is realized, and the positioning accuracy can be improved.

Description

Positioning method, information transmission method, terminal equipment and positioning management function

Technical Field

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

Background

Currently, in the positioning process, positioning may be performed based on a measurement quantity measured by a reference signal of 5G (5 th-Generation) NR (New radio), for example, measurement may be performed on a plurality of reference signals to obtain a measurement parameter, and positioning is performed on a terminal device by using the measurement parameter.

However, in the positioning process by the above method, a method is often adopted in which the terminal device performs auxiliary positioning by using a measurement parameter obtained by measuring a reference signal sent by the base station, so that the obtained measurement parameter has a larger error, and the positioning accuracy is easily poor.

Disclosure of Invention

The embodiment of the invention provides a positioning method, an information transmission method, terminal equipment and a positioning management function, which are used for solving the problem of poor positioning accuracy in the prior art.

In a first aspect, an embodiment of the present invention provides a positioning method, performed by a terminal device, where the method includes:

receiving a first measurement information set sent by a plurality of positioning reference devices PRUs;

measuring based on reference signals sent by a plurality of road side equipment RSUs to obtain a second measurement information set;

and positioning the terminal equipment according to the plurality of first measurement information sets and the second measurement information sets.

Optionally, the first measurement information set is obtained by measuring reference signals sent by the PRU through a plurality of RSUs, the first measurement information set includes a plurality of measurement information, the second measurement information set includes a plurality of measurement information, the measurement information includes K measurement parameters and reliability information, and K is a positive integer;

The positioning the terminal device according to the plurality of first measurement information sets and the second measurement information sets includes:

screening the plurality of first measurement information sets based on the reliability information of the plurality of first measurement information sets to obtain screened first target measurement information sets;

and positioning the terminal equipment according to the first target measurement information set and the second measurement information set.

Optionally, the positioning the terminal device according to the first target measurement information set and the second measurement information set includes:

performing differential processing according to the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set to obtain first target measurement differential information;

and positioning the terminal equipment according to the first target measurement differential information and the position information of a target PRU, wherein the target PRU is the PRU corresponding to the first target measurement information set.

Optionally, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

And the first indication information is used for indicating whether the measurement parameter comes from the line-of-sight wireless transmission LOS path.

Optionally, the screening the plurality of first measurement information sets based on the reliability information of the plurality of first measurement information sets, to obtain a screened first target measurement information set, including one of the following:

taking a first measurement information set with optimal target reliability information among the plurality of first measurement information sets as the first target measurement information set, wherein the target reliability information comprises at least one of the credibility, the SNR, the RSRP, the CNR and the AOA; or alternatively

The first indication information in the plurality of first measurement information sets indicates a first measurement information set from an LOS path as the first target measurement information set.

Optionally, the K measurement parameters include at least one of carrier phase and time of arrival TOA;

the differential processing is performed according to the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set to obtain first target measurement differential information, and the differential processing includes:

performing differential processing on the same measurement parameter of the two measurement information in the first target measurement information set to obtain first differential measurement information of each measurement parameter in the first measurement information set, and performing differential processing on the same measurement parameter of the two measurement information in the second measurement information set to obtain second differential measurement information of each measurement parameter in the second measurement information set;

And carrying out differential processing on the first differential measurement information and the second differential measurement information of each measurement parameter to determine first target measurement differential information of each measurement parameter.

Optionally, the K measurement parameters include at least one of a carrier phase difference component and a TOA difference component;

the differential processing is performed according to the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set to obtain first target measurement differential information, including:

and performing differential processing on the basis of the carrier phase difference component of the first measurement information set and the carrier phase difference component of the second measurement information set to obtain carrier phase double-difference components, and performing differential processing on the basis of the TOA differential component of the first measurement information set and the TOA differential component of the second measurement information set to obtain TOA double-difference components.

Optionally, the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

In a second aspect, an embodiment of the present invention provides a positioning method, performed by a positioning management function LMF, the method including:

acquiring a plurality of first measurement information sets and a third measurement information set, wherein the plurality of first measurement information sets are associated with a plurality of positioning reference devices PRUs or a plurality of moments associated with the same PRU, and the third measurement information set is associated with terminal equipment;

And positioning the terminal equipment according to the plurality of first measurement information sets and the third measurement information set.

Optionally, the first measurement information set includes a plurality of measurement information, the third measurement information set includes a plurality of measurement information, the measurement information includes K measurement parameters and reliability information, and K is a positive integer;

the positioning the terminal device according to the plurality of first measurement information sets and the third measurement information set includes:

and positioning the terminal equipment according to the first target measurement information set and the third measurement information set.

Optionally, the positioning the terminal device according to the first target measurement information set and the third measurement information set includes:

performing differential processing according to the measurement parameters of the first target measurement information set and the measurement parameters of the third measurement information set to obtain second target measurement differential information;

and positioning the terminal equipment according to the second target measurement differential information and the position information of a target PRU, wherein the target PRU is the PRU corresponding to the first target measurement information set.

Optionally, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

the differential processing is performed according to the measurement parameters of the first target measurement information set and the measurement parameters of the third measurement information set to obtain second target measurement differential information, including:

Performing differential processing on the same measurement parameter of the two measurement information in the first target measurement information set to obtain first differential measurement information of each measurement parameter in the first measurement information set, and performing differential processing on the same measurement parameter of the two measurement information in the third measurement information set to obtain second differential measurement information of each measurement parameter in the third measurement information set;

and carrying out differential processing on the first differential measurement information and the second differential measurement information of each measurement parameter to determine second target measurement differential information of each measurement parameter.

and performing differential processing on the basis of the carrier phase difference component of the first measurement information set and the carrier phase difference component of the third measurement information set to obtain carrier phase double-difference components, and performing differential processing on the basis of the TOA differential component of the first measurement information set and the TOA differential component of the third measurement information set to obtain TOA double-difference components.

Optionally, the plurality of first measurement information sets includes one of:

a plurality of first measurement information sets transmitted by a plurality of positioning reference devices PRUs;

a plurality of first measurement information sets transmitted by the same PRU at a plurality of moments;

the target network equipment carries out a plurality of first measurement information sets obtained by measurement based on uplink reference signals sent by a plurality of positioning reference equipment PRUs;

the target network device measures a plurality of first measurement information sets based on uplink reference signals sent by the same PRU at a plurality of moments.

Optionally, the third set of measurement information includes one of:

a third measurement information set sent by the terminal equipment;

and the target network equipment carries out measurement based on the uplink reference signal sent by the terminal equipment to obtain a third measurement information set.

Optionally, the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

In a third aspect, an embodiment of the present invention provides an information transmission method, where the method includes:

receiving reference signals and position information sent by a plurality of devices;

measuring reference signals of the plurality of devices based on the position information of the plurality of devices to obtain a first measurement information set;

The first set of measurement information is sent to a terminal device or a location management function LMF.

Optionally, the first measurement information set includes a plurality of measurement information corresponding to reference signals of the plurality of devices, where the measurement information includes K measurement parameters and reliability information, and K is a positive integer.

Optionally, the method is performed by a positioning reference device PRU, the plurality of devices are a plurality of network devices, the PRU sends the first measurement information set to the LMF, and the location information of the PRU is location coordinates of the PRU or location coordinates of an antenna phase center of the PRU; or alternatively

The method is executed by a PRU, the plurality of devices are a plurality of road side devices RSU, the PRU sends the first measurement information set to the terminal device, and the position information of the PRU is the position coordinates of the PRU or the position coordinates of the antenna phase center of the PRU; or alternatively

The method is performed by a target network device, the plurality of devices being a plurality of positioning reference devices, the target network device transmitting a plurality of first sets of measurement information to the LMF.

Optionally, the plurality of devices are a plurality of positioning reference devices;

the method further comprises the steps of:

Receiving a reference signal sent by terminal equipment;

measuring based on the reference signal of the terminal equipment to obtain a third measurement information set;

and sending the third measurement information set to the LMF.

Optionally, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

Optionally, the method is performed by a positioning reference device PRU, the plurality of devices being a plurality of network devices, the first set of measurement information comprising location information of the PRU.

In a fourth aspect, the present invention further provides a terminal device, including a memory, a transceiver, and a processor;

the transceiver is configured to receive a first measurement information set sent by a plurality of positioning reference devices PRUs;

the processor is configured to:

In a fifth aspect, the present invention also provides a positioning management function, including a memory, a transceiver, and a processor;

the transceiver is configured to obtain a plurality of first measurement information sets and a third measurement information set, where the plurality of first measurement information sets are associated with a plurality of positioning reference devices PRUs or a plurality of moments associated with the same PRU, and the third measurement information set is associated with a terminal device;

the processor is configured to locate the terminal device according to the plurality of first measurement information sets and the third measurement information set.

In a sixth aspect, the present invention also provides a communication device comprising a memory, a transceiver, and a processor;

the transceiver is used for receiving reference signals and position information sent by a plurality of devices;

the processor is used for measuring the reference signals of the plurality of devices based on the position information of the plurality of devices to obtain a first measurement information set;

the transceiver is further configured to send the first set of measurement information to a terminal device or a location management function LMF.

In a seventh aspect, the present invention also provides a positioning device, including:

a first receiving module, configured to receive a first measurement information set sent by a plurality of positioning reference devices PRUs;

The first measurement module is used for measuring based on reference signals sent by a plurality of road side equipment RSUs to obtain a second measurement information set;

and the first positioning module is used for positioning the terminal equipment according to the plurality of first measurement information sets and the second measurement information sets.

In an eighth aspect, the present invention further provides a positioning device, including:

a first obtaining module, configured to obtain a plurality of first measurement information sets and a third measurement information set, where the plurality of first measurement information sets are associated with a plurality of positioning reference devices PRUs or a plurality of moments associated with the same PRU, and the third measurement information set is associated with a terminal device;

and the second positioning module is used for positioning the terminal equipment according to the plurality of first measurement information sets and the third measurement information set.

In a ninth aspect, the present invention also provides an information transmission apparatus, including:

the second receiving module is used for receiving the reference signals and the position information sent by the plurality of devices;

the second measurement module is used for measuring the reference signals of the plurality of devices based on the position information of the plurality of devices to obtain a first measurement information set;

and the first sending module is used for sending the first measurement information set to the terminal equipment or the Location Management Function (LMF).

In a tenth aspect, embodiments of the present application further provide a processor readable storage medium, wherein the processor readable storage medium stores a computer program for causing the processor to perform the steps in the method according to the first, second or third aspects above.

In an eleventh aspect, an embodiment of the present application further provides a communication device, wherein the communication device stores a computer program for causing the communication device to perform the steps in the method as set forth in any one of the above.

In the positioning method of the embodiment, the first measurement information set sent by the plurality of PRUs is adopted, that is, the plurality of first measurement information sets are adopted, and the terminal equipment is also adopted to measure and obtain the second measurement information set based on the reference signals sent by the plurality of RSUs, so that the positioning of the terminal equipment is realized, and the positioning accuracy can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 shows a block diagram of a network system suitable for use in embodiments of the present application; the method comprises the steps of carrying out a first treatment on the surface of the

FIG. 2 shows one of the flow charts of the positioning method of the embodiment of the present application;

FIG. 3 is a second flowchart of a positioning method according to an embodiment of the application;

fig. 4 is a flowchart of an information transmission method according to an embodiment of the present application;

FIG. 5 shows one of the block diagrams of the positioning device according to the embodiment of the application;

fig. 6 shows a block diagram of a terminal device according to an embodiment of the present application;

FIG. 7 is a second schematic block diagram of a positioning device according to an embodiment of the application;

FIG. 8 is a block diagram showing the location management function of an embodiment of the present application;

fig. 9 is a schematic block diagram of an information transmission device according to an embodiment of the present application;

fig. 10 shows a structure of a communication device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the 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 terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to implement embodiments of the application described herein, such as in a sequence other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

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.

In embodiments of the application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

Embodiments of the present application are described below with reference to the accompanying drawings. 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.

Referring to fig. 1, fig. 1 is a block diagram of a network system to which an embodiment of the present application is applicable, as shown in fig. 1, including a terminal device 11 and a network side device (e.g., a base station) 12, where the terminal device 11 may be a User Equipment (UE), for example: the terminal Device side devices may be mobile phones, tablet computers (Tablet Personal Computer), laptop computers (Laptop computers), personal digital assistants (personal digital assistant, PDA for short), mobile internet devices (Mobile Internet Device, MID), wearable devices (IOT devices), IOT devices, and the like, and it should be noted that the specific type of the terminal Device 11 is not limited in the embodiments of the present application. The network side device 12 may be a 5G or later version of network side device (e.g., a gNB, a 5G NR NB), or a network side device in other communication systems, or referred to as a node B, and it should be noted that in the embodiment of the present application, only a 5G network side device is taken as an example, but the specific type of the network side device 12 is not limited.

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 device. 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.

The method and the device provided by the embodiment of the invention are based on the same application conception, and because the principle of solving the problems by the method and the device is similar, the implementation of the device and the method can be mutually referred, and the repetition is not repeated.

As shown in fig. 2, there is provided a positioning method of an embodiment, which is performed by a terminal device, the method including:

step 201: receiving a first measurement information set sent by a plurality of positioning reference devices PRUs;

i.e. each positioning reference device (Positioning Reference Unit, PRU) transmits one first measurement information set, thereby enabling transmission of a plurality of first measurement information sets, which are received by the terminal device. That is, in this embodiment, the PRU may perform measurement according to the received reference signal to obtain the first measurement information set, and send the first measurement information set to the terminal device. For example, the PRU may receive downlink reference signals sent by a plurality of Road Side Units (RSUs), and the PRU may measure the plurality of downlink reference signals to obtain first measurement information sets associated with the PRU, where each PRU sends the first measurement information sets obtained by respective measurement to the terminal device, so that the terminal device may receive the plurality of first measurement information sets.

Step 202: measuring based on reference signals sent by a plurality of RSUs to obtain a second measurement information set;

after receiving the reference signals sent by the plurality of RSUs, the terminal equipment can measure the reference signals to obtain a second measurement information set.

Step 203: and positioning the terminal equipment according to the plurality of first measurement information sets and the plurality of second measurement information sets.

After the terminal equipment receives the first measurement information set sent by the PRUs and the second measurement information set obtained by measurement based on the reference signals sent by the RSUs, the terminal equipment can be positioned by utilizing the first measurement information set and the second measurement information set.

In one embodiment, the first measurement information set is obtained by measuring reference signals sent by the plurality of RSUs by using the PRU, the first measurement information set includes a plurality of measurement information, the second measurement information set includes a plurality of measurement information, the measurement information includes K measurement parameters and reliability information, and K is a positive integer;

Positioning the terminal device according to the plurality of first measurement information sets and the plurality of second measurement information sets, including:

The reliability information may be understood as information indicating the reliability of the measurement parameter, and the measurement information is information obtained by measuring the reference signal.

After the terminal device acquires a plurality of first measurement information sets, the reliability information can be utilized to perform measurement information set screening so as to determine a first target measurement information set. And then positioning the terminal equipment by using the first target measurement information set and the second measurement information set after screening.

In this embodiment, since the reliable information can be used to screen the plurality of first measurement information sets, that is, the terminal device is positioned by using the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set obtained by screening, it can be understood that the positioning accuracy can be improved by using the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set with better reliability information.

In one embodiment, locating the terminal device according to the first set of target measurement information and the second set of measurement information comprises:

and positioning the terminal equipment according to the first target measurement differential information and the position information of the target PRU, wherein the target PRU is the PRU corresponding to the first target measurement information set.

The clock bias among the measurement parameters can be eliminated by utilizing the measurement parameters in the first target measurement information set and the measurement parameters in the second measurement information set to be screened to carry out differential processing, and the clock bias elimination effect can be improved by utilizing the reliability parameters to screen a plurality of first measurement information sets and utilizing the measurement parameters in the first target measurement information set and the measurement parameters in the second measurement information set to be screened to carry out differential processing. In the positioning process, the first target measurement differential information with improved clock deviation eliminating effect is adopted for positioning, so that the positioning accuracy can be improved.

In one embodiment, the reliability information includes at least one of:

Reliability degree;

signal to noise ratio (Signal Noise Ratio, SNR);

reference signal received power (Reference Signal Received Power, RSRP);

carrier-to-noise ratio (Carrier Noise Ratio, CNR);

channel Arrival Angle (AOA);

and the first indication information is used for indicating whether the measurement parameter is from a Line Of Sight (LOS) path.

In one example, the confidence level may be a variance. The RSRP may be a reference signal received power of a reference signal (e.g., a positioning reference signal (Positioning Reference Signal, PRS)) transmitted by the RSU.

In this embodiment, the reliability information including at least one of the reliability, the signal-to-noise ratio, the reference signal received power, the carrier-to-noise ratio, the channel arrival angle and the first indication information may be used to screen the plurality of first measurement information sets to obtain the first target measurement information set, so as to improve the information screening effect. And carrying out differential processing by utilizing the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set obtained by screening to obtain first target measurement differential information so as to eliminate clock deviation, and positioning the terminal equipment according to the first target measurement differential information and the position information of the target PRU, thereby improving positioning accuracy.

In one embodiment, the screening of the plurality of first measurement information sets based on reliability information of the plurality of first measurement information sets results in a screened first target measurement information set, comprising one of:

taking a first measurement information set with optimal target reliability information in a plurality of first measurement information sets as a first target measurement information set, wherein the target reliability information comprises at least one of credibility, SNR, RSRP, CNR and AOA; or alternatively

The first indication information in the plurality of first measurement information sets indicates a first measurement information set from the LOS path as a first target measurement information set.

In the process of screening measurement information by utilizing the reliability information, the performance of the link can be judged by the reliability and SNR, RSRP, CNR, AOA, so that the target reliability information comprising at least one of the reliability and SNR, RSRP, CNR, AOA can be utilized for screening, and a first measurement information set with optimal target reliability information can be screened. In addition, since the first indication information may indicate whether the measurement parameter comes to the LOS path, the filtering may be performed by the first indication information, e.g., the first indication information may be filtered to indicate the first measurement information set from the LOS path.

In this embodiment, the first measurement information set with optimal target reliability information may be screened, or the first measurement information set with the first indication information indicating the LOS path may be screened, so as to improve flexibility of measurement information screening.

In one embodiment, the K measurement parameters include at least one of:

carrier phase;

time of Arrival (TOA);

a carrier phase difference component;

TOA difference component.

For example, the PRU may send the measured carrier phase and TOA to the terminal device, and the terminal device performs double-differential on the basis of the carrier phase and TOA, or may perform single-differential on the basis of the carrier phase and TOA by the PRU, send the differential carrier phase difference component and TOA differential component obtained by the differential to the terminal device, and then perform differential on the carrier phase difference component and TOA differential component by the terminal device.

In this embodiment, in the plurality of first measurement information sets and second measurement information sets received by the terminal device, the K measurement parameters may include at least one of carrier phase, TOA, carrier phase difference component and TOA difference component, and after the reliability parameter may be used to screen to obtain the first target measurement information set, the terminal device may be located by using the first target measurement information set and the second measurement information set to locate the terminal device, so that locating accuracy may be improved.

In one embodiment, the K measurement parameters include at least one of carrier phase and time of arrival TOA;

performing differential processing on the same measurement parameters of the two measurement information in the first target measurement information set to obtain first differential measurement information of each measurement parameter in the first measurement information set, and performing differential processing on the same measurement parameters of the two measurement information in the second measurement information set to obtain second differential measurement information of each measurement parameter in the second measurement information set;

and carrying out differential processing on the first differential measurement information and the second differential measurement information of each measurement parameter, and determining the first target measurement differential information of each measurement parameter.

It will be appreciated that in the present embodiment, the terminal device performs two-step differencing, and first, the same measurement parameter of the measurement information in the first target measurement information set is subjected to differencing processing. For example, the first target measurement information set includes measurement information a and measurement information B, and the K measurement parameters include carrier phase and TOA, and it is necessary to differentiate the carrier phase in the measurement information a from the carrier phase in the measurement information B, and differentiate the TOA in the measurement information a from the TOA in the measurement information B, so as to obtain first differential measurement information of each measurement parameter. In addition, the same measurement parameters of two measurement information in the second measurement information set are subjected to differential processing, for example, the second measurement information set includes measurement information C and measurement information D, and K measurement parameters include carrier phase and TOA, so that it is necessary to differential the carrier phase in the measurement information C and the carrier phase in the measurement information D, and differential the TOA in the measurement information C and the TOA in the measurement information D, and thus second differential measurement information of each measurement parameter is obtained. And then, for each measurement parameter, performing differential processing on the corresponding first differential measurement information and second differential measurement information to obtain first target measurement differential information of each measurement parameter, and further eliminating clock deviation. It can be understood that the first target measurement differential information of K measurement parameters can be obtained, that is, K first target measurement differential information is obtained through two-step differential processing, so that two-time deviation elimination can be realized, and the terminal device can be positioned by using the K first target measurement differential information and the position information of the target PRU, so that the positioning accuracy can be improved.

In one embodiment, the K measurement parameters include at least one of a carrier phase difference component and a TOA difference component;

and carrying out differential processing on the basis of the carrier phase difference component of the first measurement information set and the carrier phase difference component of the second measurement information set to obtain carrier phase double-difference components, and carrying out differential processing on the basis of the TOA differential component of the first measurement information set and the TOA differential component of the second measurement information set to obtain TOA double-difference components.

It may be appreciated that in this embodiment, the measured differential amount received by the terminal device, that is, the differential amount obtained by the one-step differential processing, is subjected to one-step differential processing by the terminal device, for example, the carrier phase difference component of the first target measurement information set and the carrier phase difference component of the second measurement information set are subjected to differential processing to obtain carrier phase double-differential components, and the TOA differential component of the first target measurement information set and the TOA differential component of the second measurement information set are subjected to differential processing to obtain TOA double-differential components, so that clock bias can be further eliminated, and then the terminal device can be positioned by using the double-differential components and the position information of the target PRU, so that positioning accuracy can be improved.

Referring to fig. 3, a positioning method of an embodiment is provided, performed by a positioning management function (Location Management Function, LMF), the method comprising:

step 301: acquiring a plurality of first measurement information sets and a third measurement information set, wherein the plurality of first measurement information sets are associated with a plurality of positioning reference devices PRUs or a plurality of moments associated with the same PRU, and the third measurement information set is associated with terminal equipment;

in this embodiment, one first measurement information set may be associated with one PRU, where the PRUs associated with the multiple first measurement information sets are different, for example, the multiple first measurement information sets may be obtained by measuring received downlink reference signals by multiple PRUs, one PRU may receive downlink reference signals sent by multiple network devices, the PRU may measure the multiple downlink reference signals to obtain first measurement information sets associated with the PRU, each PRU may send the first measurement information sets obtained by respective measurement to the LMF, and for example, the multiple first measurement information sets may be obtained by measuring the uplink reference signals after the network devices receive the uplink reference signals sent by the multiple PRUs, where the network devices send the multiple first measurement information sets obtained by measurement to the LMF; alternatively, the multiple first measurement information sets may be associated with multiple different times of the same PRU, for example, one PRU may measure the received downlink reference signal at different time points to obtain multiple first measurement information sets, the PRU may report the first measurement information sets to the LMF at multiple different times, one time is associated with one first measurement information set, for example, the multiple first measurement information sets may be obtained by measuring the uplink reference signal after the network device receives the uplink reference signal sent by the same PRU at multiple different times, and the network device sends the multiple measured first measurement information sets to the LMF.

The third measurement information set may be obtained by the terminal device measuring downlink reference signals sent by the plurality of network devices, the terminal device may send the third measurement information set obtained by measurement to the LMF, or the third measurement information set may be sent by the target network device to the LMF, and the target network device may measure uplink reference signals sent by the terminal device to obtain the third measurement information set.

In addition, it should be noted that the target network device may be a network device capable of communicating with the positioning reference device and capable of communicating with the LMF, where the location is known or where the location can be accurately measured.

Step 302: and positioning the terminal equipment according to the plurality of first measurement information sets and the third measurement information sets.

After the LMF obtains the plurality of first measurement information sets and the third measurement information sets, the terminal device may be located using the plurality of first measurement information sets and the third measurement information sets.

In the positioning method of the embodiment, a plurality of first measurement information sets associated with a plurality of positioning reference devices PRU or a plurality of moments of the same PRU are adopted, namely, a plurality of first measurement information sets are adopted, and a third measurement information set associated with terminal equipment is also adopted, so that the positioning of the terminal equipment is realized, and the positioning accuracy can be improved.

In one embodiment, the first set of measurement information includes a plurality of measurement information, the third set of measurement information includes a plurality of measurement information, the measurement information includes K measurement parameters and reliability information, K is a positive integer;

positioning the terminal device according to the plurality of first measurement information sets and the third measurement information set, including:

After the LMF obtains the plurality of first measurement information sets, the reliability information may be used to perform measurement information set screening, that is, the measurement information sets reported by the plurality of PRUs, the measurement information set reported by the same PRU at a plurality of moments, the measurement information set reported by the target network device and obtained by measuring uplink reference signals sent by the plurality of positioning reference devices PRUs, or the measurement information set measured by the target network device according to uplink reference signals sent by the same PRU at a plurality of moments may be screened, so as to determine the first target measurement information set. And then positioning the terminal equipment by using the first target measurement information set and the third measurement information set after screening.

In this embodiment, since the reliable information may be used to screen the plurality of first measurement information sets, that is, the terminal device is positioned by using the measurement parameters of the first target measurement information set and the measurement parameters of the third measurement information set obtained by the screening, it can be understood that the positioning accuracy may be improved by using the measurement parameters of the first target measurement information set and the measurement parameters of the third measurement information set, which have better reliability information.

In one embodiment, locating the terminal device according to the first set of target measurement information and the third set of measurement information comprises:

and positioning the terminal equipment according to the second target measurement differential information and the position information of the target PRU, wherein the target PRU is the PRU corresponding to the first target measurement information set.

The clock bias among the measurement parameters can be eliminated by utilizing the measurement parameters in the first target measurement information set and the measurement parameters in the third measurement information set to be screened to carry out differential processing, and the clock bias elimination effect can be improved by utilizing the reliability parameters to screen a plurality of first measurement information sets and utilizing the measurement parameters in the first target measurement information set and the measurement parameters in the third measurement information set to be screened to carry out differential processing. In the positioning process, the second target measurement differential information with improved clock deviation eliminating effect is adopted for positioning, so that the positioning accuracy can be improved.

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

In one example, the confidence level may be a variance. The RSRP may be a reference signal received power of a Downlink (Downlink) reference signal (e.g., DL PRS), or may be a reference signal received power of an Uplink (Uplink) reference signal (e.g., channel sounding reference signal (Sounding Reference Signal, SRS)).

In this embodiment, the reliability information including at least one of the reliability, the signal-to-noise ratio, the reference signal receiving power, the carrier-to-noise ratio, the channel arrival angle and the first indication information may be used to screen the plurality of first measurement information sets to obtain a first target measurement information set, and then the measurement parameters of the first target measurement information set and the measurement parameters of the third measurement information set are used to perform differential processing to obtain second target measurement differential information, so as to eliminate clock bias, and then the terminal device is located according to the second target measurement differential information and the location information of the target PRU, so that the location accuracy may be improved.

In one embodiment, the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

For example, the PRU may send the measured carrier phase and TOA to the LMF, and the LMF may perform double-differential operation on the basis of the carrier phase and TOA, or the PRU may perform single-differential operation on the basis of the carrier phase and TOA, send the differential carrier phase difference component and TOA differential component obtained by the differential operation to the LMF, and further perform differential operation on the carrier phase difference component and TOA differential component by the LMF.

In this embodiment, in the plurality of first measurement information sets and third measurement information sets received by the LMF, the K measurement parameters may include at least one of carrier phase, TOA, carrier phase difference component, and TOA difference component, and after the reliability parameter may be used to screen to obtain the first target measurement information set, the terminal device may be located by using the measurement parameters in the first target measurement information set and the measurement parameters in the third measurement information set, so that the location accuracy may be improved.

performing differential processing on the same measurement parameters of the two measurement information in the first target measurement information set to obtain third differential measurement information of each measurement parameter in the first measurement information set, and performing differential processing on the same measurement parameters of the two measurement information in the third measurement information set to obtain fourth differential measurement information of each measurement parameter in the third measurement information set;

and carrying out differential processing on the third differential measurement information and the fourth differential measurement information of each measurement parameter, and determining second target measurement differential information of each measurement parameter.

It will be appreciated that in this embodiment, the LMF performs two-step differencing, and first, the same measurement parameter of the measurement information in the first target measurement information set is subjected to the differencing process. For example, the first target measurement information set includes measurement information a and measurement information B, and the K measurement parameters include carrier phase and TOA, and it is necessary to differentiate the carrier phase in the measurement information a from the carrier phase in the measurement information B, and differentiate the TOA in the measurement information a from the TOA in the measurement information B, so as to obtain third differential measurement information of each measurement parameter. In addition, the same measurement parameters of two measurement information in the third measurement information set are subjected to differential processing, for example, the third measurement information set includes measurement information C and measurement information D, and K measurement parameters include carrier phase and TOA, so that it is necessary to differential the carrier phase in the measurement information C and the carrier phase in the measurement information D, and differential the TOA in the measurement information C and the TOA in the measurement information D, and thus fourth differential measurement information of each measurement parameter is obtained. And then, for each measurement parameter, performing differential processing on the corresponding third differential measurement information and fourth differential measurement information to obtain second target measurement differential information of each measurement parameter, and further eliminating clock deviation. It can be understood that the second target measurement differential information of the K measurement parameters can be obtained, that is, the K second target measurement differential information is obtained through two-step differential processing, so that two-time deviation elimination can be realized, and the terminal device can be positioned by using the K second target measurement differential information and the position information of the target PRU, so that the positioning accuracy can be improved.

and carrying out differential processing on the basis of the carrier phase difference component of the first measurement information set and the carrier phase difference component of the third measurement information set to obtain carrier phase double-difference components, and carrying out differential processing on the basis of the TOA differential component of the first measurement information set and the TOA differential component of the third measurement information set to obtain TOA double-difference components.

It may be understood that in this embodiment, the LMF obtains the measured differential amount, that is, the differential amount obtained by the one-step differential processing, and the LMF performs one-step differential processing, for example, performs differential processing on the carrier phase difference component of the first target measurement information set and the carrier phase difference component of the third measurement information set to obtain carrier phase double-differential components, and performs differential processing on the TOA differential component of the first target measurement information set and the TOA differential component of the third measurement information set to obtain TOA double-differential components, so that clock bias can be further eliminated, and then the terminal device can be positioned by using the double-differential components and the position information of the target PRU, so that positioning accuracy can be improved.

In one embodiment, the plurality of first measurement information sets includes one of:

For each PRU in the plurality of PRUs, the PRU can receive downlink reference signals sent by the plurality of network devices, the PRU can measure the downlink reference signals sent by the plurality of network devices to obtain a first measurement information set, and send the first measurement information set to the LMF, and the LMF can receive the first measurement information set sent by the plurality of PRUs, so as to obtain a plurality of first measurement information sets. Or the PRU can receive downlink reference signals sent by a plurality of network devices, measure the downlink reference signals to obtain a first measurement information set, the same PRU can receive the downlink reference signals at different time points to measure the downlink reference signals to obtain the first measurement information set, the measured first measurement information set can be reported to the LMF at a plurality of different moments, and the LMF can receive the first measurement information set sent by the same PRU at a plurality of different moments, so that a plurality of first measurement information sets can be obtained. Or, the target network device may receive the uplink reference signals sent by the plurality of PRUs, measure the uplink reference signals to obtain a plurality of first measurement information sets, send the first measurement information sets to the LMF, and the LMF may receive the plurality of first measurement information sets sent by the target network device. Or, the target network device may receive uplink reference signals sent by the same PRU at multiple times, measure the uplink reference signals to obtain multiple first measurement information sets, send the multiple first measurement information sets to the LMF, and the LMF may receive the multiple first measurement information sets sent by the target network device.

In this embodiment, the first measurement information set may be obtained by measurement on the PRU side, and the LMF may receive a plurality of first measurement information sets from a plurality of PRUs, or may obtain a plurality of first measurement information sets by measurement on the target network device side, and receive a plurality of first measurement information sets from the target network device, so as to achieve acquisition of the plurality of first measurement information sets, which may improve flexibility in acquiring the plurality of first measurement information sets.

In one embodiment, the third set of measurement information includes one of:

a third measurement information set sent by the terminal equipment;

and the target network equipment performs measurement based on the uplink reference signal sent by the terminal equipment to obtain a third measurement information set.

In this embodiment, the terminal device may receive the downlink reference signals sent by the plurality of network devices, measure the downlink reference signals to obtain a third measurement information set, and send the third measurement information set to the LMF, that is, the LMF may receive the third measurement information set from the terminal device, so as to obtain the third measurement information set, or the target network device may receive the uplink reference signals sent by the terminal device, and measure the uplink reference signals to obtain the third measurement information set, and send the third measurement information set to the LMF, that is, the LMF may receive the third measurement information set from the target network device, so as to obtain the third measurement information set. In this way, the flexibility of acquiring the third set of measurement information may be increased.

As shown in fig. 4, there is provided an information transmission method of an embodiment, the method including:

step 401: receiving reference signals and position information sent by a plurality of devices;

step 402: measuring reference signals of a plurality of devices based on the position information of the plurality of devices to obtain a first measurement information set;

step 403: the first set of measurement information is sent to the terminal device or to the location management function LMF.

In one embodiment, the first measurement information set includes a plurality of measurement information corresponding to reference signals of a plurality of devices, respectively, the measurement information includes K measurement parameters and reliability information, and K is a positive integer.

In one embodiment, the method is performed by a positioning reference device, PRU, the plurality of devices being a plurality of network devices, the PRU sending a first set of measurement information to the LMF, the location information of the PRU being location coordinates of the PRU or location coordinates of an antenna phase center of the PRU; or alternatively

The method is executed by a PRU, a plurality of devices are a plurality of road side devices RSU, the PRU sends a first measurement information set to a terminal device, and the position information of the PRU is the position coordinates of the PRU or the position coordinates of the antenna phase center of the PRU; or alternatively

In one embodiment, the method is performed by a target network device, the plurality of devices being a plurality of positioning reference devices;

the method further comprises the steps of:

receiving a reference signal sent by terminal equipment;

measuring based on a reference signal of the terminal equipment to obtain a third measurement information set;

a third set of measurement information is sent to the LMF.

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

In one embodiment, the method is performed by a positioning reference device PRU, the plurality of devices being a plurality of network devices, the first set of measurement information further comprising location information of the PRU.

The procedure of the above method is specifically described in the following with reference to an embodiment.

The transmission and reception timing errors of the terminal (UE)/base station all cause measurement errors of measurement parameters such as carrier phase and TOA, and affect positioning accuracy. The third generation partnership project (Third Generation Partnership Projects,3 GPP) introduced a solution for improving positioning accuracy based on positioning reference devices, where PRUs may be reference devices whose position is known in advance or can be measured accurately. The PRU type may be a Reference terminal (Reference UE) or a Reference base station. The position of the terminal device to be positioned can be calculated with the aid of the position of the positioning reference device, the measurement information and the like.

The scheme of the embodiment generally comprises the following steps: the positioning reference device or the base station performs measurement on the reference signals, the obtained multiple first measurement information sets are reported to the terminal device or the LMF, the terminal device can receive the reference signals sent by the RSU to perform measurement to obtain the second measurement information set or the LMF receives the third measurement information set sent by the terminal device or the base station, the terminal device or the LMF can perform measurement information screening based on reliability information in the multiple first measurement information sets, the terminal performs differential processing on measurement parameters of the screened measurement information sets and measurement parameters of the third measurement information, positioning is performed by using the result after differential processing, namely, positioning is realized at the terminal device side, or the LMF performs differential processing on the measurement parameters of the screened measurement information sets and the measurement parameters of the second measurement information, and positioning is performed by using the result after differential processing, namely, positioning is realized at the LMF.

The general scheme of example 1 is as follows:

positioning reference device (PRU) side:

positioning Reference Signals (PRSs) from a plurality of different base stations and location information for the base stations are received.

And measuring PRS signals to obtain carrier phase of positioning reference equipment, TOA and other measurement parameters and reliability information.

Reporting the real-time reporting amount measured by the positioning reference device to the LMF based on a manner of reporting the measuring amount in real time, wherein the real-time reporting amount may include: the carrier phase, TOA, etc. measurement parameters, reliability information (SNR, DL PRS RSRPP, CNR, AOA, reliability, LOS/NLOS indication) of the measurement parameters, beam and channel information, location information of the PRU (or PRU antenna phase center), etc. may also be included. As shown in table 1, the real-time report amount of PRU.

TABLE 1

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LMF side:

and receiving real-time reporting amounts respectively reported by the positioning reference devices.

And receiving real-time reporting quantity reported by equipment on a terminal to be positioned, wherein the reporting quantity comprises measuring parameters such as carrier phase, TOA and the like and reliability information of the measuring parameters.

And screening the real-time measurement information in real time by utilizing the reliability information reported by the positioning reference devices. For example, SNR, DL PRS RSRPP, CNR, reliability, and AOA may be used to determine the performance of the link, and the reported quantity of the positioning reference device with the optimal performance is preferentially selected for positioning, where the LOS/NLOS indication is acquired by a measurement algorithm, and is used to indicate whether the measurement parameter is from the LOS path, and the measurement parameter of the corresponding LOS path is selected by the indication. The screening of the measurement information can be performed for a plurality of positioning reference devices or measurement information reported by the same positioning reference device at a plurality of different moments. The time stamp in the real-time reporting amount is the time amount and reflects the speed of channel change to indicate whether the current measurement parameters are valid or not, and the time stamp is obtained for initial configuration. The reporting amount may further include: cell identity (Cell ID), PRS resource ID or PRS resource set ID, transmit receive point/allocation reservation priority identity (TRP/ARP ID), beam identity (Beam ID), timing error group identity (Timing Error Group ID, TEG ID).

Performing differential operation by using the screened carrier phase and TOA and the carrier phase and TOA in the real-time reporting amount of the terminal equipment, eliminating clock deviation, and performing positioning calculation by using the differential processing result; unlike non-real-time reporting, the LMF directly performs differential operation on the real-time measurement parameters after real-time reporting. The real-time processing has the advantage of improving the effect of eliminating clock deviation, and meanwhile, the information of the Beam and the TEG can assist in confirming whether the positioned coordinates and signals are correctly selected. The position resolving has smaller resolving error compared with the mode of non-real-time reporting. The carrier phase, TOA and other measurement parameters are obtained through corresponding measurement algorithms. The position information of the PRU (or the PRU antenna phase center) is obtained by means of advanced measurement and the like, and is known information used for assisting in the positioning and resolving process.

Terminal equipment side to be positioned:

the PRS signals from a plurality of different base stations are received and measured, and the obtained real-time reporting quantity can comprise measuring parameters such as carrier phase, TOA and the like and reliability information;

reporting the real-time reporting quantity of the terminal equipment to the LMF;

the real-time reporting amount of the terminal device is shown in the following table 2:

TABLE 2

Base station side:

transmitting a downlink Positioning Reference Signal (PRS) to a positioning reference device (PRU) and a terminal device to be positioned;

Case 1: the location information of the base station is notified to the positioning reference device.

Case 2: and reporting the position information of the base station to an LMF, and informing the positioning reference equipment of the position information of the base station by the LMF.

As shown in table 3, the reported amount is:

TABLE 3 Table 3

The general scheme of example 2 is as follows:

positioning reference device (PRU) side:

And measuring the PRS signals to obtain the carrier phase difference component, TOA difference component and other measurement parameters of the positioning reference equipment.

Reporting the real-time reporting amount measured by the positioning reference device to the LMF based on a manner of reporting the measuring amount in real time, wherein the real-time reporting amount may include: the carrier phase difference component, TOA difference component, and other measurement parameters, reliability information (SNR, DL PRS RSRPP, CNR, AOA, reliability, LOS/NLOS indication) of the measurement parameters, beam and channel information, and may also include location information of the PRU (or PRU antenna phase center), and the like. As shown in table 4, the amount of real-time reporting of PRU.

TABLE 4 Table 4

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LMF side:

And receiving real-time reporting quantity reported by equipment on a terminal to be positioned, wherein the real-time reporting quantity comprises measuring parameters such as carrier wave phase difference components, TOA difference components and the like and reliability information of the measuring parameters.

Performing differential operation by using the screened carrier phase difference component and TOA differential component and the carrier phase difference component and TOA differential component in the real-time reporting quantity of the terminal equipment, eliminating clock deviation, and performing positioning calculation by using the differential processing result; unlike non-real-time reporting, the LMF directly performs differential operation on the real-time measurement parameters after real-time reporting. The real-time processing has the advantage of improving the effect of eliminating clock deviation, and meanwhile, the information of the Beam and the TEG can assist in confirming whether the positioned coordinates and signals are correctly selected. The position resolving has smaller resolving error compared with the mode of non-real-time reporting. The carrier wave phase difference component, TOA difference component and other measurement parameters are obtained through corresponding measurement algorithms. The position information of the PRU (or the PRU antenna phase center) is obtained by means of advanced measurement and the like, and is known information used for assisting in the positioning and resolving process.

Terminal equipment side to be positioned:

the PRS signals from a plurality of different base stations are received and measured, and the obtained real-time reporting quantity can comprise measuring parameters such as carrier phase difference components, TOA difference components and the like and reliability information;

the real-time reporting amount of the terminal device is shown in the following table 5:

TABLE 5

Base station side:

As shown in table 6, the reported amount is:

TABLE 6

The general scheme of example 3 is as follows:

UE side:

a positioning reference device (PRU) and a terminal device to be positioned send an uplink positioning reference signal (SRS) to a base station;

a positioning reference device (PRU) reports the position information of the PRU (or the PRU antenna phase center point) to a base station;

the amount of PRU reported in real time is shown in table 7 below.

TABLE 7

Base station side:

receiving an uplink positioning reference signal sent by positioning reference equipment (PRU);

receiving position information reported by positioning reference equipment (PRU);

Positioning measurement is carried out by utilizing the received uplink positioning reference signal, and measurement information is obtained;

based on the manner of reporting measurement information in real time, reporting the real-time reporting amount of the measurement output of the base station to the LMF, wherein the real-time reporting amount can comprise: carrier phase, TOA and other measurement parameters, reliability information of the measurement parameters, beam and channel information;

the real-time reporting amount of the base station is shown in the following table 8:

TABLE 8

LMF side:

and receiving the real-time reporting amount reported by the base station, wherein the real-time reporting amount can comprise the measurement parameters such as carrier phase, TOA and the like and the reliability information of the measurement parameters.

And screening the real-time measurement information in real time by utilizing the reliability information reported by the base station. For example, SNR, DL PRS RSRPP, CNR, reliability, and AOA may be used to determine the performance of the link, and the reported quantity of the positioning reference device with the optimal performance is preferentially selected for positioning, where the LOS/NLOS indication is acquired by a measurement algorithm, and is used to indicate whether the measurement parameter is from the LOS path, and the measurement parameter of the corresponding LOS path is selected by the indication. The screening of the measurement information can be performed for a plurality of positioning reference devices or measurement information reported by the same positioning reference device at a plurality of different moments. The time stamp in the real-time reporting amount is the time amount and reflects the speed of channel change to indicate whether the current measurement parameters are valid or not, and the time stamp is obtained for initial configuration. The reporting amount may further include: cell identity (Cell ID), PRS resource ID or PRS resource set ID, transmit receive point/allocation reservation priority identity (TRP/ARP ID), beam identity (Beam ID), timing error group identity (Timing Error Group ID, TEG ID).

The general scheme of example 4 is as follows:

UE side:

the amount of PRU reported in real time is shown in table 9 below.

TABLE 9

Base station side:

based on the manner of reporting measurement information in real time, reporting the real-time reporting amount of the measurement output of the base station to the LMF, wherein the real-time reporting amount can comprise: measuring parameters such as carrier wave phase difference component, TOA difference component and the like, reliability information of the measuring parameters, wave beam and channel information;

the real-time reporting amount of the base station is shown in the following table 10:

table 10

LMF side:

and receiving real-time reporting quantity reported by the base station, wherein the real-time reporting quantity can comprise measurement parameters such as carrier phase difference components, TOA difference components and the like and reliability information of the measurement parameters.

Performing differential operation by using the screened carrier phase difference component and TOA differential component and the carrier phase difference component and TOA differential component in the real-time reporting quantity of the terminal equipment, eliminating clock deviation, and performing positioning calculation by using the differential processing result; unlike non-real-time reporting, the LMF directly performs differential operation on the real-time measurement parameters after real-time reporting. The real-time processing has the advantage of improving the effect of eliminating clock deviation, and meanwhile, the information of the Beam and the TEG can assist in confirming whether the positioned coordinates and signals are correctly selected. The position resolving has smaller resolving error compared with the mode of non-real-time reporting. The carrier phase, TOA and other measurement parameters are obtained through corresponding measurement algorithms. The position information of the PRU (or the PRU antenna phase center) is obtained by means of advanced measurement and the like, and is known information used for assisting in the positioning and resolving process.

The general scheme of example 5 is as follows:

positioning reference device (PRU) side:

reference signals (S-PRSs) transmitted from a plurality of different RSUs and position information of the RSUs are received.

And measuring carrier phase, TOA and other measurement parameters and reliability information thereof based on the reference signals sent by the RSU.

Based on the manner of reporting the measurement parameters in real time, reporting the real-time reporting amount of the measurement output to the terminal equipment to be positioned, wherein the real-time reporting amount can comprise: carrier phase, TOA, and other measurement parameters, reliability information of the measurement parameters, beam and channel information.

The PRU report in real time is shown in table 11 below:

TABLE 11

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The terminal equipment side to be defined:

and receiving reference signals sent by a plurality of RSUs, and measuring carrier phase, TOA and other measurement parameters and measuring reliability information thereof.

And receiving real-time reporting quantity reported by the positioning reference equipment, wherein the real-time reporting quantity comprises measurement parameters such as carrier phase, TOA and the like and reliability information of the measurement parameters.

The general scheme of example 2 is specifically described as an example.

Positioning reference device (PRU, reference UE) side:

receiving PRS signals from a plurality of different base stations and position information of the base stations;

the positioning reference equipment measures PRS signals to obtain measurement parameters and reliability information thereof, and the embodiment takes the measurement parameters including carrier phase and TOA as an example;

the positioning reference equipment carries out real-time differential processing on the measured parameters, so that the clock deviation eliminating effect can be improved.

The carrier phase difference component and the TOA difference component are calculated.

For example, assume that the position coordinates of base station i and base station j are (x ⁽ⁱ⁾ ,y ⁽ⁱ⁾ ,z ⁽ⁱ⁾ ) And (x) ^(j) ,y ^(j) ,z ^(j) ) The reference terminal l coordinate is (x _l ,y _l ,z _l ) Then the distance between the reference terminal and base station iThe method comprises the following steps:

distance between reference terminal and base station jThe method comprises the following steps:

case 1: taking carrier phase as an example:

in the case where only the direct path LOS is considered, there is a timing deviation and a frequency deviation, the measurement result of the carrier phase can be calculated by the following formula:

wherein,a carrier phase obtained by performing carrier phase on a reference signal transmitted from a base station i for a reference terminal l,is a reference terminalThe distance from the end l to the ith base station; c is the speed of light; δt ⁱ (t) is the clock offset on the base station i side; δt _l (t) is the time offset on the reference terminal l side; lambda is the carrier wavelength; />Is the initial phase of the base station i side; />An initial phase on the reference terminal l side; />The integer ambiguity on the i-side of the base station, also called integer unknowns, ε ₁ Errors caused by carrier phase measurement noise, such as white gaussian noise.

Further, the base station j may be introduced to construct the equation of the phase difference of arrival (Phase Difference Of Arrival, PDOA), expressed as:

is->And->Of (B) >And a carrier phase obtained by carrying out carrier phase on the reference signal sent by the base station j for the reference terminal l. />Is->And->Is the difference of δt ^ij (t) is δt ⁱ (t) and δt ^j (t) difference, δt ^j (t) is clock bias on base station j side, < ->Is->And->Difference of->For the initial phase at base station j +.>Is->And->Difference of->Whole-cycle ambiguity at base station j side.

Comparing the above formulas, the difference operation can eliminate the common error of the reference terminal l side, such as eliminating the time deviation δt _l (t) and initial phase noiseThe measured carrier phase difference component, i.e. the phase difference, is obtained.

After obtaining the carrier phase difference component, the reliability (variance) of the carrier phase difference component is calculated)。

/>

Wherein,

i.e. varianceCan be calculated from the measured values of the carrier phase at N times, wherein +>For time t _n Is a measurement of carrier phase of (a)

Case 2: taking TOA as an example:

TOA can be calculated by the following formula:

wherein,is the TOA of the measured reference terminal l to base station i; />Is the clock offset at base station i side; δt _l (t) is the time offset on the reference terminal l side; epsilon ₂ Errors for TOA measurement noise, e.g. Gaussian white noise, t ⁱ (t) is TOA value, t, when base station i transmits signal _l And (t) is the TOA value of the reference terminal l when receiving signals.

The corresponding equation for measuring the time difference of arrival (Time Difference Of Arrival, TDOA) is:

wherein,is the measured TDOA of reference terminal i to base station i and base station j. Comparing the above-mentioned known differential operation can eliminate the common error of the reference terminal l side, for example, can eliminate the time deviation δt _l (t)。

Reliability of TDOA (variance sigma) _t ² ) The calculation formula is as follows:

wherein,

i.e. variance sigma _t ² Can be calculated from the measured values of TDOA at N times, where,for time t _n TDOA measurements of (a).

Based on a manner of reporting measurement parameters in real time, reporting the measured parameters such as a carrier phase difference component, a TOA difference component and the like and the reporting amount of reliability information thereof to the LMF, wherein the reporting amount in real time can comprise: single differential values (i.e., differential values) of parameters such as carrier phase difference components, TOA differential values, etc., reliability information, beam and channel information, etc.;

LMF side:

receiving carrier wave phase difference components, TOA differential components, reliability information, wave beam and channel information, other reporting quantities and the like reported by positioning reference equipment;

receiving carrier wave phase difference components, TOA differential components, reliability information, wave beam and channel information, other reporting quantities and the like reported by terminal equipment to be positioned;

Judging the performance of the link by utilizing the reliability information, and carrying out positioning calculation on the information reported by the positioning reference equipment of the link with higher priority, wherein the measurement parameters reported by a plurality of positioning reference equipment or the same positioning reference equipment at different moments can be screened by the reliability information;

and performing differential operation on the screened carrier phase difference component and TOA differential component, and performing position calculation on the terminal equipment after clock deviation is eliminated to realize positioning. A transmitter m (e.g., a terminal device to be located) may be introduced for a double differential operation, and the double difference in carrier phases may be calculated by the following equation:

is the actual distance value obtained after double difference, < >>Is->And->Difference of->Is->And (3) withOf (B)>A carrier phase obtained by performing carrier phase on the reference signal transmitted by the base station j for the transmitter m,/>carrier phase obtained by carrier phase of reference signal transmitted by base station i for transmitter m,/>Is the true distance after double difference, +.>The integer ambiguity corresponding to the double difference.

The double difference of TOA can be expressed as:

is the actual distance value obtained after double difference, < >>Is the true distance after double difference. ,

from the above formula, δt after double differential operation ^ij And (t) can be eliminated, clock deviation caused by a terminal side is eliminated, and the positioning can be performed through double difference values, so that the positioning precision is improved.

And the LMF side solves the position coordinates of the terminal equipment to be positioned through a positioning resolving algorithm to realize positioning.

Terminal equipment side to be positioned:

PRS signals sent by a plurality of different base stations are received, carrier phase, TOA and other measurements are carried out, and terminal equipment to be positioned can output the measured carrier phase and TOA;

and the carrier phase and the TOA can be respectively subjected to single differential operation to obtain a carrier phase difference component and a TOA upper differential component, and the carrier phase difference component and the TOA upper differential component are reported to the LMF.

Base station side:

transmitting a downlink Positioning Reference Signal (PRS) to position a positioning reference device and a terminal device to be positioned;

case 1: the location position information of the base station is notified to the positioning reference device.

Case 2: reporting the position information of the base station to an LMF; the LMF informs the location reference device of the location information of the base station.

The scheme of the invention reports the positioning measurement value or the measurement differential value (including the measurement parameters such as TOA and carrier phase) corresponding to the same base station set related to the positioning reference equipment (PRU) with known position and the terminal equipment to be positioned and the reliability information thereof in real time. By processing the measured parameters in real time, the clock error deviation can be eliminated more accurately than the differential correction amount reported in non-real time. In the non-real-time reporting process, for example, in a Sidelink scene, the signal change may be faster, and if the non-real-time reporting is adopted, the situation that the SNR of the positioning signal of the selected base station at the current time point is lower may affect the final positioning precision. The real-time information of the current base station and the user can be obtained through real-time reporting, and the current positioning base station can be better selected.

The reliability information can judge whether the current signal has multipath, the current channel information and the beam information, which is beneficial to better acquiring the signal, the beam and other information for auxiliary positioning. Under the condition that a plurality of PRUs participate in positioning, screening is carried out according to the reliability information of the reported quantity, and positioning is carried out according to the screening, so that the positioning precision can be improved.

The scheme provided by the invention can solve the problem that clock deviation among base stations affects positioning precision, and further solves the problems of selecting wireless links aiming at different base stations/TRPs and selecting optimal PRUs (or PRU sets) in a plurality of PRU scenes, thereby improving positioning precision. Based on the positioning reference equipment, measuring measurement parameters or measurement differential values among different base stations and reliability information thereof, reporting the measurement parameters or measurement differential values to a target terminal or a positioning server (LMF), screening positioning measurement quantities by the terminal equipment or the LMF according to the reliability information, eliminating the influence of clock deviation through differential operation, and then carrying out position calculation of the terminal equipment, thereby improving positioning accuracy.

As shown in fig. 5, an embodiment of the present invention provides a positioning device 500, which is applicable to a terminal device, including:

a first receiving module 501, configured to receive a first measurement information set sent by a plurality of positioning reference devices PRUs;

A first measurement module 502, configured to perform measurement based on reference signals sent by a plurality of roadside devices RSUs, to obtain a second measurement information set;

the first positioning module 503 is configured to position the terminal device according to the plurality of first measurement information sets and the second measurement information sets.

the first positioning module 503 includes:

the first screening module is used for screening the plurality of first measurement information sets based on the reliability information of the plurality of first measurement information sets to obtain a screened first target measurement information set;

and the first positioning sub-module is used for positioning the terminal equipment according to the first target measurement information set and the second measurement information set.

In one embodiment, a first positioning sub-module includes:

the first differential unit is used for carrying out differential processing according to the measurement parameters of the first target measurement information set and the measurement parameters of the second measurement information set to obtain first target measurement differential information;

And the first positioning unit is used for positioning the terminal equipment according to the first target measurement differential information and the position information of the target PRU, wherein the target PRU is the PRU corresponding to the first target measurement information set.

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

Wherein the first differential unit includes:

the first differential processing subunit is used for carrying out differential processing on the same measurement parameters of the two measurement information in the first target measurement information set to obtain first differential measurement information of each measurement parameter in the first measurement information set, and carrying out differential processing on the same measurement parameters of the two measurement information in the second measurement information set to obtain second differential measurement information of each measurement parameter in the second measurement information set;

and the second differential processing subunit is used for carrying out differential processing on the first differential measurement information and the second differential measurement information of each measurement parameter to determine the first target measurement differential information of each measurement parameter.

In one embodiment, the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

It should be noted that, the embodiment of the positioning device is a device corresponding to the embodiment of the positioning method applied to the terminal device, and all the implementation manners in the embodiment of the method are suitable for the embodiment of the device, so that the same technical effects can be achieved.

It should be noted that, in the embodiment of the present invention, 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 invention 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 invention may be embodied essentially or partly in the form of a software product or all or part of the technical solution, where the software product is stored in a storage medium, and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network side device, etc.) or a processor (processor) to perform all or part of the steps of the methods of the embodiments of the present invention. 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.

As shown in fig. 6, an embodiment of the present invention further provides a terminal device, including a processor 600, a transceiver 610, a memory 620, and a program stored on the memory 620 and executable on the processor 600; wherein the transceiver 610 is connected to the processor 600 and the memory 620 through a bus interface, the memory 620 for storing computer programs; a transceiver 610 for transceiving data under the control of the processor; the processor 600 is configured to read the computer program in the memory and perform the corresponding operations.

Wherein, the transceiver 610 is configured to receive a first measurement information set sent by a plurality of positioning reference devices PRUs;

a processor 600 for:

and positioning the terminal equipment according to the plurality of first measurement information sets and the plurality of second measurement information sets.

Wherein in fig. 6, a bus architecture may comprise any number of interconnected buses and bridges, and in particular one or more processors represented by processor 600 and various circuits of memory represented by memory 620, 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 610 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 user interface 630 may also be an interface capable of interfacing with an inscribed desired device for different user devices, including but not limited to a keypad, display, speaker, microphone, joystick, etc.

Processor 600 is responsible for managing the bus architecture and general processing, and memory 620 may store data used by processor M00 in performing operations.

Alternatively, the processor 600 may be a CPU (Central processing Unit), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable Gate array) or CPLD (Complex Programmable Logic Device ), and the processor may also employ a multi-core architecture.

The processor performs any of the methods provided by the embodiments of the present invention in terms of the obtained executable instructions by invoking a computer program stored in memory. The processor and the memory may also be physically separate.

the processor 600 is further configured to:

In one embodiment, the processor 600 is further configured to:

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

wherein the processor 600 is further configured to:

In one embodiment, the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

It should be noted that, the terminal device provided in the embodiment of the present invention can implement all the method steps implemented in the embodiment of the positioning method applied to the terminal device, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those in the embodiment of the method are omitted herein.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, realizes the steps of the positioning method applied to the terminal device. 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 memory (e.g., floppy disk, hard disk, tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid State Disk (SSD)), etc.

As shown in fig. 7, an embodiment of the present invention provides a positioning device, applied to an LMF, including:

a first obtaining module 701, configured to obtain a plurality of first measurement information sets and a third measurement information set, where the plurality of first measurement information sets are associated with a plurality of positioning reference devices PRUs or a plurality of moments associated with the same PRU, and the third measurement information set is associated with a terminal device;

the second positioning module 702 is configured to position the terminal device according to the plurality of first measurement information sets and the third measurement information set.

a second positioning module 702, comprising:

the second screening module is used for screening the plurality of first measurement information sets based on the reliability information of the plurality of first measurement information sets to obtain a screened first target measurement information set;

and the second positioning sub-module is used for positioning the terminal equipment according to the first target measurement information set and the third measurement information set.

In one embodiment, the second positioning sub-module comprises:

the second differential unit is used for carrying out differential processing according to the measurement parameters of the first target measurement information set and the measurement parameters of the third measurement information set to obtain second target measurement differential information;

And the second positioning unit is used for positioning the terminal equipment according to the second target measurement differential information and the position information of the target PRU, wherein the target PRU is the PRU corresponding to the first target measurement information set.

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

Wherein the second differential unit includes:

the third differential processing subunit is used for carrying out differential processing on the same measurement parameters of the two measurement information in the first target measurement information set to obtain third differential measurement information of each measurement parameter in the first measurement information set, and carrying out differential processing on the same measurement parameters of the two measurement information in the third measurement information set to obtain fourth differential measurement information of each measurement parameter in the third measurement information set;

and the fourth differential processing subunit is used for carrying out differential processing on the third differential measurement information and the fourth differential measurement information of each measurement parameter, and determining second target measurement differential information of each measurement parameter.

In one embodiment, the third set of measurement information includes one of:

a third measurement information set sent by the terminal equipment;

In one embodiment, the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

It should be noted that, the embodiment of the positioning device is a device corresponding to the embodiment of the positioning method applied to the LMF, and all the implementation manners in the embodiment of the method are suitable for the embodiment of the device, so that the same technical effects can be achieved.

As shown in fig. 8, the embodiment of the present invention further provides a positioning management function, including a processor 800, a transceiver 810, a memory 820, and a program stored on the memory 820 and executable on the processor 800; wherein the transceiver 810 is connected to the processor 800 and the memory 820 through a bus interface, the memory 820 for storing a computer program; a transceiver 810 for transceiving data under the control of the processor; processor 800 is configured to read the computer program in the memory and perform the corresponding operations.

The transceiver 810 is configured to obtain a plurality of first measurement information sets and a third measurement information set, where the plurality of first measurement information sets are associated with a plurality of positioning reference devices PRUs or a plurality of moments associated with a same PRU, and the third measurement information set is associated with a terminal device;

the processor 800 is configured to locate the terminal device according to the plurality of first measurement information sets and the third measurement information set.

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 transmission media, including wireless channels, wired channels, optical cables, and the like. The user interface 830 may also be an interface capable of interfacing with an inscribed desired device for a different user device, including but not limited to a keypad, display, speaker, microphone, joystick, etc.

Processor 800 is responsible for managing the bus architecture and general processing, and memory 820 may store data used by processor M00 in performing operations.

Alternatively, the processor 800 may be a CPU (Central processing Unit), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable Gate array) or CPLD (Complex Programmable Logic Device ), and the processor may also employ a multi-core architecture.

processor 800 is further configured to:

In one embodiment, the processor 800 is further configured to:

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

wherein the processor 800 is further configured to:

In one embodiment, the third set of measurement information includes one of:

a third measurement information set sent by the terminal equipment;

In one embodiment, the K measurement parameters include at least one of:

Carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

It should be noted that, the above communication device provided by the embodiment of the present invention can implement all the method steps implemented by the embodiment of the information transmission method, and can achieve the same technical effects, and detailed descriptions of the same parts and beneficial effects as those of the embodiment of the method in the embodiment are omitted herein.

The embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of a positioning method applied to an LMF. 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 memory (e.g., floppy disk, hard disk, tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid State Disk (SSD)), etc.

As shown in fig. 9, an embodiment of the present invention provides an information transmission apparatus, including:

a second receiving module 901, configured to receive reference signals and location information sent by a plurality of devices;

A second measurement module 902, configured to measure reference signals of a plurality of devices based on location information of the plurality of devices, to obtain a first measurement information set;

a first sending module 903 is configured to send a first measurement information set to a terminal device or a location management function LMF.

In one embodiment, the plurality of devices is a plurality of positioning reference devices;

The apparatus further comprises:

a third receiving module, configured to receive a reference signal sent by a terminal device;

the third measurement module is used for measuring based on the reference signal of the terminal equipment to obtain a third measurement information set;

and the second sending module is used for sending the third measurement information set to the LMF.

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

In one embodiment, the method is performed by a positioning reference device, PRU, the plurality of devices being a plurality of network devices, the first set of measurement information comprising location information of the PRU.

As shown in fig. 10, the embodiment of the present invention further provides a communication device, including a processor 1000, a transceiver 1010, a memory 1020, and a program stored on the memory 1020 and executable on the processor 1000; wherein the transceiver 1010 is connected to the processor 1000 and the memory 1020 through a bus interface, the memory 1020 for storing a computer program; a transceiver 1010 for transceiving data under the control of the processor; a processor 1000 for reading the computer program in the memory and performing the corresponding operations.

Wherein, the transceiver 1010 is configured to receive reference signals and location information sent by a plurality of devices;

a processor 1000, configured to measure reference signals of a plurality of devices based on location information of the plurality of devices, to obtain a first measurement information set;

the transceiver 1010 is further configured to send the first set of measurement information to a terminal device or a location management function LMF.

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 user interface 1030 may also be an interface capable of interfacing with an internal connection requiring device for a different user device including, but not limited to, a keypad, display, speaker, microphone, joystick, etc.

Processor 1000 is responsible for managing the bus architecture and general processing, and memory 1020 may store data used by processor M00 in performing operations.

Alternatively, the processor 1000 may be a CPU (central processing unit), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or CPLD (Complex Programmable Logic Device ), and the processor may also employ a multi-core architecture.

a transceiver 1010, configured to receive a reference signal sent by a terminal device;

the processor 1000 is further configured to perform measurement based on a reference signal of the terminal device, to obtain a third measurement information set;

transceiver 1010 is also configured to send a third set of measurement information to the LMF.

In one embodiment, the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, wherein the computer program realizes the steps of the information transmission method when being executed by a processor. 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 memory (e.g., floppy disk, hard disk, tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid State Disk (SSD)), etc.

The embodiment of the invention also provides a processor readable storage medium, and the processor readable storage medium stores a computer program, and the computer program is used for enabling a processor to execute the method provided by the embodiment of the invention.

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 memory (e.g., floppy disk, hard disk, tape, magneto-optical disk (MO), etc.), optical memory (e.g., CD, DVD, BD, HVD, etc.), and semiconductor memory (e.g., ROM, EPROM, EEPROM, nonvolatile memory (NAND FLASH), solid State Disk (SSD)), etc.

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. A positioning method, performed by a terminal device, the method comprising:

2. The positioning method according to claim 1, wherein the first measurement information set is obtained by measuring reference signals sent by the PRU by the RSUs, the first measurement information set includes a plurality of measurement information, the second measurement information set includes a plurality of measurement information, the measurement information includes K measurement parameters and reliability information, and K is a positive integer;

3. The positioning method according to claim 2, wherein said positioning the terminal device according to the first target measurement information set and the second measurement information set comprises:

4. The positioning method of claim 2, wherein the reliability information comprises at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

5. The positioning method according to claim 4, wherein the screening the plurality of first measurement information sets based on reliability information of the plurality of first measurement information sets, to obtain a screened first target measurement information set, includes one of:

6. A positioning method according to claim 3, wherein the K measurement parameters comprise at least one of carrier phase and time of arrival TOA;

7. A positioning method according to claim 3, wherein the K measurement parameters include at least one of a carrier phase difference component and a TOA difference component;

8. The positioning method according to claim 2, wherein the K measurement parameters comprise at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

9. A positioning method, performed by a positioning management function, LMF, the method comprising:

10. The positioning method according to claim 9, wherein the first measurement information set includes a plurality of measurement information, the third measurement information set includes a plurality of measurement information, the measurement information includes K measurement parameters and reliability information, and K is a positive integer;

11. The positioning method according to claim 10, wherein said positioning the terminal device according to the first target measurement information set and the third measurement information set comprises:

12. The positioning method of claim 10, wherein the reliability information comprises at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

13. The positioning method according to claim 12, wherein the screening the plurality of first measurement information sets based on reliability information of the plurality of first measurement information sets, to obtain a screened first target measurement information set, includes one of:

14. The positioning method according to claim 11, wherein the K measurement parameters include at least one of carrier phase and time of arrival TOA;

performing differential processing on the same measurement parameter of the two measurement information in the first target measurement information set to obtain third differential measurement information of each measurement parameter in the first measurement information set, and performing differential processing on the same measurement parameter of the two measurement information in the third measurement information set to obtain fourth differential measurement information of each measurement parameter in the third measurement information set;

and carrying out differential processing on the third differential measurement information and the fourth differential measurement information of each measurement parameter to determine second target measurement differential information of each measurement parameter.

15. The positioning method of claim 11 wherein the K measurement parameters include at least one of a carrier phase difference component and a TOA difference component;

16. The positioning method of claim 9, wherein the plurality of first measurement information sets comprises one of:

17. The positioning method of claim 9, wherein the third set of measurement information comprises one of:

A third measurement information set sent by the terminal equipment;

18. The positioning method of claim 10, wherein the K measurement parameters include at least one of:

carrier phase;

arrival time TOA;

a carrier phase difference component;

TOA difference component.

19. An information transmission method, the method comprising:

20. The information transmission method according to claim 19, wherein the first set of measurement information includes a plurality of measurement information corresponding to reference signals of the plurality of devices, respectively, the measurement information including K measurement parameters and reliability information, K being a positive integer.

21. The method of information transmission according to claim 19, wherein the method is performed by a positioning reference device PRU, the plurality of devices being a plurality of network devices, the PRU transmitting the first set of measurement information to the LMF, the location information of the PRU being location coordinates of the PRU or location coordinates of an antenna phase center of the PRU; or alternatively

22. The information transmission method according to claim 21, wherein the plurality of devices are a plurality of positioning reference devices;

the method further comprises the steps of:

receiving a reference signal sent by terminal equipment;

and sending the third measurement information set to the LMF.

23. The information transmission method according to claim 20, wherein the reliability information includes at least one of:

reliability degree;

signal-to-noise ratio SNR;

reference signal received power RSRP;

carrier-to-noise ratio CNR;

channel angle of arrival, AOA;

24. The method of information transmission according to claim 21, wherein the method is performed by a positioning reference device PRU, the plurality of devices being a plurality of network devices, the first set of measurement information comprising location information of the PRU.

25. A terminal device comprising a memory, a transceiver, and a processor;

the processor is configured to:

26. A positioning management function, comprising a memory, a transceiver and a processor;

27. A communication device comprising a memory, a transceiver, and a processor;

28. A positioning device, comprising:

29. A positioning device, comprising:

30. An information transmission apparatus, comprising:

31. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing the processor to execute the information processing method according to any one of claims 1 to 24.