EP4085271A1 - Procédé et appareil de positionnement - Google Patents

Procédé et appareil de positionnement

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Publication number
EP4085271A1
EP4085271A1 EP21736202.9A EP21736202A EP4085271A1 EP 4085271 A1 EP4085271 A1 EP 4085271A1 EP 21736202 A EP21736202 A EP 21736202A EP 4085271 A1 EP4085271 A1 EP 4085271A1
Authority
EP
European Patent Office
Prior art keywords
reference signal
delay time
reception delay
user equipment
equation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21736202.9A
Other languages
German (de)
English (en)
Inventor
Jaihyung Cho
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Locaila Inc
Original Assignee
Locaila Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/733,903 external-priority patent/US11363414B2/en
Priority claimed from US16/819,630 external-priority patent/US10809351B1/en
Application filed by Locaila Inc filed Critical Locaila Inc
Publication of EP4085271A1 publication Critical patent/EP4085271A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G01S1/0423—Mounting or deployment thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/04—Details
    • G01S1/042—Transmitters
    • G01S1/0428—Signal details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0218—Multipath in signal reception
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0273—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves using multipath or indirect path propagation signals in position determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/008—Transmission of position information to remote stations using a mobile telephone network

Definitions

  • the present disclosure of the following description relates to a positioning method and apparatus for measuring a position of a user equipment (UE).
  • UE user equipment
  • a communication system may include a core network, for example, a mobility management entity (MME), a serving gateway (SGW), a packet data network (PDN) gateway (PGW), a base station (e.g., a macro base station, a small base station, and a relay), a user equipment (UE), and the like.
  • MME mobility management entity
  • SGW serving gateway
  • PGW packet data network gateway
  • a base station e.g., a macro base station, a small base station, and a relay
  • UE user equipment
  • RAT radio access technology
  • a UE may generally transmit and receive data through a base station. For example, if data to be transmitted to a second UE is present, a first UE may generate a message including the data to be transmitted to the second UE and may transmit the generated message to a first base station to which the first UE belongs.
  • the first base station may receive the message from the first UE and may verify that a destination of the received message is the second UE.
  • the first base station may transmit the message to a second base station to which the verified destination, that is, the second UE belongs in a second base station addition time section.
  • the second base station may receive the message from the first base station and may verify that the destination of the received message is the second UE.
  • the second base station may transmit the message to the verified destination, that is, the second UE.
  • the second UE may receive the message from the second base station and may acquire the data included in the received message.
  • a reference signal may be transmitted and received between a UE and a base station.
  • a reference signal may be transmitted and received between two different base stations.
  • the reference signal may be used for various purposes.
  • the UE or the base station may perform synchronization or may estimate a position of the UE using the reference signal.
  • the UE may estimate a position of the UE by measuring a difference in time of arrival (ToA) between positioning reference signals (PRSs) received from a plurality of base stations.
  • ToA time of arrival
  • PRSs positioning reference signals
  • the UE or the base station may calculate a reception delay time of the reference signal.
  • the reception delay time of the reference signal may represent a time difference between a point in time at which the reference signal is transmitted from a transmitter and a point in time at which the reference signal is received at a receiver. If an obstacle is present between the transmitter and the receiver, it may not be easy to calculate the reception delay time of the reference signal.
  • a positioning error in the vertical direction needs to be 3 meter or less.
  • current positioning technologies do not meet the aforementioned positioning error in the vertical direction.
  • a positioning error in the vertical direction needs to be 3 meter or less.
  • current positioning technologies do not meet the aforementioned positioning error in the vertical direction.
  • a UE may receive a positioning signal from a base station and may estimate a position of the UE based on a time of arrival (TOA) of the positioning signal or a time difference of arrival (TDOA). If an obstacle is present between the UE and the base station, the positioning signal may arrive at the UE through a multipath. A pseudo range of the positioning signal may vary based on a straight distance between the UE and the base station. Accordingly, the positioning performance of the UE may be degraded.
  • TOA time of arrival
  • TDOA time difference of arrival
  • At least one example embodiment provides a positioning method and apparatus that may reduce a positioning error of a UE (UE) in a vertical direction.
  • UE UE
  • a positioning method of a UE performed by the UE including receiving a first reference signal and a second reference signal from at least two transmitters installed at positions with different heights; acquiring a plurality of first snapshot vectors based on received data samples of the first reference signal and acquiring a plurality of second snapshot vectors based on received data samples of the second reference signal; calculating a first covariance matrix based on the plurality of first snapshot vectors and calculating a second covariance matrix based on the plurality of second snapshot vectors; estimating a difference between a reception delay time of the first reference signal and a reception delay time of the second reference signal based on the first covariance matrix and the second covariance matrix; and estimating a vertical position of the UE based on the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal.
  • a base station may transmit a reference signal having a waveform continuous in a boundary between symbols and a UE may readily acquire a plurality of snapshot vectors accordingly.
  • a base station may transmit a reference signal using subcarriers provided at equal intervals in a frequency domain and a UE may readily calculate a snapshot vector and a covariance matrix.
  • FIG. 1 illustrates an example of a communication system according to at least one example embodiment.
  • FIG. 2 is a diagram illustrating an example of a configuration of a communication node included in a communication system according to at least one example embodiment.
  • FIG. 3 is a flowchart illustrating an example of a method of transmitting, by a base station, a reference signal according to at least one example embodiment.
  • FIG. 4 illustrates an example of a first subcarrier group for transmitting a first reference signal and a second subcarrier group for transmitting a second reference signal according to at least one example embodiment.
  • FIG. 5 illustrates an example of a structure of an orthogonal frequency division multiplexing (OFDM) symbol in a 5-th generation new radio (NR) standard according to at least one example embodiment.
  • OFDM orthogonal frequency division multiplexing
  • FIG. 7 illustrates an example of a waveform of a first reference signal or a second reference signal according to at least one example embodiment.
  • FIG. 8 is a flowchart illustrating an example of a positioning method of a user equipment (UE) according to at least one example embodiment.
  • FIG. 9 illustrates an example of describing a positioning method of a UE according to at least one example embodiment.
  • FIG. 10 illustrates an example of describing a process of deriving an equation of estimating a vertical position of a UE according to at least one example embodiment.
  • FIG. 11 is a flowchart illustrating an example of a method of generating, by a computing apparatus, a positioning support table according to at least one example embodiment.
  • FIG. 12 illustrates an example of parameters calculated by a computing apparatus based on a grid point according to at least one example embodiment.
  • FIG. 13 is a flowchart illustrating an example of a process of performing operation S340 of FIG. 11.
  • FIG. 14 illustrates an example of a schema of a positioning support table according to at least one example embodiment.
  • FIG. 15 illustrates an example of a positioning environment of a user equipment (UE) according to at least one example embodiment.
  • UE user equipment
  • FIG. 16 is a flowchart illustrating an example of a positioning method of a UE according to at least one example embodiment.
  • FIG. 17 is a flowchart illustrating another example of a positioning method of a UE according to at least one example embodiment.
  • FIG. 18 illustrates an example of removing, by a UE, an outlier according to at least one example embodiment.
  • a positioning method of a UE performed by the UE including receiving a first reference signal and a second reference signal from at least two transmitters installed at positions with different heights; acquiring a plurality of first snapshot vectors based on received data samples of the first reference signal and acquiring a plurality of second snapshot vectors based on received data samples of the second reference signal; calculating a first covariance matrix based on the plurality of first snapshot vectors and calculating a second covariance matrix based on the plurality of second snapshot vectors; estimating a difference between a reception delay time of the first reference signal and a reception delay time of the second reference signal based on the first covariance matrix and the second covariance matrix; and estimating a vertical position of the UE based on the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal.
  • the first reference signal may include a plurality of subcarriers included in a first subcarrier group
  • the second reference signal may include a plurality of subcarriers included in a second subcarrier group.
  • the plurality of subcarriers included in the first subcarrier group and the plurality of subcarriers included in the second subcarrier group may be provided at equal intervals in a frequency domain.
  • a subcarrier included in the first subcarrier group and a subcarrier included in the second subcarrier group may be orthogonal to each other.
  • Each of the first snapshot vector and the second snapshot vector may be represented as a multiplication of a plurality of matrices, and at least one of the plurality of matrices may meet a condition for Vandermonde matrix.
  • the positioning method may further include calculating an eigenvector of the first covariance matrix and an eigenvector of the second covariance matrix, estimating the reception delay time of the first reference signal based on the eigenvector of the first covariance matrix, and estimating the reception delay time of the second reference signal based on the eigenvector of the second covariance matrix.
  • the positioning method may further include acquiring reference information about the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal at one or more reference points.
  • the estimating of the vertical position of the UE may include estimating the vertical position of the UE based on the reference information and the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal.
  • the positioning method may further include acquiring information about a horizontal position coordinate of the UE.
  • the estimating of the vertical position of the UE may include estimating the vertical position of the UE based on the horizontal position coordinate of the UE and the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal.
  • a vertical position of a UE that is, a position of the UE in a vertical direction based on a difference between reception delay times of reference signals transmitted at different heights.
  • a base station may transmit a reference signal having a waveform continuous in a boundary between symbols and a UE may readily acquire a plurality of snapshot vectors accordingly.
  • a base station may transmit a reference signal using subcarriers provided at equal intervals in a frequency domain and a UE may readily calculate a snapshot vector and a covariance matrix.
  • first may also be termed a second component and, likewise, a second component may be termed a first component, without departing from the scope of this disclosure.
  • second component may be termed a first component, without departing from the scope of this disclosure.
  • and/or includes any and all combinations of one or more of the associated items.
  • a component When a component is referred to as being “connected to” or “coupled to” another component, the component may be directly connected to or coupled to the other component, or one or more other intervening components may be present. In contrast, when a component is referred to as being “directly connected to” or “directly coupled to,” there is no intervening component.
  • a reference signal may include, for example, a signal for positioning of a user equipment (UE), a signal for synchronization of the UE or a base station, and the like.
  • UE user equipment
  • a method of estimating a reception delay time of a reference signal disclosed herein may apply to estimating a reception delay time of another signal aside from the reference signal.
  • an example embodiment is described based on an example of estimating the reception delay time of the reference signal for clarity of description, it is provided as an example only. It should be understood that a method of estimating the reception delay time of the other signal aside from the reference signal is included in the example embodiment.
  • FIG. 1 illustrates an example of a communication system according to at least one example embodiment.
  • the communication system may include a first transmitter 100A and a second transmitter 100B installed at different heights.
  • the first transmitter 100A and the second transmitter 100B may be installed at different heights, respectively, in the same base station.
  • the first transmitter 100A and the second transmitter 100B may be installed at different heights in different base stations, respectively.
  • the first transmitter 100A and the second transmitter 100B may be installed at different heights in one or more buildings.
  • a difference between a height at which the first transmitter 100A is installed and a height at which the second transmitter 100B is installed may be determined based on a horizontal distance between a building 50 to be measured and each of the first transmitter 110A and the second transmitter 100B and a desired positioning accuracy.
  • a height difference between the first transmitter 100A and the second transmitter 100B may be set to be relatively great.
  • the height difference between the first transmitter 100A and the second transmitter 100B may be set to be relatively small.
  • each of the first transmitter 100A and the second transmitter 100B may be referred to as, for example, NodeB, evolved NodeB, a base transceiver station (BTS), a radio base station, a radio transceiver, an access point, an access node, a road side unit (RSU), a radio remote head (RRH), a transmission point (TP), a transmission and reception point (TRP), a relay node, and the like.
  • Each of a plurality of UEs may be referred to as a terminal, an access terminal, a mobile terminal, a station, a subscriber station, a mobile station, a portable subscriber station, a node, a device, and the like.
  • a UE present in the building 50 to be measured may receive a first reference signal 12 from the first transmitter 100A and may receive a second reference signal 14 from the second transmitter 100B.
  • the first and second reference signals 12 and 14 may be transmitted at different positions.
  • the UE may estimate a reception delay time of the first reference signal 12 and may also estimate a reception delay time of the second reference signal 14.
  • the UE may estimate a position 114 of the UE based on the reception delay time of the first reference signal 12 and the reception delay time of the second reference signal 14.
  • FIG. 1 illustrates an example in which the UE is present in the building 50 to be measured, it is provided as an example only.
  • the UE may be present in an outdoor environment or other environments.
  • At least three transmitters may transmit a reference signal to the UE. At least two transmitters among the at least three transmitters may be provided at different heights.
  • FIG. 2 is a diagram illustrating an example of a configuration of a communication node included in a communication system according to at least one example embodiment.
  • a communication node 200 may include at least one processor 210, a memory 220, and a transmission and reception apparatus 230 configured to perform communication through connection to a network. Also, the communication node 200 may further include an input interface device 240, an output interface device 250, and a storage device 260. Here, the input interface device 240 and the output interface device 250 may constitute a communication interface. The components included in the communication node 200 may communicate with each other through connection to a bus 270.
  • the processor 210 may execute a program command stored in at least one of the memory 220 and the storage device 260.
  • the processor 210 may refer to a central processing unit (CPU), a graphics processing unit (GPU), or an exclusive processor that performs methods according to example embodiments.
  • Each of the memory 220 and the storage device 260 may be configured as at least one of a volatile storage medium and a nonvolatile storage medium.
  • the memory 220 may be configured as at least one of read only memory (ROM) and random access memory (RAM).
  • FIG. 3 is a flowchart illustrating an example of a method of transmitting, by a base station, a reference signal according to at least one example embodiment.
  • FIG. 3 The example embodiment of FIG. 3 is described with the assumption that the first transmitter 110A and the second transmitter 110B are provided at different heights. However, as described above, the first transmitter 110A and the second transmitter 110B may be installed in different base stations or different buildings.
  • the base station may set a first subcarrier group for transmitting a first reference signal and a second subcarrier group for transmitting a second reference signal.
  • the first transmitter 110A may transmit the first reference signal using the first subcarrier group
  • the second transmitter 110B may transmit the second reference signal using the second subcarrier group.
  • Subcarriers of the first subcarrier group may be orthogonal to subcarriers of the second subcarrier group.
  • FIG. 4 illustrates an example of a first subcarrier group 32 for transmitting a first reference signal and a second subcarrier group 42 for transmitting a second reference signal according to at least one example embodiment.
  • the first transmitter 100A may transmit the first reference signal in a waveform continuous in a boundary between symbols using the first subcarrier group 32.
  • the second transmitter 100B may transmit the second reference signal in a waveform continuous in a boundary between symbols using second subcarrier group 34.
  • Each of the first reference signal and the second reference signal may be transmitted through a plurality of consecutive symbols. Since each of the first reference signal and the second reference signal has the waveform continuous in the boundary between symbols, a UE receiving the first reference signal and the second reference signal may readily acquire a plurality of snapshot vectors. It is described below.
  • Subcarriers included in the first subcarrier group may be provided at equal intervals in a frequency domain.
  • subcarriers included in the second subcarrier group may be provided at equal intervals in the frequency domain.
  • FIG. 4 illustrates an example in which an interval between the subcarriers of the first subcarrier group is 1 and an example in which an interval between the subcarriers of the second subcarrier group is 1.
  • the subcarriers included in the first subcarrier group or the second subcarrier group may be provided at intervals greater than 1.
  • the interval between the subcarriers of the first subcarrier group may differ from the interval between the subcarriers of the second subcarrier group.
  • the following matrix used for the UE to interpret a snapshot vector may meet Vandermonde matrix. Therefore, the UE may readily estimate a delay time of the first reference signal and a delay time of the second reference signal based on the plurality of snapshot vectors.
  • a layer of a first resource block 30 in which the first reference signal is transmitted may be set to differ from a layer of a second resource block 40 in which the second reference signal is transmitted. Therefore, a subcarrier of the first subcarrier group 32 and a subcarrier of the second subcarrier group 34 may be orthogonal to each other.
  • the UE may independently estimate each of the delay time of the first reference signal and the delay time of the second reference signal based on an aspect that the first reference signal and the second reference signal are orthogonal to each other.
  • the base station may determine a sequence of the first reference signal and a sequence of the second reference signal.
  • the base station may determine the sequence of the first reference signal and the sequence of the second reference signal such that the first reference signal and the second reference signal may be continuous in the boundary between the symbols.
  • the base station may transmit the first reference signal generated using the sequence of the first reference signal through the first transmitter 100A.
  • the base station may transmit the second reference signal generated using the sequence of the second reference signal through the second transmitter 100B.
  • FIG. 5 illustrates an example of a structure of an orthogonal frequency division multiplexing (OFDM) symbol in a 5G new radio (NR) standard according to at least one example embodiment.
  • OFDM orthogonal frequency division multiplexing
  • OFDM symbols may be included in 0.5 ms. That is, if a subcarrier spacing is 15 kHz, 7 OFDM symbols may be included in 0.5 ms, if the subcarrier spacing is 30 kHz, 14 OFDM symbols may be included in 0.5ms, if the subcarrier spacing is 60 kHz, 28 OFDM symbols may be included in 0.5 ms, if the subcarrier spacing is 120 kHz, 56 OFDM symbols may be included in 0.5 ms, if the subcarrier spacing is 240 kHz, 112 OFDM symbols may be included in 0.5 ms, and if the subcarrier spacing is 480 kHz, 224 OFDM symbols may be included in 0.5 ms.
  • the subcarrier spacing is 60 kHz and an extended cyclic prefix (CP) is used, 24 OFDM symbols may be included in 0.5 ms.
  • CP extended cyclic prefix
  • a length of CP included in a first OFDM symbol in 0.5 ms duration may be greater than a length of CP included in a remaining symbol.
  • the length of CP included in the remaining symbol excluding the first symbol in the 0.5 ms duration may be .
  • the length of CP of the first symbol in the 0.5 ms duration may be .
  • a length of a valid period of a symbol may be represented as a basic time unit T s according to Equation 1.
  • ⁇ denotes a parameter (i.e., NR numerology number) that determines the subcarrier spacing and denotes the length of the valid period of the symbol that is represented as the basic time unit.
  • the CP length may be represented as the basic time unit T s according to Equation 2.
  • Equation 2 for simplicity, it is assumed that an index of a symbol is numbered for each subframe. In this case, in a single subframe, a symbol with an index of and a symbol with an index of may correspond to the first symbols in 0.5 ms duration. In contrast, an index of a remaining symbol excluding the first symbol in the 0.5 ms duration may satisfy . In each case, the CP length may be determined according to Equation 2.
  • the UE may estimate a reception delay time of a reference signal by applying a super resolution analysis algorithm. If the super resolution analysis algorithm is applied, a large number of snapshot vectors may be required.
  • the UE may set a plurality of summation time intervals within a time interval in which the reference signal is received to acquire a snapshot vector.
  • the UE may extract snapshot vectors in different summation time intervals by moving, i.e., shifting a start point of a summation time interval.
  • a summation time interval may be limited to be present in a single symbol. Accordingly, it may be difficult for the UE to acquire a sufficient number of snapshot vectors in a time interval in which the reference signal is received.
  • an OFDM transmission method is used to describe that a reference signal is discontinuous in a boundary between symbols.
  • the respective subcarrier components may be orthogonal to each other and a signal may be represented as a sum of N complex sine waves. Therefore, a random signal may be represented as Equation 3.
  • N denotes a total number of subcarriers and denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an -th symbol.
  • FIG. 6 illustrates an example of a subcarrier discontinuous in a boundary between OFDM symbols according to at least one example embodiment.
  • t s,0 , t s,1 , t s,2 , and t s,3 denote a start point of a zero-th symbol, a start point of a first symbol, a start point of a second symbol, and a start point of a third symbol, respectively.
  • t cp,0 denotes an end point of a CP duration of the zero-th symbol and also a start point of a valid period of the zero-th symbol.
  • t cp,1 and t cp,2 denote an end point of a CP duration of the first symbol and an end point of a CP duration of the second symbol, respectively.
  • T u denotes a length of a valid period of a symbol
  • T CP denotes a length of a CP duration of the symbol.
  • a signal phase at may differ from a signal phase at . While the signal phase may be at , the signal phase may be at . That is, the signal may be discontinuous at .
  • the base station may change a signal phase at to differ from a signal phase at such that a signal phase at may be equal to a signal phase at . For example, if the signal phase at is set to , the signal phase at may become equal to the signal phase at . That is, the signal may be continuous at .
  • the base station may set a sequence of a reference signal such that a phase of a sequence of an n-th symbol may be shifted by a phase corresponding to a CP duration of an (n-1)-th symbol compared to a phase of a sequence of the (n-1)-th symbol.
  • the base station may determine the sequence of the reference signal to satisfy Equation 4.
  • Equation 4 denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an -th symbol, denotes a length of a valid period of a symbol, and denotes a length of a CP duration of an ( -1)-th symbol.
  • an index of a symbol may be counted for each slot. If a normal CP is used in the LTE standard, . If an extended CP is used in the LTE standard, .
  • an index of a symbol may continuously increase in a time domain. Accordingly, in the 5G NR standard, may be a random natural number.
  • a sequence value corresponding to the -th symbol may correspond to a value that is phase-shifted by from a sequence value corresponding to the -th symbol.
  • Equation 5 it may be expressed as Equation 5.
  • a sequence component of a symbol not present at a start point of a slot may be phase-shifted from a sequence component of a previous symbol by . If the normal CP is applied in the LTE standard, a sequence of a reference signal may be represented as Equation 6.
  • Equation 6 denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an initial symbol of an initial slot.
  • s denotes a slot index, denotes a symbol index, and denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an -th symbol of an s-th slot.
  • k is an even number, is 1 at all times. Therefore, an initial phase of a k-th subcarrier of a start symbol of a slot may be the same regardless of a slot index.
  • k is an odd number
  • the sequence of the reference signal may be represented as Equation 7.
  • Equation 7 denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an initial symbol of an initial slot, and denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an symbol of an s-th slot.
  • mod denotes a modulo function used to acquire a remainder.
  • numerology number 0 and accordingly, P and .
  • the index portion of -1 is 0 in other subcarrier spacings, that is, if . Therefore, start symbols of all of the subcarriers have a positive sign.
  • If and odd number, that is the index portion equation of -1 becomes an odd number and a start sign of a subcarrier becomes -1.
  • a sequence of a reference signal may be represented as Equation 8.
  • Equation 8 denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an initial symbol of an initial slot, and denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an -th symbol.
  • s denotes a maximum integer less than or equal to .
  • a length of a start symbol in 0.5 msec duration may differ from lengths of other symbols .
  • Equation 9 denotes a parameter that determines a subcarrier spacing, denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an initial symbol of an initial slot, and denotes a frequency domain complex exponentiation representing an initial phase and amplitude of a k-th subcarrier of an -th symbol.
  • numerology of the normal CP is applied in Equation 9, it is provided as an example only and the example embodiments are not limited thereto.
  • a sequence of a reference signal may be represented as Equation 10.
  • k is an even numbered subcarrier, all of start number signs of each slot are +1.
  • a single slot may include 12 symbols and accumulated CP duration in the slot may be three times ( ) of a valid period of a symbol. Accordingly, since a phase shift amount by the accumulated extended CP duration in a slot is , initial phases of k-th subcarriers in start symbols of different slots may be equal to each other.
  • T cp /T u 1/4.
  • a sequence of a reference signal may be represented as Equation 11.
  • FIG. 7 illustrates an example of a waveform of a first reference signal or a second reference signal according to at least one example embodiment.
  • a base station may generate a reference signal based on a sequence of a reference signal that is determined according to one of Equation 4 to Equation 11. Accordingly, a waveform of the reference signal of FIG. 7 may be continuous in a boundary between adjacent symbols, which differs from the example of FIG. 6.
  • FFT fast Fourier transform
  • the UE may move, that is, shift the FFT window without considering a boundary between symbols.
  • the UE may change a start point of a summation time interval that is proportional to a size of the FFT window in a time interval in which the reference signal is received, without considering the boundary between symbols. Accordingly, the UE may acquire a sufficient number of snapshot vectors.
  • FIG. 8 is a flowchart illustrating an example of a positioning method of a UE according to at least one example embodiment.
  • the UE may receive a plurality of reference signals. For example, the UE may receive a first reference signal from the first transmitter 100A and may receive a second reference signal from the second transmitter 100B. If at least three transmitters are present, the UE may receive at least three reference signals.
  • the UE may acquire a plurality of first snapshot vectors with respect to the first reference signal and may acquire a plurality of second snapshot vectors with respect to the second reference signal.
  • the UE may acquire a plurality of snapshot vectors by shifting a start point of a summation time interval within a time interval in which a reference signal is received.
  • Each of the plurality of snapshot vectors may correspond to a different summation time interval. If a waveform of each of subcarrier signals included in the reference signal is continuous regardless of a boundary between symbols, the UE may shift the start point of the summation time interval without considering the boundary between the symbols. For example, the UE may shift the start point of the summation time interval based on a sample time unit that is determined based on a sampling rate. As another example, the UE may shift the start point of the summation time interval based on a multiple unit of a sample time. The UE may acquire a plurality of snapshot vectors by shifting the start point of the summation time interval based on the sample time unit within a single symbol. A length of the summation time interval may be less than a length of a time interval in which the UE receives the reference signal.
  • the first reference signal transmitted from the first transmitter 100A may be represented at a time t according to Equation 12.
  • Equation 12 denotes a reference signal transmitted at the time t.
  • a signal represented by Equation 12 may be a baseband signal.
  • a p denotes a modulated strength component of a subcarrier signal having an angular frequency .
  • a domain of the time t may correspond to a time interval in which the reference signal is transmitted. For example, if the reference signal continues during n symbol periods, t may be one of values between 0 and .
  • a baseband signal in which the first reference signal transmitted from the first transmitter 100A in Equation 12 is collected as N sample strings may be represented as a vector as shown in Equation 13.
  • N may be determined based on a size of an FFT window.
  • Equation 13 denotes a vector that includes samples of the first reference signal transmitted at N sample times.
  • Equation 14 the second reference signal may be represented by Equation 14.
  • Equation 14 denotes the reference signal transmitted at the time t.
  • a signal represented by Equation 14 may be a baseband signal.
  • B p denotes a modulated strength component of a subcarrier signal having an angular frequency . denotes an index smaller by 1 than an angular frequency index of a first subcarrier of a second subcarrier group.
  • a domain of t may correspond to a time interval in which the reference signal is transmitted. For example, if the reference signal continues during n symbol periods, t may be one of values between 0 and .
  • samples of the second reference signal transmitted at N sample times may be represented as a vector.
  • a channel for subcarriers included in the first reference signal may be represented as Equation 15.
  • Equation 15 denotes a channel matrix for the first reference signal, denotes an index smaller by 1 than an angular frequency an index of a first subcarrier of a first subcarrier group, denotes a size component for each multipath of , denotes a number of multipaths, and [ ] denotes a channel delay time by a multipath.
  • each of columns of may be a geometric progression.
  • an angular frequency index of each of subcarriers in the first subcarrier group may increase by one. That is, the subcarriers included in the first subcarrier group may be provided at equal intervals in the frequency domain.
  • an angular frequency index of each of subcarriers in the second subcarrier group may increase by one. However, it is provided as an example only. For example, the angular frequency index may increase by 2 or by 3. Since the angular frequency index constantly increases, each of the columns of may be a geometric equation. That is, may be represented as Vandermonde matrix.
  • the UE may receive the first reference signal and the second reference signal. Using Equation 12 and Equation 15, the first reference signal received at the UE may be represented as Equation 16.
  • Equation 16 denotes the first reference signal received at the UE, and denotes a channel for a subcarrier having an angular frequency . Also, denotes an initial phase component of a p-th subcarrier signal of the first transmitter 100A, and denotes an index smaller by 1 than an angular frequency index of a first subcarrier of a first subcarrier group. If synchronization is not accurately performed between the base station and the UE, the UE may not secure information about .
  • Equation 17 a channel matrix for the second reference signal may be represented as Equation 17.
  • Equation 17 denotes a channel matrix for the second reference signal, denotes an index smaller by 1 than an angular frequency index of a first subcarrier of the second subcarrier group, and denotes a size component for each multipath of .
  • Equation 18 the second reference signal received at the UE may be represented as Equation 18.
  • Equation 18 denotes the second reference signal received at the UE, denotes a channel for a subcarrier having an angular frequency , denotes an initial phase component of a p-th subcarrier signal transmitted from the second transmitter 100B, and denotes an index smaller by 1 than an angular frequency index of a first subcarrier of a first subcarrier group.
  • a baseband signal in which the first reference signal received at the UE in Equation 16 is collected as N sample strings may be represented as a vector as shown in Equation 19.
  • N may be determined based on a size of an FFT window.
  • Equation 19 denotes a vector that includes samples of the first reference signal received at the UE at N sample times.
  • a time period that includes the N sample times may be referred to as a summation time interval. Therefore, may represent, as a vector, sample data of the first reference signal acquired in the summation time interval.
  • Complex conjugate numbers of a subcarrier corresponding to N sample times in the summation time interval may be represented in a vector form according to Equation 20.
  • Equation 20 denotes a discrete Fourier transform (DFT) coefficient matrix used for FFT operation of a subcarrier having an angular frequency .
  • the UE may calculate a snapshot vector based on the vector including sample data of the first reference signal represented by Equation 19 and the DFT coefficient matrix represented by Equation 20.
  • the UE may multiply the plurality of complex conjugate numbers and the plurality of sample data values, respectively, and may sum up multiplication result values.
  • the aforementioned operation process may be represented as an inner product operation of a vector according to Equation 21.
  • Equation 21 denotes an angular frequency of a k-th subcarrier, denotes a DFT coefficient matrix used for FFT operation of a subcarrier having the angular frequency . Also, denotes a data value of the first reference signal received at the UE at the time t, and N denotes a length of the summation time interval. In a general OFDM system, N may be determined based on a size of an FFT window. Also, denotes an initial phase component of a k-th subcarrier signal of the first transmitter 100A, and denotes a channel for the k-th subcarrier.
  • an inner product result of and may be represented as a summation of error component and a multiplication of and term depending on the initial phase component of the k-th subcarrier.
  • s may be an error that degrades positioning precision as an interference component caused by noise and other orthogonal subcarrier components.
  • the effect by the error component s may be offset and decrease.
  • the UE may calculate the expectation value of the covariance matrix based on the plurality of snapshot vectors that is acquired in a plurality of summation time intervals of which start points in times are t, t+1, t+2, t+3 ..., respectively.
  • This process may include an average calculation process.
  • error components of different snapshot vectors may be offset and a level of contribution that the error components make to a calculation result of the covariance matrix may decrease. Accordingly, s may be ignored during the following process of calculating the covariance matrix.
  • Equation 21 may be represented as Equation 22 by considering all of the subcarriers included in the first subcarrier group.
  • Equation 22 denotes a snapshot vector of the first reference signal acquired by the UE, and denotes an index smaller by 1 than an angular frequency index of a first subcarrier of the first subcarrier group.
  • Equation 22 may be determined based on a multiplication between DFT coefficient matrices corresponding to angular frequencies of subcarriers belonging to the first subcarrier group and a plurality of pieces of sample data of the first reference signal received at the UE.
  • the UE may acquire the plurality of snapshot vectors with respect to the first reference signal by shifting a start point t of the summation time interval.
  • the UE may acquire a snapshot vector of the second reference signal. Similar to Equation 22, the snapshot vector of the second reference signal may be represented as Equation 23.
  • Equation 23 denotes the snapshot vector of the second reference signal acquired by the UE, and denotes an index smaller by 1 than an angular frequency index of a first subcarrier of the second subcarrier group.
  • a method of acquiring, by the UE, a snapshot vector is not limited to the aforementioned example embodiments.
  • the UE may extract a plurality of subcarrier waveforms using a filter bank that includes peak filters each configured to extract a sine wave component for each subcarrier.
  • the UE may employ a DFT filter method for restoring a plurality of subcarrier waveforms using a finite impulse response (FIR) filter bank configured as DFT coefficients corresponding to a size of an FFT window.
  • FIR finite impulse response
  • the UE may employ a variety of methods, for example, a sliding FFT filter method for collecting N-length sample groups in a time domain sample, performing an FFT on the collected sample groups, and continuously extracting only a plurality of subcarrier components therefrom.
  • the aforementioned snapshot vector acquiring method may reduce a calculation amount by omitting a calculation with respect to a time interval in which summation time intervals overlap during a calculation process.
  • the UE may calculate a covariance matrix based on the plurality of snapshot vectors. For example, the UE may calculate a first covariance matrix based on snapshot vectors of the first reference signal and may calculate a second covariance matrix based on snapshot vectors of the second reference signal.
  • the snapshot vector of the first reference signal represented as Equation 22 may be represented again as Equation 24.
  • Equation 24 has the same parameters as those represented by notations of Equation 12 to Equation 23 and thus, description related thereto is omitted.
  • Equation 24 an angular frequency of a subcarrier, . Therefore, Equation 24 may be changed to Equation 25.
  • Equation 25 it can be verified that each column of an intermediate matrix is a geometric progression. That is, the intermediate matrix corresponds to Vandermonde matrix.
  • the Vandermonde matrix may be represented again using a steering matrix.
  • the steering matrix may be represented as steering vectors.
  • a steering vector may be represented as Equation 26.
  • Equation 26 denotes a steering vector corresponding to an s-th column of the intermediate matrix in Equation 25.
  • a steering matrix may be represented as Equation 27.
  • Equation 27 denotes the steering matrix and may correspond to the intermediate matrix of Equation 25.
  • the snapshot vector of Equation 25 may be represented as Equation 28.
  • the first covariance matrix may be represented as Equation 29.
  • Equation 29 denotes the first covariance matrix, denotes a snapshot vector of the first reference signal, denotes an expectation value or an average of calculated based on a plurality of snapshot vectors of the first reference signal. Equation 29 may be simplified and represented as Equation 30.
  • Equation 31 a second covariance matrix
  • Equation 31 denotes the second covariance matrix, and denotes a steering vector used to calculate the second covariance matrix.
  • a steering matrix used to calculate the second covariance matrix denotes a steering matrix used to calculate the second covariance matrix.
  • the UE may estimate a reception delay time of the first reference signal and a reception delay time of the second reference signal based on the covariance matrix.
  • the UE may estimate the reception delay time of the first reference signal using the first covariance matrix.
  • the UE may estimate the reception delay time of the second reference signal using the second covariance matrix.
  • the UE may estimate the reception delay time of the first reference signal and the reception delay time of the second reference signal according to Equation 32.
  • Equation 32 denotes a first covariance matrix and may be an square matrix. Also, denotes a second covariance matrix and may be an square matrix. Also, denotes an eigenvalue of the first covariance matrix, and denotes an eigenvalue of the second covariance matrix. Also, enotes an eigenvector of the first covariance matrix, and denotes an eigenvector of the second covariance matrix.
  • a space including eigenvectors to of the first covariance matrix and a space including eigenvectors to of the second covariance matrix may be regarded to belong to a noise space orthogonal to a signal space.
  • the UE may apply a super resolution algorithm, such as, for example, a multiple signal classification (MUSIC) algorithm, an estimation of signal parameters via rotational invariance techniques (ESPRIT) algorithm, and the like.
  • MUSIC multiple signal classification
  • ESPRIT rotational invariance techniques
  • the UE may apply a MUSIC algorithm to the first covariance matrix according to Equation 33.
  • Equation 33 denotes a steering vector for a snapshot vector of the first reference signal described above with reference to Equation 26 and denotes an i-th eigenvector of the first covariance matrix.
  • the UE may calculate such that may have a peak value.
  • the UE may calculate a delay time using such that may have a peak value. If there is a plurality of values for the delay time such that may have a peak value, a smallest value for the delay time may be estimated as the reception delay time of the first reference signal.
  • the UE may apply the MUSIC algorithm to the second covariance matrix according to Equation 34.
  • Equation 34 denotes a steering vector for a snapshot vector of the second reference signal and denotes an i-th eigenvector of the second covariance matrix.
  • the UE may calculate such that may have a peak value.
  • the UE may calculate a delay time using such that may have a peak value. If there is a plurality of values for the delay time such that may have a peak value, a smallest value for the delay time may be estimated as the reception delay time of the second reference signal.
  • the UE may estimate a position of the UE in a vertical direction.
  • the UE may calculate a difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal according to Equation 35.
  • Equation 35 denotes the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal.
  • the base station may provide the UE with information about the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal at one or more reference points.
  • the UE may estimate a vertical position of the UE, that is, a position of the UE in the vertical direction based on the provided information about the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal at the reference point, and the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal estimated by the UE.
  • FIG. 9 illustrating an example of describing a positioning method of a UE according to at least one example embodiment.
  • a base station may acquire in advance information about a difference between a reception delay time of a first reference signal 26 and a reception delay time of a second reference signal 28 arriving at a first reference point 52.
  • the base station may acquire in advance information about a difference between a reception delay time of a first reference signal 22 and a reception delay time of a second reference signal 24 arriving at a second reference point 54.
  • FIG. 9 illustrates an example in which the first reference point 52 is a top of a building and the second reference point 54 is a bottom of the building, it is provided as an example only.
  • the first reference point 52 and the second reference point 54 may refer to two points with different heights.
  • the UE may estimate a vertical position of the UE according to Equation 36.
  • Equation 36 h1 denotes a height difference between the first reference point 52 and the second reference point 54
  • h2 denotes a height difference between the first reference point 52 and the position 114 of the UE
  • the UE may estimate a vertical position of the UE using a further precisely derived equation.
  • FIG. 10 illustrates an example of describing a process of deriving an equation of estimating a vertical position of a UE according to at least one example embodiment.
  • a hyperbola (L1, L2) in which two foci correspond to a position of the first transmitter 100A and a position of the second transmitter 100B, respectively, while passing the position 114 of the UE may be present.
  • An equation of the hyperbola (L1, L2) may be represented as Equation 37.
  • Equation 38 Equation 38
  • Equation 38 a and b denote parameters used to determine the hyperbola equation represented as Equation 37.
  • the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal estimated by the UE may meet the following Equation 39.
  • Equation 39 denotes a constant that represents a light velocity, denotes the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal at the position 114 of the UE, and b denotes a parameter shown in Equation 37 and Equation 38.
  • Equation 39 may vary based on the position 114 of the UE. For example, if the position 114 of the UE is above the x axis, the '-' sign may apply in Equation 39. On the contrary, if the position 114 of the UE is below the x axis, the '+' sign may apply in the Equation 39.
  • Equation 37 may be represented as Equation 40.
  • Equation 40 an x-coordinate k of the UE may be substituted for Equation 40. If the horizontal coordinate k of the UE is substituted for Equation 40, a vertical coordinate y of the UE may be represented as Equation 41.
  • Equation 41 y denotes the vertical coordinate of the UE.
  • c may correspond to a half of the height difference between the first transmitter 100A and the second transmitter 100B and b may be determined according to Equation 38.
  • k may correspond to the x coordinate of the UE.
  • Equation 41 may be represented as Equation 42.
  • Equation 42 denotes a constant representing a light velocity, denotes the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal at the position 114 of the UE, d denotes the height difference between the first transmitter 100A and the second transmitter 100B, and k denotes the x coordinate of the UE. If the position 114 of the UE is above the x axis, may have a minus value and the y coordinate of the UE may be positive. On the contrary, if the position 114 of the UE is below the axis, the may have a positive value and the y coordinate of the UE may be negative.
  • the UE may acquire in advance information about remaining parameters excluding in Equation 42.
  • the UE may receive information about the parameter d from the base station.
  • the UE may acquire information about the x coordinate value k of the UE through positioning in the horizontal direction.
  • the UE may estimate the difference between the reception delay time of the first reference signal and the reception delay time of the second reference signal.
  • the UE may acquire the y coordinate of the UE by substituting the estimated difference for Equation 42.
  • a method and apparatus for positioning according to example embodiments are described above with reference to FIGS. 1 to 10. According to at least one example embodiment, it is possible to estimate a position of a UE in a vertical direction based on a difference between reception delay times of reference signals transmitted at different heights. Also, according to at least one example embodiments, it is possible to improve an accuracy in estimating a position of a UE in a vertical direction in such a manner that the UE acquires a plurality of snapshot vectors and estimates a reception delay time of a reference signal based on the acquired snapshot vectors. Also, according to at least one example embodiment, a base station may transmit a reference signal having a waveform continuous in a boundary between symbols and a UE may readily acquire a plurality of snapshot vectors accordingly. Also, according to at least one example embodiments, a base station may transmit a reference signal using subcarriers provided at equal intervals in a frequency domain and a UE may readily calculate a snapshot vector and a covariance matrix.
  • the node may refer to at least one of a base station and a UE included in the communication system and a computing apparatus configured to generate a positioning support table.
  • the computing apparatus is described below.
  • the positioning support table may include information used to estimate a position of a UE.
  • radio waves may be diffracted or reflected without reaching the UE at a straight distance. Accordingly, a signal transmitted from a base station reaches the UE through a multipath and accordingly, a distance between the UE and the base station estimated by the UE based on a result of measuring a positioning signal may differ from an actual straight distance between the UE and the base station. Therefore, a positioning performance may be degraded.
  • the positioning support table may include information capable of enhancing the positioning performance by applying geographic and building information of an area included in coverage of a positioning service.
  • a method of generating a positioning support table according to at least one example embodiment and an example of information included in the positioning support table will be further described.
  • FIG. 11 is a flowchart illustrating an example of a method of generating, by a computing apparatus, a positioning support table according to at least one example embodiment.
  • the method of generating the positioning support table may be performed by a base station or a computing apparatus separate from the base station.
  • the base station may transmit the generated positioning support table to a UE that accesses the base station.
  • the base station may acquire and store information about the positioning support table from the computing apparatus.
  • an entity that generates the positioning support table is described as the computing apparatus.
  • the computing apparatus may generate a 3D map based on geographic and building information about a predetermined area.
  • the computing apparatus may generate the 3D map using a 3D spatial modeling scheme.
  • the 3D map may include numerical number information to which geographic features, buildings, structures, etc., about the area are applied.
  • the 3D map may further include information about a position of the base station within the area.
  • the area may be determined based on a positioning service coverage.
  • the computing apparatus may generate the 3D map based on geographic features, buildings, structures, and positions, heights, and areas thereof about the predetermined area.
  • the computing apparatus may include, in the 3D map, information about a texture, a surface shape, etc., of a building or a structure. Therefore, the computing apparatus may simulate a path of a signal by applying the texture, the surface shape, etc., of the building or the structure.
  • the computing apparatus may set a plurality of grid points on the 3D map.
  • the computing apparatus may set an interval between grid points based on a desired positioning accuracy.
  • the computing apparatus may set the interval between the grid points to be constant.
  • the computing apparatus may set an interval between a portion of the grid points to be different from an interval between another portion of the grid points based on geographic features, buildings, structures, etc., of the 3D map.
  • the computing apparatus may determine a first base station corresponding to a grid point with respect to each of the grid points. For example, if a serving base station for a UE present at a grid point is predetermined based on a predetermined communication protocol, the computing apparatus may determine the serving base station of the UE present at the grid point as the first base station. As another example, the computing apparatus may determine, as the first base station, a base station that is positioned at a position corresponding to a shortest straight distance from the grid point based on a simulation result. As another example, the computing apparatus may determine, as the first base station, a base station corresponding to a shortest pseudo range of a signal that arrives at the grid point from the base station based on the simulation result.
  • the pseudo range may represent a range of a path through which the signal transmitted from the base station arrives at a target point. If the signal is diffracted or reflected by a building or a structure, the pseudo range may be greater than a straight distance between the base station and the grid point. Unless the signal is diffracted or reflected, the pseudo range may be equal to the straight distance.
  • the computing apparatus may determine, as the first base station, a base station corresponding to a highest strength of a signal that arrives at the grid point based on the simulation result.
  • the aforementioned methods of determining the first base station are provided as examples only and are not limited thereto.
  • the computing apparatus may calculate at least one physical parameter about a first signal that arrives at the grid point from the first base station and at least one physical parameter about a second signal that arrives at the gird point from a second base station that is one of base stations adjacent to the first base station.
  • the at least one physical parameter may include pseudo ranges of the first signal and the second, angles of arrival (AoA) of the first signal and the second signal, and the like.
  • FIG. 12 illustrates an example of parameters calculated by a computing apparatus based on a grid point GP according to at least one example embodiment
  • FIG. 13 is a flowchart illustrating an example of a process of performing operation S340 of FIG. 11.
  • a first base station 110 may be set for the grid point GP.
  • a second base station 120 that is one of base stations adjacent to the first base station 110 may be set for the grid point GP.
  • FIG. 12 illustrates only the first base station 110 and the second base station 120, it is provided as an example only.
  • the computing apparatus may further store parameters calculated with respect to the first base station 110 and a third base station (not shown) in the positioning support table as well as parameters calculated with respect to the first base station 110 and the second base station 120.
  • the computing apparatus may calculate a first pseudo range L - 1 between the first base station 110 and the grid point GP and a second pseudo range L 2 between the second base station 120 and the grid point GP. For example, the computing apparatus may calculate the first pseudo range L 1 - and the second pseudo range L 2 based on a simulation. The computing apparatus may calculate the first pseudo range L 1 by calculating a distance of a shortest path among multiple paths of a first signal 10. The computing apparatus may calculate the second pseudo range L 2 by calculating a distance of a shortest path among multiple paths of a second signal 60.
  • the computing apparatus may calculate a straight distance P 1 between the first base station 110 and the grid point GP and a second straight distance P 2 between the second base station 120 and the grid point GP. For example, the computing apparatus may calculate the first straight distance P 1 - and the second straight distance P 2 based on the simulation. If the first signal50is not diffracted at a point 52, the first pseudo range L 1 - may be identical to the first straight distance P 1 . If the second signal 60 is not diffracted at point 62, the second pseudo range L 2 - may be identical to the second straight distance P 2 .
  • information about a difference of straight distance between the first straight distance P 1 and the second straight distance P 2 may be required for the UE to estimate a position of the UE based on a trilateration.
  • a difference of pseudo range between the first pseudo range L 1 and the second pseudo range L 2 may be different from the difference of straight distance between the first straight distance P 1 and the second straight distance P 2 . Accordingly, the difference may need to be corrected.
  • the computing apparatus may calculate a correction value based on the difference of pseudo range and the difference of straight distance. For example, the computing apparatus may calculate the correction value according to Equation 43.
  • d a11 denotes a correction value used to correct a difference between the difference of pseudo range and the difference of straight distance
  • L 1 denotes the first pseudo range
  • L 2 denotes the second pseudo range
  • P 1 denotes the first straight distance
  • P 2 denotes the second straight distance.
  • the UE may acquire information about the difference of pseudo range (L 1 -L 2 ) based on a time of arrival (TOA), a time and difference of arrival (TDOA), or a phase difference between received signals.
  • TOA time of arrival
  • TDOA time and difference of arrival
  • the UE may acquire information about the difference of straight distance (P 1 -P 2 ) by subtracting the correction value d a11 from the difference of pseudo range.
  • the correction value d a11 may be used to improve the positioning performance of the UE.
  • the computing apparatus may calculate the correction value by substituting Equation 43 with the first pseudo range L 1 , the second pseudo range L 2 , the first straight distance P 1 , and the second straight distance P 2 calculated in operation S344.
  • the computing apparatus may generate the positioning support table.
  • the computing apparatus may perform operations S310 to S340 with respect to each of the plurality of grid points and may generate the positioning support table based on calculation results.
  • FIG. 14 illustrates an example of a schema of a positioning support table according to at least one example embodiment.
  • information about IDs of grid points may be stored in a column C2 of the positioning support table. Coordinates information of a grid point corresponding to each ID may be stored in a column C3.
  • ID information about a first base station, for example, a serving base station, corresponding to each grid point may be stored in a column C1.
  • Information about a difference of pseudo range calculated between the first base station and a second base station adjacent to the first base station at each grid point may be stored in a column C4.
  • Information about a correction value calculated based on the first base station and the second base station at each grid point may be stored in a column C6. Referring to FIG. 14, information about a difference of pseudo range calculated based on the first base station and a third base station adjacent to the first base station may be further stored in the column C6.
  • the positioning support table may further include additional information in addition to the difference of pseudo range and the correction value.
  • the positioning support table may also include information about signal attenuation.
  • the positioning support table may also include information about an angle of arrival (AOA) difference calculated based on the first base station and the second base station.
  • AOA angle of arrival
  • the computing apparatus may calculate an AoA difference between the first signal50and the second signal 60 based on a travel distance of the first signal50 that arrives at the grid point GP after diffraction and a travel distance of the second signal 60 that arrives at the grid point GP after diffraction. For example, the computing apparatus may calculate the AoA difference according to Equation 44.
  • r 1 denotes a length of a last straight line segment in the multipath of the first signal 10. If the first signal50is neither diffracted nor reflected, r 1 may be identical to the first pseudo range L 1 . Also, r 2 denotes a length of a last straight line segment in the multipath of the second signal 60. If the second signal 60 is neither diffracted nor reflected, r 2 may be identical to the second pseudo range L 2 . Also, g ab denotes a distance between the point 52 at which the first signal50is finally reflected or diffracted and the point 62 at which the second signal 60 is finally reflected or diffracted. Unless the first signal50and the second signal are diffracted or reflected, g ab may be identical to a distance U ab between the first base station 110 and the second base station 120.
  • the computing apparatus may calculate an AoA difference for each grid point and may store a calculation result in the positioning support table.
  • a schema of the positioning support table of FIG. 14 is provided as an example only.
  • the positioning support table may not include a portion of columns of FIG. 14.
  • the positioning support table may further include other information, such as, for example, a difference of straight distance, strength of arrival signal, a phase difference, delay spread information, propagation polarity information, angle of departure (AoD) of a signal from a base station, and the like.
  • the prestored positioning support table may be easily used although a channel environment varies in response to a change of weather and the like. For example, unless a parameter value, for example, a strength of signal, is updated based on a new environment in response to a change in the channel environment, the positioning performance using the positioning support table may be degraded.
  • a parameter value for example, a strength of signal
  • the UE may continuously use existing stored information unless there is no change in a building or a geographic feature. Therefore, according to at least one example embodiment, a number of updates of the positioning support table may be reduced and the positioning performance using the positioning support table may be improved.
  • a positioning method using a positioning support table is described.
  • description is made based on an example embodiment in which the UE performs positioning.
  • the base station may perform positioning using the received information and the positioning support table.
  • FIG. 15 illustrates an example of a positioning environment of a UE according to at least one example embodiment.
  • a UE 300 may receive a positioning signal from a first base station 110.
  • the UE 300 may receive a positioning signal from each of a second base station 120 and a third base station 130 adjacent to the first base station 110.
  • the UE 300 may calculate a TOA, a TDOA, and the like, based on a point in time at which each of the positioning signals is received.
  • the UE 300 may calculate a difference of pseudo range between the positioning signals based on the TOA or the TDOA.
  • the UE 300 may calculate the difference of pseudo range based on a phase difference between the positioning signals.
  • the UE 300 may extract at least one grid point by comparing the difference of pseudo range calculated based on the received positioning signals to the difference of pseudo range stored in the positioning support table.
  • the UE 300 may extract at least one grid point by comparing a received strength of a positioning signal, a phase difference, and the like to values stored in the positioning support table.
  • FIG. 15 illustrates three base stations that transmit a positioning signal to the UE, it is provided as an example only.
  • the UE 300 may receive a positioning signal from each of two base stations.
  • the UE 300 may receive a positioning signal from each of at least four base stations.
  • FIG. 16 is a flowchart illustrating an example of a positioning method of a UE according to at least one example embodiment.
  • the UE 300 may acquire a positioning support table.
  • the UE 300 may receive information about the positioning support table from a serving base station.
  • the UE 300 may store the positioning support table.
  • the UE 300 may receive positioning signals from a plurality of base stations, for example, the first to third base stations 110, 120, and 130.
  • Each of the first to third base stations 110, 120, and 130 may transmit a pilot symbol based on a predetermined sequence.
  • Each of the first to third base stations 110, 120, and 130 may periodically transmit a positioning signal.
  • each of the first to third base stations 110, 120, and 130 may transmit a positioning signal in response to a request from the UE 300.
  • the UE 300 may calculate a physical parameter about the positioning signals.
  • the UE 300 may calculate at least one of a TOA, TDOA, and a phase difference of the positioning signals.
  • the UE 300 may calculate a difference of pseudo range between the positioning signals based on at least one of the calculated TOA, TDOA, and phase difference. For example, the UE 300 may calculate the TDOA of the positioning signals and may calculate the difference of pseudo range between the positioning signals according to Equation 45.
  • Equation 45 denotes a vector that is determined based on the difference of pseudo range between the positioning signals, denotes a point in time at which a positioning signal transmitted from an i-th base station is received, c denotes a speed of light constant, and denotes a difference of pseudo range between a positioning signal transmitted from an i-th base station and a positioning signal transmitted from a j-th base station.
  • the UE 300 may calculate an angle difference in direction of arrival between the positioning signals, a difference in received strength between the positioning signals, and the like.
  • the UE 300 may extract at least one grid point from among the plurality of grid points by comparing a parameter value calculated in operation S430 to values stored in the positioning support table.
  • the UE 300 may extract at least one grid point from among the plurality of grid points based on the difference of pseudo range between the positioning signals and the difference of pseudo range stored in the positioning support table of FIG. 14.
  • the UE 300 may substitute a cost function with the difference of pseudo range between the positioning signals and values stored in the positioning support table, and may extract at least one grid point from among the plurality of grid points based on an output value of the cost function.
  • the UE 300 may calculate the output value of the cost function according to Equation 46.
  • a denotes an index of the first base station 110 (e.g., a serving base station) set for the UE 300
  • k denotes an index of a base station adjacent to the first base station 110
  • the UE 300 may calculate the output value of the cost function using a method of least squares.
  • the UE 300 may extract a grid point corresponding to a minimum output value of the cost function.
  • the UE 300 may extract one or more grid points that meet a condition that the output value of the cost function is less than a reference value.
  • the cost function of Equation 46 is provided as an example only.
  • the UE 300 may calculate the output value of the cost function using a first norm calculation method, a Jaccard similarity calculation method, and the like.
  • the foregoing description is made based on an example in which the UE 300 extracts a grid point using the difference of pseudo range, it is provided as an example only.
  • the UE 300 may measure or calculate delay spread information of a positioning signal, propagation polarity information, an angle of departure (AoD) from a base station, and may extract at least one grid point similar to an actual environment from the positioning support table.
  • AoD angle of departure
  • the UE 300 may estimate a position of the UE 300 from the extracted grid point. For example, when the UE 300 extracts a single grid point, the UE 300 may estimate the extracted grid point as the position of the UE 300. As another example, when the UE 300 extracts a plurality of grid points, the UE 300 may estimate a center point of the plurality of grid points as the position of the UE 300. If necessary, the UE 300 may remove an outlier from among the plurality of grid points and may determine a center point of the remaining grid points as the position of the UE 300.
  • the UE 300 may estimate the position of the UE 300 by further performing a procedure of determining a candidate position from the extracted grid point and correcting the candidate position.
  • FIG. 17 is a flowchart illustrating another example of a positioning method of the UE 300 according to at least one example embodiment. Description made above with FIG. 16 is omitted here.
  • the UE 300 may estimate the position of the UE 300 by determining a candidate position based on the extracted grid point and by correcting the candidate position.
  • the UE 300 may determine the extracted grid point as the candidate position.
  • the UE 300 may determine a center point of the plurality of grid points as the candidate position. If necessary, the UE 300 may remove an outlier from the plurality of grid points and may determine a center point of the remaining grid points as the candidate position.
  • FIG. 18 illustrates an example of removing, by the UE 300, an outlier according to at least one example embodiment.
  • FIG. 18 illustrates grid points on a two-dimensional (2D) plane for clarity of description, it is provided as an example only.
  • the grid points may be three-dimensionally aligned.
  • the UE 300 may determine, as a first candidate group G1, grid points extracted based on an output value of a cost function.
  • the UE 300 may remove an outlier from the grid points included in the first candidate group G1.
  • the UE 300 may remove the outlier based on a distance between the grid points included in the first candidate group G1.
  • the UE 300 may determine a second candidate group G2 by removing the outlier from the first candidate group G1.
  • the UE 300 may determine a candidate position based on coordinates of a grid point included in the second candidate group G2. For example, the UE 300 may determine a center point of the grid points included in the second candidate group G2 as the candidate position.
  • the UE 300 may estimate a position of the UE 300 by correcting the candidate position.
  • the UE 300 may correct the candidate position based on a correction value stored in a positioning support table.
  • the UE 300 may correct the candidate position based on a correction value corresponding to the single grid point.
  • the UE 300 may determine the candidate position using an average or linear sum of correction values corresponding to the plurality of grid points.
  • the UE 300 may calculate a corrected distance difference vector according to Equation 47.
  • each of r ab , r ac , r ad .. denotes a difference of pseudo range of a positioning signal received by the UE 300
  • each of d ab , d ac , d ad .. denotes a correction value corresponding to a grid point in the positioning support table
  • the UE 300 may correct a difference of pseudo range between positioning signals according to Equation 47.
  • the corrected difference of pseudo range may be similar to a straight distance between the UE 300 and each of the base stations.
  • the UE 300 may estimate a position of the UE 300 using an algorithm, for example, a trilateration, based on the corrected difference of pseudo range.
  • the UE 300 may estimate the position of the UE 300 by performing a position estimation operation at least once based on a Tayler deployment method.
  • the n-th estimation distance difference may be represented by Equation 48.
  • each of a and b denotes an index of a corresponding base station, denotes the n-th estimation distance difference, L a denotes an n-th estimation straight distance between an a-th base station and the UE 300, and L b denotes an n-th estimation straight distance between a b-th base station and the UE 300.
  • L a denotes an n-th estimation straight distance between an a-th base station and the UE 300
  • L b denotes an n-th estimation straight distance between a b-th base station and the UE 300.
  • the UE 300 may calculate a partial differential coefficient matrix by performing a partial differentiation on .
  • the UE 300 may calculate the partial differential coefficient matrix according to Equation 49.
  • Equation 49 D denotes the partial differential coefficient matrix, each of , .... denotes an n-th estimation distance difference, and each of a, b, c ... denotes an index of a corresponding base station.
  • the UE 300 may calculate an (n+1)-th estimation position according to Equation 50.
  • Equation 50 P n denotes an n-th estimation position coordinate vector, denotes a moore-penrose inverse function of the partial differential coefficient matrix D, and denotes an error vector that is acquired by subtracting the n-th estimation distance difference vector of Equation 48 from the corrected distance difference vector of Equation 47.
  • the position estimation method described above with reference to Equation 49 and Equation 50 is provided as an example only.
  • the UE 300 may estimate the position of the UE 300 using a maximum likelihood estimation method, Chan's method, and the like.
  • the positioning support table generation method and the positioning method using the positioning support table according to at least one example embodiment is described above with reference to FIGS. 43 to 50. According to at least one example embodiment, it is possible to maintain a relatively high positioning performance using a positioning support table without significantly reducing an update period of the positioning support table. Therefore, it is possible to reduce cost required to update the positioning support table. Also, according to at least one example embodiment, it is possible to easily extract a grid point corresponding to an environment similar to an actual environment using a positioning support table. Also, according to at least one example embodiment, it is possible to improve a positioning performance by correcting a candidate position using a correction value stored in a positioning support table.
  • the hardware components may include a general-purpose computer and/or exclusive computing device or a specific computing device or a special feature or component of the specific computing device.
  • the processes may be implemented using one or more processors having an internal and/or external memory, for example, a microprocessor, a controller such as a microcontroller and an embedded microcontroller, a microcomputer, an arithmetic logic unit (ALU), and a digital signal processor such as a programmable digital signal processor or other programable devices.
  • the processes may be implemented using an application specific integrated circuit (ASIC), a programmable gate array, such as, for example, a field programmable gate array (FPGA), a programmable logic unit (PLU), or a programmable array logic (PAL), and other devices capable of executing and responding to instructions in a defined manner, other devices configured to process electronic devices, and combinations thereof.
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • PLU programmable logic unit
  • PAL programmable array logic
  • the processing device may run an operating system (OS) and one or more software applications that run on the OS. Also, the processing device may access, store, manipulate, and create data in response to execution of the software.
  • OS operating system
  • the processing device may access, store, manipulate, and create data in response to execution of the software.
  • a processing device may include a plurality of processing elements and/or multiple types of processing elements.
  • the processing device may include a plurality of processor or a single processor and a single controller.
  • different processing configurations are possible such as parallel processors.
  • the software may include a computer program, a piece of code, an instruction, or some combination thereof, for independently or collectively instructing or configuring the processing device to operate as desired.
  • Software and/or data may be embodied permanently or temporarily in any type of machine, component, physical equipment, virtual equipment, computer storage medium or device, or in a propagated signal wave capable of providing instructions or data to or being interpreted by the processing device.
  • the software also may be distributed over network coupled computer systems so that the software is stored and executed in a distributed fashion.
  • the software and data may be stored by one or more computer readable storage mediums.
  • the methods according to the example embodiments may be recorded in non-transitory computer-readable recording media including program instructions to implement various operations embodied by a computer.
  • the media may also include, alone or in combination with the program instructions, data files, data structures, and the like.
  • the media and program instructions may be those specially designed and constructed for the purposes, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • non-transitory computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM, DVD, and blue-rays; magneto-optical media such as floptical disks; and hardware devices that are specially to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like.
  • magnetic media such as hard disks, floppy disks, and magnetic tape
  • optical media such as CD ROM, DVD, and blue-rays
  • magneto-optical media such as floptical disks
  • hardware devices that are specially to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like.
  • Examples of program instructions include both machine code, such as produced by a compiler and files containing structural programming languages such as C++ object-oriented programming language and high or low programming languages (assembly languages, hardware technical languages, database programming languages and techniques) to run on one of the aforementioned devices and a processor, a processor architecture, or a heterogeneous combination of combinations of different hardware and software components, or a machine capable of executing program instructions. Accordingly, they may include a machine language code, a byte code, and a high language code executable using an interpreter and the like.
  • the aforementioned methods and combinations thereof may be implemented by one or more computing devices as an executable code that performs the respective operations.
  • the methods may be implemented by systems that perform the operations and may be distributed over a plurality of devices in various manners or all of the functions may be integrated into a single exclusive, stand-alone device, or different hardware.
  • devices that perform operations associated with the aforementioned processes may include the aforementioned hardware and/or software.
  • all of the sequences and combinations associated with the processes are to be included in the scope of the present disclosure.
  • the described hardware devices may be to act as one or more software modules in order to perform the operations of the above-described example embodiments, or vice versa.
  • the hardware devices may include a processor, such as, for example, an MPU, a CPU, a GPU, a TPU, etc., configured to be combined with a memory such as ROM/RAM configured to store program instructions and to execute the instructions stored in the memory, and may include a communicator capable of transmitting and receiving a signal with an external device.
  • the hardware devices may include a keyboard, a mouse, and an external input device for receiving instructions created by developers.
  • the present disclosure is not limited to the aforementioned example embodiments and may belong to the scope of example embodiments disclosed herein and equally or equivalently modified from the claims.
  • the methods may be implemented in different sequence and/or components of systems, structures, apparatuses, circuits, etc., may be combined or integrated in different form or may be replaced with other components or equivalents, appropriate results may be achieved.
  • Such equally or equivalently modified example embodiments may include logically equivalent methods capable of achieving the same results according to the example embodiments. Accordingly, the present disclosure and the scope thereof are not limited to the aforementioned example embodiments and should be understood as a widest meaning allowable by law.

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

Abstract

L'invention concerne un procédé de positionnement d'un équipement utilisateur exécuté par l'équipement utilisateur, le procédé comprenant la réception de premier et second signaux de référence provenant d'au moins deux émetteurs installés à des positions de hauteurs différentes ; l'acquisition de premiers vecteurs d'instantanés sur la base d'échantillons de données reçus du premier signal de référence et l'acquisition de seconds vecteurs d'instantanés sur la base d'échantillons de données reçus du second signal de référence ; le calcul d'une première matrice de covariance sur la base des premiers vecteurs d'instantanés et le calcul d'une seconde matrice de covariance sur la base des seconds vecteurs d'instantanés ; l'estimation d'une différence entre un temps de retard de réception du premier signal de référence et un temps de retard de réception du second signal de référence sur la base des première et seconde matrices de covariance ; et l'estimation d'une position verticale de l'équipement utilisateur sur la base de la différence entre le temps de retard de réception du premier signal de référence et le temps de retard de réception du second signal de référence.
EP21736202.9A 2020-01-03 2021-01-04 Procédé et appareil de positionnement Withdrawn EP4085271A1 (fr)

Applications Claiming Priority (3)

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US16/733,903 US11363414B2 (en) 2020-01-03 2020-01-03 Method for creating positioning support table and positioning using the positioning support table
US16/819,630 US10809351B1 (en) 2020-03-16 2020-03-16 Method and apparatus for positioning
PCT/KR2021/000022 WO2021137675A1 (fr) 2020-01-03 2021-01-04 Procédé et appareil de positionnement

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JP3990165B2 (ja) * 2002-02-25 2007-10-10 株式会社エヌ・ティ・ティ・ドコモ セルラ通信システムならびにセルラ通信システムにおける無線端末の位置推定装置および無線端末
KR101430247B1 (ko) * 2012-01-18 2014-08-18 경희대학교 산학협력단 실내 가시광 통신을 이용한 3차원 위치 측정 방법 및 그 시스템과, 위치 기반 서비스 제공 방법
NL2013473B1 (en) * 2014-09-15 2016-09-28 Fugro N V Precise GNSS positioning system with improved ambiguity estimation.
WO2018068562A1 (fr) * 2016-10-14 2018-04-19 苏州触达信息技术有限公司 Système de positionnement et procédé de positionnement
EP3321709A1 (fr) * 2016-11-11 2018-05-16 Fraunhofer Gesellschaft zur Förderung der Angewand Localisation d'équipement utilisateur dans un réseau de communication mobile en fonction des retards et les forces de trajet
US10809351B1 (en) * 2020-03-16 2020-10-20 Jaihyung Cho Method and apparatus for positioning

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