WO2013104341A1 - 一种移动终端定位的方法、定位服务器及服务基站 - Google Patents

一种移动终端定位的方法、定位服务器及服务基站 Download PDF

Info

Publication number
WO2013104341A1
WO2013104341A1 PCT/CN2013/070426 CN2013070426W WO2013104341A1 WO 2013104341 A1 WO2013104341 A1 WO 2013104341A1 CN 2013070426 W CN2013070426 W CN 2013070426W WO 2013104341 A1 WO2013104341 A1 WO 2013104341A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile terminal
positioning
base station
error
position coordinate
Prior art date
Application number
PCT/CN2013/070426
Other languages
English (en)
French (fr)
Chinese (zh)
Inventor
罗新龙
陈德
肖登坤
崔杰
李汐
Original Assignee
华为技术有限公司
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
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2013104341A1 publication Critical patent/WO2013104341A1/zh

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention belongs to the field of communications technologies, and in particular, to a method for positioning a mobile terminal, a positioning server, and a serving base station.
  • GSM Global System For Mobile Communication
  • CDMA Code Division Multiple Access
  • UMTS Universal Mobile Telecommunications System
  • GPS Global Positioning System
  • GLONAS Global Navigation Satellite System
  • Beidou satellite positioning systems and by detecting characteristic parameters of radio wave propagation signals between mobile terminals and base stations (such as signal field strength, The technique of estimating the geometric position of the mobile terminal according to the relevant positioning algorithm, such as propagation time or time difference, signal incident angle, and the like.
  • Wireless mobile positioning technology can have multiple classification methods according to different classification standards.
  • wireless mobile positioning technologies are classified into three categories according to different radio resources depending on the positioning process: 1) network-based positioning technology; ) satellite-based positioning technology; 3) hybrid positioning technology.
  • satellite-based positioning technology and hybrid positioning technology require the assistance of other systems to locate, such as satellite systems, electronic maps or electronic beacons, and the satellite receiving chips are expensive, resulting in high cost of positioning the mobile terminal.
  • hybrid positioning technology is not available in the coverage of all mobile communication networks. For example, indoors cannot receive satellite signals because of mobile terminals, which makes satellite or satellite-assisted hybrid positioning technology ineffective.
  • the network-based positioning technology is the hotspot of current research because the main component relies on the detection of radio resource characteristic parameters inside the mobile communication system and estimates the location of the mobile terminal according to the positioning algorithm.
  • TOA Time of Arrival
  • y is a two-dimensional row vector:
  • k 1, 2
  • the mobile terminal When there is an error in the measured distance between the mobile terminal and the base station, it calculates the mobile terminal according to the measured distance between the mobile terminal and the base station and the actual distance between the base station and the base station. And an approximation structure formed by the base station, and then using the optimal rigid body transformation to map the calculated approximation structure coordinates to the space where the original base station coordinates are located, thereby obtaining an optimal positioning point of the mobile terminal in the coordinate space of the original base station.
  • the nonlinear least squares global structure approximation positioning method is relatively small when the measurement distance error between the mobile terminal and the base station is small. Because the overall approximation strategy is adopted, the positioning of the mobile terminal is relatively effective.
  • the nonlinear least squares overall structure approximation positioning method is used to amplify the measurement distance error, resulting in an estimation.
  • the location of the mobile terminal cannot effectively meet the requirements of the Federal Communications Commission (FCC) for positioning accuracy, that is, the probability of success of positioning accuracy of 100 meters is 67%, and the probability of success of positioning accuracy of 300 meters reaches 95%.
  • FCC Federal Communications Commission
  • the embodiments of the present invention provide a method for positioning a mobile terminal, which is to solve the problem that the FCC positioning accuracy cannot be effectively met when the measurement distance error between the mobile terminal and the base station is relatively large.
  • the embodiment of the present invention is implemented by the method for positioning a mobile terminal, where the method includes: using a non-measurement distance between the mobile terminal and the at least two positioning base stations, and an actual distance between the at least two positioning base stations Calculating initial position coordinates of the mobile terminal by a linear least squares overall structure approximation positioning method;
  • the positioning base station is a base station that the mobile terminal can receive a signal
  • the measured distance between the mobile terminal and the positioning base station is a position coordinate of the kth positioning base station
  • y is a position coordinate of the mobile terminal.
  • An embodiment of the present invention further provides a positioning server, where the positioning server includes:
  • An initial position determining unit configured to calculate, by using a nonlinear least squares overall structure approximation positioning method, the mobile terminal according to a measured distance between the mobile terminal and the at least two positioning base stations and an actual distance between the at least two positioning base stations Initial position coordinates;
  • a final position output unit configured to use the initial position coordinate calculated by the initial position determining unit as an initial iteration point, and obtain a solution that satisfies the predetermined
  • the positioning base station is a base station that the mobile terminal can receive a signal, and is a measurement distance between the mobile terminal and the positioning base station, where is the position coordinate of the kth positioning base station, and y is the position coordinate of the mobile terminal.
  • the embodiment of the present invention takes the initial position coordinate as an initial iteration point, and obtains an optimal condition for satisfying the positioning model by solving a ⁇ ? Solving, and outputting the optimal solution as the final position coordinate of the mobile terminal. Since the positioning model uses the loop iteration to obtain the local maximum advantage, the measurement distance error is not amplified, so that when the mobile terminal and the positioning base station When the measurement distance error is large, the accuracy of positioning of the mobile terminal can still be ensured.
  • FIG. 1 is a schematic diagram of a TOA-based positioning method according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of implementing a mobile terminal positioning method according to Embodiment 1 of the present invention
  • FIG. 3 is a positioning precision and a positioning probability of UMTS measured data provided by Embodiment 1 of the present invention
  • FIG. 4 is a flowchart of an implementation of a positioning method of a mobile terminal according to Embodiment 2 of the present invention
  • FIG. 5 is a structural diagram of a positioning server according to Embodiment 3 of the present invention
  • FIG. 6 is a structural diagram of a positioning server provided by Embodiment 4 of the present invention.
  • FIG. 7 is a structural diagram of a service base station according to Embodiment 5 of the present invention.
  • the embodiment of the present invention calculates the initial position coordinates of the mobile terminal by using a nonlinear least squares overall structure approximation positioning method, and After obtaining the initial position coordinates, the initial position coordinates are taken as
  • the initial iteration point by solving the min p(_ ') ⁇ S 3 ⁇ 4 V
  • the optimal solution of the model constraint is used and the optimal solution is output as the final position coordinate of the mobile terminal. Since the positioning model adopts the loop iteration method to obtain the local maximum advantage, the measurement distance error is not amplified, so that when the measurement distance error between the mobile terminal and the positioning base station is large, the positioning accuracy of the mobile terminal can be ensured, and the FCC positioning can be satisfied. Precision requirements.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • FIG. 2 is a flowchart showing an implementation process of a mobile terminal positioning method according to Embodiment 1 of the present invention. The process is detailed as follows:
  • step S201 calculating a initial position of the mobile terminal by using a nonlinear least squares overall structure approximation positioning method according to a measured distance between the mobile terminal and the at least two positioning base stations and an actual distance between the at least two positioning base stations. coordinate.
  • the positioning base station is a base station that the mobile terminal can receive the signal.
  • mobile a measured distance between the terminal and the at least two positioning base stations and an actual distance between the at least two positioning base stations (eg, a measured distance between the mobile terminal and the positioning base station a, the positioning base station b, and the positioning base station c, respectively, and positioning the base station a
  • the actual distance between the locating base station 1 and the locating base station c can be obtained by using the prior art, and details are not described herein again.
  • the position coordinate of the mobile terminal to be located is _y
  • the error measurement distance with the kth positioning base station is the actual distance between the mobile terminal y and the kth positioning base station.
  • the actual positioning model is as follows:
  • each element of the last row and the last column of the matrix C in the above formula (2) has a quadratic term Measuring distance error 2 iv + i)i - - ⁇ , If the measurement distance error is 100 meters, the measurement distance error in equation (9) reaches 10000 meters, which cannot effectively meet the FCC positioning accuracy requirements.
  • step S202 using the initial position coordinate as an initial iteration point, by solving the min p(y) ⁇ v
  • the positioning model of this embodiment outputs +1 as the final position coordinate of the mobile terminal when I +1 -
  • the measurement distance error of the positioning base station is large, the accuracy of the positioning of the mobile terminal can still be ensured, and the positioning accuracy requirement of the FCC can be satisfied.
  • the mobile mobile terminal reports all received Cell-IDs (Cell IDs) to its serving base station; (2) The serving base station calculates the mobile mobile terminal to each according to the signal delay of each positioning base station when receiving the Cell-ID
  • the distance between the positioning base stations is as follows:
  • c is the speed of light.
  • the loopback delay RTT of the mobile terminal and the positioning base station is a time when the radio wave is from the positioning base station to the mobile terminal, and the radio wave is from the
  • the mobile terminal returns the sum of the times of locating the base stations, and the positioning base station can report the RTT to the RNC through the air interfaces Iub and Iur.
  • the mobile terminal can also report the delay RxTx between the measured uplink frame and the downlink frame to the RNC.
  • the RNC estimates the distance between the mobile mobile terminal and each positioning base station according to RTT and RxTx;
  • the positioning base station sends the estimated distance and the Cell-ID reported by the mobile terminal to the positioning server positioning server;
  • the positioning server positioning server queries the database for the location coordinates of the positioning base station corresponding to the Cell-ID, and calculates the positioning base station and the positioning base according to the locating coordinates of the located base station.
  • the actual distance between the stations According to the estimated distance between the mobile terminal and the positioning base station in (2) and the actual distance between the positioning base station and the positioning base station, the position coordinates of the mobile terminal are calculated by using the method of this embodiment.
  • the embodiment of the present invention also provides a simulation result diagram of the computer based on a certain simulation condition, to demonstrate the beneficial effects obtained by the technical solution of the embodiment of the present invention.
  • the delay data of each mobile terminal and three different positioning base stations is selected as a test set from the delay data of the mobile terminal and the positioning base station actually measured by the UMTS network in a certain place in Japan, and the final positioning error calculation formula is set. For:
  • FIG. 3 is a comparison result diagram of the positional coordinates of the mobile terminal by using the existing nonlinear least squares overall structure approximation positioning method and the technical solution of the embodiment of the present invention for the measured UMTS delay data.
  • the positioning accuracy and positioning of the technical solution of the embodiment of the present invention ie, the NLS improvement in the figure
  • the curve trend graph of probability, the abscissa is the positioning accuracy, that is, the positioning error
  • the ordinate is the positioning success probability that satisfies the positioning accuracy.
  • the positioning performance of the technical solution of the embodiment of the present invention is actual UMTS measurement data with a measurement distance error of 150 meters and 250 meters.
  • the positioning success rate can be improved by about 40% and 60% respectively under the positioning precision of 200 meters and 400 meters.
  • the technical solution has a positioning success probability of 67% at a positioning accuracy of 200 meters, and a positioning success probability of 95% when the positioning accuracy is 400 meters, which can effectively meet the FCC positioning accuracy requirement.
  • FIG. 4 is a flowchart showing an implementation process of a mobile terminal positioning method according to Embodiment 2 of the present invention. The process is detailed as follows:
  • step S401 the initial position of the mobile terminal is obtained by using a nonlinear least squares overall structure approximation positioning method according to the measured distance between the mobile terminal and the at least two positioning base stations and the actual distance between the at least two positioning base stations. coordinate.
  • step S401 is the same as the step S201 in the first embodiment.
  • step S201 in the first embodiment For the specific implementation process, refer to the related description in step S201 in the first embodiment, and details are not described herein again.
  • step S402 the measured distance error of the mobile terminal and each positioning base station is obtained, and it is determined whether at least one measured distance error is greater than the set error threshold (for example, 50 meters). If the determination result is “Yes”, the step is performed. S404. If the determination result is "NO”, step S403 is performed.
  • the set error threshold for example, 50 meters
  • obtaining the measured distance error includes acquiring a measured distance error within the synchronous network and/or acquiring a measured distance error within the asynchronous network.
  • the specific When acquiring the measurement distance error in the synchronous network, the specific includes:
  • the first path estimation of the reference signal and the reference signal reception quality can be obtained by using the prior art, and details are not described herein again.
  • the reference signal transmission timing of the serving base station is the same as the reference signal transmission timing of other positioning base stations.
  • the serving base station After receiving the estimated first path and the reference signal receiving quality of each positioning base station, the serving base station determines the estimation error of each first path according to the mapping relationship between the set reference signal receiving quality and the first path estimation error, that is, The measured distance error of the mobile terminal and each positioning base station.
  • the mapping relationship between the reference signal reception quality and the first path estimation error can be established in advance by simulation, field test, etc., as shown in Table 1:
  • mapping relationship may be a value (reference signal receiving quality value) corresponding to a value (first path estimation error value), a value (Reference signal reception quality value) corresponds to an interval (first arrival path estimation error range/interval), or an interval (reference signal reception quality range/interval) corresponding to one value (first arrival path estimation error value), or an interval (Reference signal reception quality range/interval) corresponds to one interval (first arrival path estimation error range/interval).
  • the specific When acquiring the measurement distance error in the asynchronous network, the specific includes:
  • the serving base station of the mobile terminal acquires a reference signal transmission delay of the other positioning base station, and broadcasts the reference signal transmission delay and the reference signal transmission time of the serving base station to the mobile terminal; wherein, the other positioning base station refers to a positioning base station other than the serving base station; the reference signal transmission delay is a delay of a reference signal transmission time for the serving base station.
  • the mobile terminal acquires a reference signal transmission time of the serving base station and other positioning base stations according to the broadcast of the serving base station, performs a first path estimation of the reference signal according to the reference signal transmission time, and estimates the first path and the The reference signal reception quality is sent to the serving base station;
  • the serving base station After receiving the estimated first path and the reference signal receiving quality of each positioning base station, the serving base station determines the estimation error of each first path according to the mapping relationship between the set reference signal receiving quality and the first path estimation error, that is, The measured distance error of the mobile terminal and each positioning base station.
  • the method when acquiring the measurement distance error in the synchronous and/or asynchronous network, the method further includes: acquiring, by the serving base station where the mobile terminal is located, a path loss model of each positioning base station (interacting through the X2 port), and receiving the After the reference signal reception quality of each positioning base station sent by the mobile terminal is described, the distance between the mobile terminal and each positioning base station is estimated by the path loss model, and according to the set parameters The mapping relationship between the signal reception quality and the path loss model estimation error is determined, and the estimation error of the path loss model is determined, that is, the measurement distance error between the mobile terminal and each positioning base station.
  • the serving base station acquires a path loss model of each of the positioning base stations, wherein the path loss model includes a path loss model of the serving base station.
  • Estimating the distance between the mobile terminal and each positioning base station by using the path loss model belongs to the prior art, and details are not described herein again.
  • the method for establishing the mapping relationship between the reference signal receiving quality and the path loss model estimation error is the same as the method for establishing the reference signal receiving quality and the first path estimation error, and will not be described herein.
  • the serving base station is a base station of a cell where the mobile terminal is located
  • the positioning base station is a base station that the mobile terminal can receive a signal
  • the positioning base station includes a serving base station.
  • step S403 the initial position coordinates are output as the final position coordinates of the mobile terminal.
  • step S404 the initial position coordinate is taken as an initial iteration point, and the model is obtained by solving min p(y) - y
  • step S404 is the same as step S202 in the first embodiment.
  • step S404 refer to the related description in step S202 in the first embodiment, and details are not described herein again.
  • the embodiment of the present invention first obtains the nonlinear least squares overall structure approximation positioning method. Obtaining the initial position coordinates of the mobile terminal, and obtaining the measured distance error of the mobile terminal and each positioning base station, and the measured distance error is less than or equal to the set error threshold, and the obtained initial position coordinate is used as the final of the mobile terminal. Position coordinate output, improve the efficiency of mobile terminal positioning.
  • the mm ptF) full x-location model is used to obtain an optimal solution that satisfies the positioning model constraints, and the optimal solution is taken as the final position of the mobile terminal.
  • the coordinate output enables the accuracy of the positioning of the mobile terminal to be ensured when the measurement distance error between the mobile terminal and the positioning base station is large. and, When obtaining the measurement distance error between the mobile terminal and each positioning base station, the embodiment of the present invention provides a solution for acquiring the measurement distance error by different networks, and a scheme suitable for the synchronization network and the asynchronous network to obtain the measurement distance error.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • FIG. 5 shows a component structure of a positioning server according to Embodiment 3 of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown.
  • the positioning server may be a software unit, a hardware unit or a combination of hardware and software running in each mobile terminal positioning system.
  • the positioning server 5 includes an initial position determining unit 51 and a final position output unit 52, the specific functions of which are as follows:
  • the initial position determining unit 51 is configured to calculate the mobile terminal by using a nonlinear least squares overall structure approximation positioning method according to a measured distance between the mobile terminal and the at least two positioning base stations and an actual distance between the at least two positioning base stations. Initial position coordinates;
  • the final position output unit 52 is configured to use the initial position coordinate calculated by the initial position determining unit 51 as an initial iteration point, and obtain a positioning model by solving min 7 ')
  • the positioning base station is a base station that the mobile terminal can receive the signal, where is the measured distance between the mobile terminal and the positioning base station, where is the position coordinate of the kth positioning base station, and y is the position coordinate of the mobile terminal.
  • the final location output unit 52 further includes:
  • the initialization module 521 is configured to make , -, - the initial position coordinates
  • ) 1 : , to obtain min. ( )
  • the final position output module 524 is used to calculate -
  • the locating server provided in this embodiment may be used in the foregoing corresponding mobile terminal locating method.
  • the locating server provided in this embodiment may be used in the foregoing corresponding mobile terminal locating method.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • FIG. 6 shows a component structure of a positioning server according to Embodiment 4 of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown.
  • the positioning server may be a software unit, a hardware unit or a combination of hardware and software running in each mobile terminal positioning system.
  • the positioning server 6 includes an initial position determining unit 61, a distance error judging unit 62, and a final position output unit 63, the specific functions of which are as follows:
  • An initial position determining unit 61 configured to measure a distance according to the mobile terminal and the at least two positioning base stations And calculating, by using a nonlinear least squares overall structure approximation positioning method, an initial position coordinate of the mobile terminal; and an actual distance between the at least two positioning base stations;
  • the distance error judging unit 62 is configured to acquire a measurement distance error of the mobile terminal and each of the positioning base stations, and determine whether at least one measurement distance error is greater than the set error threshold.
  • the final position output unit 63 is configured to, when the distance error judging unit 62 judges that the result is YES,
  • the initial position coordinates As an initial iteration point, by solving the min /7(y)
  • the final position coordinate output of the mobile terminal when the distance error determining unit 62 determines that the result is no, the initial position coordinate is directly output as the final position coordinate of the mobile terminal;
  • the positioning base station is a base station that the mobile terminal can receive a signal, and is a measurement distance between the mobile terminal and the positioning base station, where is the position coordinate of the kth positioning base station, and y is the position coordinate of the mobile terminal.
  • the final location output unit 63 further includes:
  • the initialization module 631 is used for parameter initialization, and the -, - is the initial position coordinate;
  • the first calculation module 632 is configured to solve the following linear equations: ⁇ d kv I positioning model
  • the final position output module 634 is configured to calculate
  • the locating server provided in this embodiment may be used in the foregoing corresponding mobile terminal locating method.
  • the locating server provided in this embodiment may be used in the foregoing corresponding mobile terminal locating method.
  • Embodiment 5 is a diagrammatic representation of Embodiment 5:
  • FIG. 7 shows a component structure of a serving base station according to Embodiment 5 of the present invention. For convenience of description, only parts related to the embodiment of the present invention are shown.
  • the serving base station may be a software unit, a hardware unit or a combination of hardware and software running in each mobile terminal positioning system.
  • the serving base station 7 includes a receiving unit 71 and a distance error determining unit 72, the specific functions of which are as follows:
  • the receiving unit 71 is configured to receive a reference signal receiving quality of each positioning base station sent by the mobile terminal
  • the distance error determining unit 72 is configured to determine, according to the mapping relationship between the received reference signal receiving quality and the first path estimation error, determining each first path Estimating the error, and transmitting the determined first path estimation error as the measurement distance error of the mobile terminal and the positioning base station to the positioning server; and/or according to the setting
  • the mapping relationship between the reference signal receiving quality and the path loss model estimation error is determined, the estimation error of each path loss model is determined, and the estimated error of the determined path loss model is used as the measurement distance error of the mobile terminal and the positioning base station to be sent to the positioning server.
  • obtaining the measured distance error includes acquiring a measured distance error within the synchronous network and/or acquiring a measured distance error within the asynchronous network.
  • the specific When acquiring the measurement distance error in the synchronous network, the specific includes:
  • the first path estimation of the reference signal and the reference signal reception quality can be obtained by using the prior art, and details are not described herein again.
  • the reference signal transmission timing of the serving base station is the same as the reference signal transmission timing of other positioning base stations.
  • the serving base station After receiving the estimated first path and the reference signal receiving quality of each positioning base station, the serving base station determines the estimation error of each first path according to the mapping relationship between the set reference signal receiving quality and the first path estimation error, that is, The measured distance error of the mobile terminal and each positioning base station.
  • the mapping relationship between the reference signal reception quality and the first path estimation error can be established in advance by simulation, field test, etc., as shown in Table 1:
  • mapping relationship is only used to describe a mapping relationship between the reference signal receiving quality and the first path estimation error in this embodiment, and is not limited thereto.
  • the mapping relationship may be a value (reference signal receiving quality value) Corresponding to a value (first arrival path estimation error value), one value (reference signal reception quality value) corresponds to one interval (first arrival path estimation error range/interval), or one interval (reference signal reception quality range/interval) corresponds to one The value (the first path estimation error value), or an interval (reference signal reception quality range/interval) corresponds to an interval (first path estimation error range/interval).
  • the specific When acquiring the measurement distance error in the asynchronous network, the specific includes:
  • the serving base station of the mobile terminal acquires a reference signal transmission delay of the other positioning base station, and broadcasts the reference signal transmission delay and the reference signal transmission time of the serving base station to the mobile terminal; wherein, the other positioning base station refers to a positioning base station other than the serving base station; the reference signal transmission delay is a delay of a reference signal transmission time for the serving base station.
  • the mobile terminal acquires a reference signal transmission time of the serving base station and other positioning base stations according to the broadcast of the serving base station, performs a first path estimation of the reference signal according to the reference signal transmission time, and estimates the first path and the The reference signal reception quality is sent to the serving base station;
  • the serving base station After receiving the estimated first path and the reference signal receiving quality of each positioning base station, the serving base station determines the estimation error of each first path according to the mapping relationship between the set reference signal receiving quality and the first path estimation error, that is, The measured distance error of the mobile terminal and each positioning base station.
  • the method when acquiring the measurement distance error in the synchronous and/or asynchronous network, the method further includes: acquiring, by the serving base station where the mobile terminal is located, a path loss model of each positioning base station (interacting through the X2 port), and receiving the After the reference signal reception quality of each positioning base station sent by the mobile terminal, the distance between the mobile terminal and each positioning base station is estimated by the path loss model, and the mapping between the received quality of the reference signal and the path loss model estimation error is set according to the set reference signal And determining an estimation error of the path loss model, that is, a measurement distance error between the mobile terminal and each positioning base station.
  • the serving base station acquires a path loss model of each of the positioning base stations, wherein the path loss model includes a path loss model of the serving base station.
  • Estimating the distance between the mobile terminal and each positioning base station by using the path loss model belongs to the prior art, and details are not described herein again.
  • the method for establishing the mapping relationship between the reference signal receiving quality and the path loss model estimation error is the same as the method for establishing the reference signal receiving quality and the first path estimation error, and will not be described herein.
  • the serving base station is a base station of a cell where the mobile terminal is located, and the positioning is performed.
  • the base station is a base station that the mobile terminal can receive a signal
  • the positioning base station includes a serving base station.
  • the serving base station provided by this embodiment may be used in the foregoing corresponding mobile terminal locating method. For details, refer to the related description of the second embodiment of the mobile terminal locating method, and details are not described herein again.
  • the embodiment of the present invention further provides a mobile terminal positioning system, where the system includes the positioning server and/or the serving base station; or the serving base station and the mobile terminal; or the positioning server And the serving base station and the mobile terminal.
  • each unit and module included in the foregoing Embodiments 3 - 5 is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be implemented;
  • the specific names of the units and modules are also for convenience of distinguishing from each other and are not intended to limit the scope of the present invention.
  • the embodiment of the present invention provides a positioning method for a mobile terminal, and the existing nonlinear least squares overall structure approach positioning method can ensure the mobile terminal when the measurement distance error between the mobile terminal and the positioning base station is small.
  • the positioning accuracy of the mobile terminal is obtained by the nonlinear least squares global structure approximation positioning method, and the measurement distance error of the mobile terminal and each positioning base station is obtained, and the measurement distance error is obtained. Both are smaller than or equal to the set error threshold, and the obtained initial position coordinates are output as the final position coordinates of the mobile terminal, thereby improving the efficiency of positioning of the mobile terminal.
  • the set error threshold In the presence of at least one of the measured distance errors being greater than the set error threshold,
  • the optimal solution is output as the final position coordinate of the mobile terminal. Since the positioning model uses the loop iteration to obtain the local maximum advantage, the measurement distance error is not amplified, so that the measurement distance error between the mobile terminal and the positioning base station is large. At the same time, the accuracy of positioning of the mobile terminal can still be guaranteed. Moreover, when obtaining the measurement distance error between the mobile terminal and each positioning base station, the embodiment of the present invention provides a solution for acquiring the measurement distance error by different networks, and is applicable to both the synchronous network and the asynchronous network to obtain the measurement distance error. The program has strong practicability.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)
PCT/CN2013/070426 2012-01-13 2013-01-14 一种移动终端定位的方法、定位服务器及服务基站 WO2013104341A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210010857.2 2012-01-13
CN201210010857.2A CN103209474B (zh) 2012-01-13 2012-01-13 一种移动终端定位的方法、定位服务器及服务基站

Publications (1)

Publication Number Publication Date
WO2013104341A1 true WO2013104341A1 (zh) 2013-07-18

Family

ID=48756523

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/070426 WO2013104341A1 (zh) 2012-01-13 2013-01-14 一种移动终端定位的方法、定位服务器及服务基站

Country Status (2)

Country Link
CN (1) CN103209474B (de)
WO (1) WO2013104341A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105554876A (zh) * 2015-12-09 2016-05-04 广东欧珀移动通信有限公司 一种移动终端定位方法及移动终端

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103442434B (zh) * 2013-08-20 2016-03-02 京信通信系统（中国）有限公司 一种应用于隧道环境中的人员定位方法、装置及系统
CN106886038B (zh) * 2015-12-15 2020-11-20 骑记(厦门)科技有限公司 运动轨迹的处理方法及装置
JP6813386B2 (ja) * 2017-02-21 2021-01-13 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 基地局制御装置及び位置推定方法
CN108710779B (zh) * 2018-06-08 2022-09-16 南京工业大学 一种膜内微电荷互力p系统fcc反应再生过程最优建模方法
CN110366104B (zh) * 2019-08-12 2021-06-08 中南大学湘雅医院 定位方法、装置、系统及电子设备及计算机可读存储介质
CN110730502B (zh) * 2019-10-23 2020-11-03 珠海优特电力科技股份有限公司 一种定位方法及装置
CN111694037B (zh) * 2020-07-17 2023-06-09 重庆电子技术研究所 一种终端定位方法及终端设备
CN113068127B (zh) * 2021-02-23 2022-08-19 中睿通信规划设计有限公司 一种NB-IoT终端的定位方法
CN113993205B (zh) * 2021-10-13 2022-08-19 武汉理工大学 基于数字孪生的uwb定位系统与方法
CN115942454A (zh) * 2022-10-25 2023-04-07 上海移远通信技术股份有限公司 用于定位的方法及装置
CN117177359A (zh) * 2023-09-07 2023-12-05 元执(江苏)智能科技有限公司 基于5g的实时定位方法、基站以及实时定位系统
CN117412279B (zh) * 2023-12-14 2024-10-22 江西北斗云智慧科技有限公司 北斗应急呼救方法、系统、计算机及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002159041A (ja) * 2000-11-20 2002-05-31 Nippon Telegr & Teleph Corp <Ntt> 無線移動端末の位置検出方法
JP2004289702A (ja) * 2003-03-25 2004-10-14 Hitachi Ltd 移動端末の位置測定方法及びサーバ装置
CN1722897A (zh) * 2004-07-13 2006-01-18 中兴通讯股份有限公司 一种移动通讯中移动终端的定位方法
CN1964212A (zh) * 2006-12-13 2007-05-16 北京中星微电子有限公司 Td－scdma系统中补偿路径损耗估计误差的方法
CN101087470A (zh) * 2006-06-09 2007-12-12 大唐移动通信设备有限公司 一种移动台定位系统及其定位方法
CN101808336A (zh) * 2009-04-30 2010-08-18 清华大学 一种认知无线电网络中主用户的定位方法及系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002159041A (ja) * 2000-11-20 2002-05-31 Nippon Telegr & Teleph Corp <Ntt> 無線移動端末の位置検出方法
JP2004289702A (ja) * 2003-03-25 2004-10-14 Hitachi Ltd 移動端末の位置測定方法及びサーバ装置
CN1722897A (zh) * 2004-07-13 2006-01-18 中兴通讯股份有限公司 一种移动通讯中移动终端的定位方法
CN101087470A (zh) * 2006-06-09 2007-12-12 大唐移动通信设备有限公司 一种移动台定位系统及其定位方法
CN1964212A (zh) * 2006-12-13 2007-05-16 北京中星微电子有限公司 Td－scdma系统中补偿路径损耗估计误差的方法
CN101808336A (zh) * 2009-04-30 2010-08-18 清华大学 一种认知无线电网络中主用户的定位方法及系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105554876A (zh) * 2015-12-09 2016-05-04 广东欧珀移动通信有限公司 一种移动终端定位方法及移动终端
CN105554876B (zh) * 2015-12-09 2019-02-05 Oppo广东移动通信有限公司 一种移动终端定位方法及移动终端

Also Published As

Publication number Publication date
CN103209474B (zh) 2016-12-14
CN103209474A (zh) 2013-07-17

Similar Documents

Publication Publication Date Title
WO2013104341A1 (zh) 一种移动终端定位的方法、定位服务器及服务基站
US10813170B2 (en) Locating method, system, and related device
EP3541126B1 (de) Positionierungsverfahren und positionierungssystem
US9294875B2 (en) Method for determining position of terminal in cellular mobile communication system
US8848565B2 (en) Method for performing measurements and positioning in a network based WLAN positioning system
US10353048B2 (en) Apparatus and method for location estimation in a wireless communication system
US10356741B2 (en) Fingerprint positioning for mobile terminals
KR20160121160A (ko) 무선 통신 시스템에서 위치 측정을 위한 장치 및 방법
CN105850055A (zh) 具有多天线系统基于定位的波束成形方法
WO2014056172A1 (zh) 定位方法和装置
CN102970749B (zh) 多基站逐次逼近定位方法
EP3868158B1 (de) Positionierung mit mehreren zugangspunkten
CN101815350B (zh) 定位用户设备的方法以及用户设备
WO2024087612A1 (zh) 用于定位的方法及装置
WO2018112693A1 (zh) 终端定位的方法和装置
CN114245315B (zh) 终端定位方法及装置
CN102573048A (zh) 一种移动终端的定位方法、系统及装置
CN110149589A (zh) 一种基于到达角之差的定位方法
CN111800853B (zh) 基于信号rssi的设备群体定位方法
WO2013181971A1 (zh) 一种定位用户设备的方法及装置
WO2023169253A1 (zh) 一种通信方法及装置
Maigualema-Quimbita et al. Positioning of unmanned aerial vehicles (UAVs) in urban environments using 5G networks: A hybrid approach based on multilateration and machine learning
EP4181537A1 (de) Mehrweg-einzelankerpunktpositionierungsverfahren und kommunikationsvorrichtung
US20250081151A1 (en) RSS-based Emergency Positioning Method and System
CN119854848A (zh) 一种天线工参计算方法及相关装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13736181

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13736181

Country of ref document: EP

Kind code of ref document: A1