CN117545069A - Multi-station cooperation general sense positioning method and device - Google Patents

Abstract

The invention discloses a multi-station cooperation universal sensing positioning method and device, belongs to the technical field of mobile communication, and is a universal sensing positioning method for a target user with mobility and URLLC requirements. And determining the access state of the target to be detected according to the distribution relation between the target user to be detected and the base station and the information RSRP. And then ranging the target to be measured by using the sense-on integration, namely ranging by transmitting and sensing a turn-over sense signal. And finally, calculating the coordinates of the target user to be measured by using a positioning algorithm issued by the strategy control module in the core network perception processing module according to the ranging result. The whole general sense flow serves the intelligent traffic system scene so as to improve the positioning accuracy and the resource utilization rate. The invention can realize the cooperative positioning of multiple base stations, reduce measurement errors, improve the precision, greatly increase the precision of system positioning and improve the robustness of the system.

Description

Multi-station cooperation general sense positioning method and device

Technical Field

The invention belongs to the technical field of mobile communication, relates to a multi-station cooperation through-sense positioning method and device, and particularly relates to a multi-station cooperation through-sense positioning method and device for intelligent traffic, intelligent cities and intelligent factories.

Background

In recent years, rapid developments in wireless communication technology and radar technology have resulted in a large amount of spectrum resources being occupied, and the need for scenes requiring communication and sensing functions has arisen. Therefore, how to highly integrate communication and sensing functions in a limited spectrum resource or a fixed frequency band has received more attention to improve spectrum efficiency. The perception is a new feature of 5G-advanced and next generation 6G mobile communication networks, and the communication perception integration can support intelligent application in all aspects, including automatic driving, digital twinning, smart cities and the like. The communication and perception integration is realized on hardware through signal design and architecture design, so that the system gain is improved and the cost is reduced.

Taking an intelligent traffic scene as an example, along with the continuous development of automatic driving technology, the intelligent vehicle is provided with more powerful sensors, so that the vehicle can sense massive environmental data, a sensing network is formed, and the performance requirement of the communication system of the vehicle is higher due to the increase of the sensing information explosion. Therefore, the communication perception dual functions are integrated and designed in the Internet of vehicles to improve the resource utilization rate. From the aspect of functions, the communication sense integration not only provides basic communication capability, but also can realize high-precision distance measurement and speed measurement and target imaging.

Most of the existing general sense integrated technology researches on the perception problem of a single base station scene. But for outdoor traffic, car networking and unmanned airport scenes, positioning accuracy and stability are important guarantees of system safety and robustness. For communication perception signals of a single base station, the communication perception signals are easy to be interfered by signals or blocked to generate larger fluctuation, so that potential safety hazards are generated. In order to break through the bottleneck of single-point perception resource limitation, the development trend of network perception performance is improved in a multi-point cooperation perception mode. The perception tasks may be reasonably distributed among multiple nodes while the multiple nodes attempt to agree on the surrounding environment by sharing the perception results.

Disclosure of Invention

Aiming at the problems, the invention provides a multi-station cooperation general sense positioning method and device, which are a multi-base station cooperation communication perception integrated ranging positioning algorithm and a communication perception device for intelligent traffic, intelligent cities and intelligent factories, and can greatly increase the positioning precision of a system and improve the robustness of the system.

The invention discloses a multi-station cooperation general sense positioning method, which comprises the following specific steps:

a multi-station cooperation general sense positioning method comprises the following specific steps:

step 1: the user or the third party service provider sends a positioning service request to the user, and the core network triggers a communication sensing ranging positioning session according to the positioning service request.

Step 2: in step 1, the positioning service requests of the user side and the third party service provider are transmitted to a policy control module by a core network, and the policy control module generates or selects the existing communication sensing positioning ranging policy according to the basic service state information in the communication sensing ranging positioning session and issues the corresponding policy to a corresponding module, wherein the policy control module comprises a mobility management module, a session management module, a user side and a sensing module.

Step 3: the session module strategy establishes a session flow of communication perception ranging positioning according to the received strategy, and completes the connection of a user side, a base station side and a user plane module, and completes a data path; meanwhile, the mobility management module keeps a connection state with the user, and can support the continuity of the sensing ranging positioning process when the user with high mobility and the cell are switched;

step 4: the mobility management strategy determines the state of a base station nearby a target to be detected, and obtains the public reference signal power value of M cells in a certain range received by a target user to be detected, wherein the value is the linear average value of the power of a single resource unit in a measurement bandwidth; and obtaining 3 base stations for performing sensing ranging positioning on the target user to be detected according to the maximum average value.

Step 5: and three base stations transmit the integrated signal of the sense to the target user to be detected to sense.

Step 6: after the base station unit sends the passsense signal, the passsense signal receiver at the base station side scans the environment at fixed time slot intervals, detects echo information of the OFDM passsense signal in the environment after passing through the target to be detected, and further calculates distances between the three base stations and the target user to be detected respectively according to a multi-carrier sensing algorithm.

Step 7: after the perception receiver obtains echo information in step 6, the edge perception information preprocessing module will preprocess the perception information.

Step 8: the packaged data preprocessed in the step 7 is sent to a user plane side and then uploaded to a sensing module, and after the sensing data distribution module and the sensing data processing module process echo information and environment channel basic information, ranging results of the three selected base stations to the target to be measured are obtained; then, the positions of the three base stations are used as circle centers, and the radius is d _n1,V 、d _n2,V 、d _n3,V Is a circle; the position of the target user to be detected can be finally obtained through the focal points of the arcs drawn at the three base stations in the search space.

Step 9: and transmitting the measurement coordinate result back to the user side or the third party service side to finish the multi-base station cooperative distance measurement positioning based on the sense of communication integration.

Based on the method, the invention provides a multi-station collaborative universal sensing positioning device which comprises a mobility management module, a unified data management module, a user plane module, a strategy control module, a session management module and a sensing module.

The mobility management module is used for taking charge of mobility management of a user and properly performing processing such as switching according to a strategy issued by the strategy control module;

the session management module is used for providing session management, UPF selection control and the like for the user;

the unified data management module is used for realizing user subscription management, access authorization, authentication information and the like;

the user plane module is responsible for providing user message forwarding, processing, session anchor points and the like;

the strategy control module is responsible for user access strategy and QoS flow control strategy, and issues the strategy corresponding to each module;

the sensing module is used for processing and analyzing sensing data of a user and pre-storing a plurality of general sensing positioning ranging algorithms.

The multi-base station cooperative distance measurement positioning method based on the communication system has the advantages that:

1. according to the multi-station cooperation general sense positioning device and method, from the perspective of a general sense integrated system design flow, multi-base station cooperation positioning is realized, measurement errors are reduced, and accuracy is improved.

2. In the multi-station cooperative sense positioning method, after a sense signal transmitter transmits a sense signal, a sense receiver scans the environment through a fixed interval time slot to obtain sense echo information.

3. According to the multi-station cooperation universal sensing positioning method, an edge sensing information preprocessing module is added to an access network side in the process, so that the requirement of URLLC in scene service is met.

4. The flow of the multi-station cooperation general sense positioning method comprises a mobility management module so as to meet the network switching requirement in a scene.

5. The invention discloses a general sense positioning method of multi-station cooperation, wherein the general sense positioning flow is based on strategy issuing by a strategy control module in a network architecture and is mainly used for designing strategies of a specific perception processing module, a specific mobility management module and a specific session management module.

Drawings

FIG. 1 is a flow chart of a method for general sense positioning of multi-station collaboration in accordance with the present invention;

FIG. 2 is a schematic diagram of a smart traffic scenario for example;

FIG. 3 is a flow chart of a general sensing distance measurement positioning in the multi-station cooperation general sensing positioning method of the invention;

FIG. 4 is a block diagram of a multi-station cooperative sensing and positioning device according to the present invention;

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

The invention designs a multi-station cooperation general sense positioning method which is a general sense positioning method for a target user with mobility and URLLC requirements. As shown in fig. 1, the access state of the target to be detected is determined according to the distribution relationship between the target user to be detected and the base station and the information RSRP. And then ranging the target to be measured by using the sense-on integration, namely ranging by transmitting and sensing a turn-over sense signal. And finally, calculating the coordinates of the target user to be measured by using a positioning algorithm issued by the strategy control module in the core network perception processing module according to the ranging result. The whole general sense flow serves the intelligent traffic system scene so as to improve the positioning accuracy and the resource utilization rate.

The invention discloses a multi-station cooperation general sense positioning method, which is shown in fig. 2 and comprises the following specific steps:

step 1: in an intelligent scene, the positioning precision of a target user is higher and higher, and the 6G era requires to reach centimeter-level precision. Location services requirements are typically generated by the target user itself or by a third party service provider, and previous location algorithms have used communication signals.

As shown in fig. 3, for a user with a positioning requirement or a third party service provider (AF), when a user side generates a positioning service, the user side sends a positioning service request, and a core network triggers a communication aware ranging positioning session according to the positioning service request. When the third party service provider generates the positioning service, the AF side sends out a positioning service request, and the core network triggers the communication sensing ranging positioning session according to the positioning service request. The communication perception ranging positioning session comprises positioning service requirements and service basic state information; the service basic state information comprises a wireless side channel state, a core network delay state or user side configuration and the like; the positioning service requirement is the positioning precision and time delay requirement. In addition, after the positioning service request is sent, the core network can start identity verification on the user side and the third party service provider through the unified data management module (Unified Data Management Function, UDM).

For the target user to be detected, at least a plurality of base stations with known coordinates are arranged near the target user to be detected, and the position coordinates of the base stations in the real environment can be obtained by a positioning system such as a GPS (global positioning system).

Step 2: in the step 1, the positioning service requests of the user side and the third party service provider are transmitted to a policy control module (Policy Control Function, PCF) by a core network, and the module is responsible for generating or selecting the existing communication perception positioning ranging policy according to the basic state information of the service; and selecting a proper communication sensing positioning ranging strategy through a strategy control module, and issuing sub-strategies corresponding to a mobility management module (Access and Mobility management Function, AMF), a session management module (Session Management Function, SMF), a User Equipment (UE) and a sensing module (Network Sensing Function, NSF) contained in the communication sensing positioning ranging strategy to a corresponding module. The sensing module comprises two parts, namely a sensing data distribution module and a sensing data processing module, which are used for respectively formatting the sensing data and analyzing the sensing data to obtain high-precision positioning.

Step 3: and (2) establishing a session flow of communication perception ranging positioning by the session management module according to the session module strategy issued by the strategy control module in the step (2), completing the connection of the user side, the base station side and the user plane module (User Plane Function, UPF), and completing a data path. Meanwhile, the mobility management module maintains a connection state with the user, and can support the continuity of the perceived ranging positioning flow when the user with high mobility and the cell (a wireless area controlled by one base station is a basic component unit of a wireless network) are switched.

Step 4: determining the state of a base station nearby a target to be detected by a mobility management module according to a mobility management strategy, acquiring common reference signal power values (representing key parameters of wireless signal strength, reflecting path loss strength of a current channel and used for cell coverage measurement and cell selection/reselection) of M cells in a certain range received by a target user to be detected at a core network, wherein the values are linear average values of single resource unit power in a measurement bandwidth and recorded as RSRP (reactive reference power) ₁ ,RSRP ₂ ,...,RSRP _M . According to the maximum 3 RSRP signal values, obtaining 3 base stations for performing sensing ranging positioning on the target user to be tested, and marking the sequence number as bs _n1 、bs _n2 、bs _n3 。

Step 5: and (4) the three base stations selected in the step (4) sense that the target user to be tested sends the sense integrated signal. In the sensing process based on OFDM waveform sense integration, K subcarriers and L symbols form a sensed OFDM sense signal, wherein the subcarrier interval is delta f, and the data transmission duration isTo combat multipath interferenceIncrease the duration T _CP Cyclic prefix of (a). Thus, one OFDM symbol has a duration T _OFDM ＝T+T _CP . The perceived receiver at the base station side will receive.

Step 6: after the base station unit sends the passsense signal, the passsense signal receiver at the base station side scans the environment at fixed time slot intervals, detects echo information of the OFDM passsense signal in the environment after passing through the target to be detected, and further calculates distances between 3 base stations and users of the target to be detected according to a multi-carrier sensing algorithm.

Step 7: after the perception receiver obtains echo information in the step 6, the edge perception information preprocessing module preprocesses the perception information, usually adopts windowing, noise reduction and the like, achieves the effect of cleaning data, and facilitates the calculation of a follow-up perception algorithm. The specific way of information preprocessing depends on the complexity of the perceptual algorithm and the traffic URLLC requirements. If the sensing algorithm is high in complexity and high in data processing capacity, the computing capacity of the edge sensing information preprocessing module can well process the sensing information, time delay of a sensing process is guaranteed, and data is packed into a format which can be processed by the sensing module in the core network. If the complexity of the sensing algorithm is smaller and the processing amount of the sensing data is smaller, the sensing information can be processed without an edge sensing information preprocessing module. And if the complexity of the sensing algorithm is smaller and the processing amount of the sensing data is larger, the edge sensing information preprocessing module preprocesses the data as much as possible. In summary, the module is designed to mainly meet the time delay problem caused by complex algorithm of the sensing algorithm and large sensing processing data volume in the scene, so as to ensure the URLLC requirement of the service.

Step 8: and 7, the edge perception information preprocessing module is used for preprocessing the echo information perceived by the base station side and the environment channel basic information, and then sending the packaged data to the user plane side, and uploading the packaged data to the perception module, wherein the perception data distribution module and the perception data processing module are used for processing the echo information and the environment channel basic information, so as to obtain the ranging results of the three selected base stations on the target to be measured. Then, the positions of the three base stations are used as circle centers, and the radius is d _n1,V 、d _n2,V 、d _n3,V Is a circle of (c). The position of the target user to be detected can be finally obtained through the focal points of the arcs drawn at the three base stations in the search space, and the specific method comprises the following steps:

real target user coordinates (x) to be measured in a known simulation environment _V ,y _V ) Assume that the target to be measured locates and measures coordinates (x, y). The measurement coordinates of the object to be measured can be found by the following equation. The equation set for the process of searching for the intersection of arcs can be expressed as:

wherein d _n1,V 、d _n2,V 、d _n3,V ，x _n1 、x _n2 、x _n3 ，y _n1 、y _n2 、y _n3 Is a known quantity obtained by the edge perception information preprocessing module, (x) _n1 ,y _n1 )、(x _n2 ,y _n2 )、(x _n3 ,y _n3 ) The positions of the first, second and third cooperative base stations are respectively d _n1,V 、d _n2,V 、d _n3,V The user distances measured by the base stations 1, 2 and 3 according to the sensing data can be solved, and the positioning measurement coordinates of the target to be measured are (x, y).

Step 8: and transmitting the measurement coordinate result back to the user side or the third party service (operator or application program) side, and completing the multi-base station cooperative distance measurement positioning based on the sense of unity.

Based on the above method, the present invention proposes a multi-station collaborative universal positioning device, which includes a mobility management module (Access andMobility management Function, AMF), a unified data management module (UnifiedData Management Function, UDM), a user plane module (User Plane Function, UPF), a policy control module (Policy Control Function, PCF), a session management module (Session Management Function, SMF), and a sensing module (Network Sensing Function, NSF), as shown in fig. 4.

The mobility management module is used for taking charge of mobility management of a user and properly performing processing such as switching according to a strategy issued by the strategy control module;

the session management module is used for providing session management, UPF selection control and the like for the user;

the unified data management module is used for realizing user subscription management, access authorization, authentication information and the like;

the user plane module is responsible for providing user message forwarding, processing, session anchor points and the like;

the strategy control module is responsible for user access strategy and QoS flow control strategy, and issues the strategy corresponding to each module;

the sensing module is used for processing and analyzing sensing data of a user and pre-storing a plurality of general sensing positioning ranging algorithms.

Claims (6)

1. A multi-station cooperation general sense positioning method comprises the following specific steps:

step 1: a user or a third party service provider sends a positioning service request to the user, and a core network triggers a communication sensing ranging positioning session according to the positioning service request;

step 2: in step 1, positioning service requests of a user side and a third party server are transmitted to a strategy control module by a core network, the strategy control module generates or selects an existing communication sensing positioning ranging strategy according to service basic state information in a communication sensing ranging positioning session, and the corresponding strategy is issued to a corresponding module, wherein the strategy control module comprises a mobility management module, a session management module, a user side and a sensing module;

step 3: the session module strategy establishes a session flow of communication perception ranging positioning according to the received strategy, and completes the connection of a user side, a base station side and a user plane module, and completes a data path; meanwhile, the mobility management module keeps a connection state with the user, and can support the continuity of the sensing ranging positioning process when the user with high mobility and the cell are switched;

step 4: the mobility management strategy determines the state of a base station nearby a target to be detected, and obtains the public reference signal power value of M cells in a certain range received by a target user to be detected, wherein the value is the linear average value of the power of a single resource unit in a measurement bandwidth; obtaining 3 base stations for performing sensing ranging positioning on a target user to be detected according to the maximum average value;

step 5: three base stations transmit a sense integrated signal to a target user to be detected for sensing;

step 6: after the base station unit sends the passsense signal, the passsense signal receiver at the base station side scans the environment at fixed time slot intervals, detects echo information of the OFDM passsense signal in the environment after passing through the target to be detected, and further calculates distances between three base stations and the target user to be detected respectively according to a multi-carrier sensing algorithm;

step 7: after the perception receiver obtains echo information in the step 6, an edge perception information preprocessing module preprocesses the perception information;

step 8: the packaged data preprocessed in the step 7 is sent to a user plane side and then uploaded to a sensing module, and after the sensing data distribution module and the sensing data processing module process echo information and environment channel basic information, ranging results of the three selected base stations to the target to be measured are obtained; then, the positions of the three base stations are used as circle centers, and the radius is d _n1,V 、d _n2,V 、d _n3,V Is a circle; the position of the target user to be detected can be finally obtained through the focal points of the arcs drawn at the three base stations in the search space;

step 9: and transmitting the measurement coordinate result back to the user side or the third party service side to finish the multi-base station cooperative distance measurement positioning based on the sense of communication integration.

2. The multi-station cooperative sensing positioning method as claimed in claim 1, wherein: in step 1, a communication awareness ranging positioning session includes positioning service requirements and service basic state information; the service basic state information comprises a wireless side channel state, a core network delay state or user side configuration and the like; the positioning service requirement is the positioning precision and time delay requirement.

3. The multi-station cooperative sensing positioning method as claimed in claim 1, wherein: after the positioning service request is sent, the core network starts to carry out identity verification on the user side and the third party service provider.

4. The multi-station cooperative sensing positioning method as claimed in claim 1, wherein: the sensing module comprises two parts, namely a sensing data distribution module and a sensing data processing module, which are used for respectively formatting the sensing data and analyzing the sensing data to obtain high-precision positioning.

5. The multi-station cooperative sensing positioning method as claimed in claim 1, wherein: in step 6, based on the mode of OFDM waveform sense integration, in the sensing process, K subcarriers and L symbols form a sensed OFDM sense signal, where the subcarrier interval is Δf, and the data transmission duration isTo combat multipath interference, the duration T is increased _CP Cyclic prefix of (a); thus, one OFDM symbol has a duration T _OFDM ＝T+T _CP 。

6. The multi-station cooperative sensing positioning method as claimed in claim 1, wherein: in step 8:

the position solving method of the target user to be measured specifically comprises the following steps:

real target user coordinates (x) to be measured in a known simulation environment _V ,y _V ) Assuming that the positioning measurement coordinates of the object to be measured are (x, y); the measurement coordinates of the object to be measured can be determined by the following equation; the equation set for the process of searching for the intersection of arcs can be expressed as:

wherein d _n1,V 、d _n2,V 、d _n3,V ，x _n1 、x _n2 、x _n3 ，y _n1 、y _n2 、y _n3 Is a known quantity obtained by the edge perception information preprocessing module, (x) _n1 ,y _n1 )、(x _n2 ,y _n2 )、(x _n3 ,y _n3 ) The positions of the first, second and third cooperative base stations are respectively d _n1,V 、d _n2,V 、d _n3,V The user distances measured by the base stations 1, 2 and 3 according to the sensing data can be solved, and the positioning measurement coordinates of the target to be measured are (x, y).