WO2016028208A1 - Procédé, et noeud de positionnement, pour le positionnement d'un terminal mobile - Google Patents

Procédé, et noeud de positionnement, pour le positionnement d'un terminal mobile Download PDF

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Publication number
WO2016028208A1
WO2016028208A1 PCT/SE2015/050879 SE2015050879W WO2016028208A1 WO 2016028208 A1 WO2016028208 A1 WO 2016028208A1 SE 2015050879 W SE2015050879 W SE 2015050879W WO 2016028208 A1 WO2016028208 A1 WO 2016028208A1
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WO
WIPO (PCT)
Prior art keywords
parameters
subareas
subarea
positioning
fingerprint
Prior art date
Application number
PCT/SE2015/050879
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English (en)
Inventor
Kunpeng Qi
Di SHU
Original Assignee
Telefonaktiebolaget L M Ericsson (Publ)
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
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Application filed by Telefonaktiebolaget L M Ericsson (Publ) filed Critical Telefonaktiebolaget L M Ericsson (Publ)
Publication of WO2016028208A1 publication Critical patent/WO2016028208A1/fr

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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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed 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
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map

Definitions

  • the present disclosure relates generally to a method and a positioning node for performing fingerprinting positioning of a mobile terminal.
  • Positioning methods for determining the current position of a mobile terminal in a wireless communication network, that are based on a signal strength received at the mobile terminal from a base station are highly sensitive to the effects of signal attenuation, signal reflection, and signal scattering.
  • trilateration i.e. determining the position of a mobi le terminal by measuring distances to base stations with known positions
  • triangulation i.e. based on measured angles to base stations
  • Another approach is to use fingerprinting positioning in order to estimate a position, e.g. of a mobile terminal, and a conventional fingerprinting positioning method involves creating a database of reference fingerprints from the area in which users of e.g. mobile terminals or similar are located.
  • a mobile terminal will be used for consistency to denote any movable device capable of wireless communication with a wireless
  • positioning node will be used to denote a node of the wireless communication network which is responsible for providing
  • the fingerprinting positioning technique generally utilizes a database of reference fingerprints with signal measurements recorded at different points of known positions in a coordinate grid or the like in a target area to provide a known "radio environment" at each grid point. Such measurements at known positions may be referred to as “reference measurements”.
  • Fig. 1 illustrates a simplified example of fingerprinting positioning of a mobile terminal 100 present in a wireless communication network 100 comprising various base stations 102a-102d.
  • a positioning node 104 operates to provide positioning information based on reference fingerprints which are maintained in a database 106.
  • the reference fingerprints have typically been registered in beforehand by using a test terminal or corresponding measuring equipment performing and reporting signal measurements at different known positions in the target area.
  • a request fingerprint which can be seen as a positioning request
  • this position can be estimated by comparing the request fingerprint with the reference fingerprints to find the best matching reference fingerprint, as indicated by action 1 :2.
  • Some illustrative but non-limiting examples of signal measurements in a fingerprint include signal strength, time delay, path loss and signal quality.
  • This database comparison and estimation of the terminal's position can be made by performing calculations involving certain parameters, to be described below.
  • the estimated position is then returned as a response to the request fingerprint, as indicated by action 1 :3.
  • the fingerprinting positioning technique is described in more detail in WO
  • measurement samples which contain measurement information received by the mobile terminal from base stations within range, i.e. from hearable cells.
  • the positioning is conducted at a positioning node by comparing measurement information of a request fingerprint, e.g. as received from the mobile terminal, to the measurement information of the reference fingerprints, and returning the location/position of the best matching reference fingerprint.
  • This technique may be entirely network-based, such that the mobile terminal does not have to be modified or specifically adapted to enable the fingerprinting positioning.
  • Adaptive Enhanced Cell Identity AECID
  • the database comparison may be based e.g. on the least mean square (LMS) approach, wherein the value of the reference fingerprint n is given by Equation (1 ) below, and the reference fingerprint with the lowest value of d(n) will be determined to be the best match for the request fingerprint.
  • LMS least mean square
  • Equation (1 ) £ is the signal strength of the request fingerprint on the i** cell, 0 (*3 ⁇ 4) is the signal strength of the n th reference fingerprint in the same cell.
  • the first summation term in (1 ) is taken over the hearable cells that are found in both of the fingerprints.
  • the second summation term in (1 ) represents the penalty term for those cells that are hearable in the request fingerprint but not in the database fingerprint.
  • the third summation term in (1 ) defines the penalty term for those cells that are hearable in the 3 ⁇ 4 r3 ⁇ 4 database fingerprint, but not in the request fingerprint. Further, represents the missing signal level values.
  • WKNN Weighted K Nearest Neighbor
  • EstPos * P(n) ) (2) P(n ⁇ is the position of the reference fingerprint, N is the number of reference fingerprints that are utilized to estimate the positon, and wis) is given by
  • a method is performed by a positioning node of a wireless communication network, for performing fingerprinting positioning of a mobile terminal where measurement information of a request fingerprint, as received from the mobile terminal, is compared with measurement information of reference fingerprints created from location-dependent measurement samples of signals received from base stations within range from hearable cells in a target area with several subareas.
  • the positioning node calculates parameters of the fingerprinting positioning for each subarea of the target area, and finds, i.e. identifies, corresponding subareas for the request fingerprint.
  • the positioning node further obtains final parameters, out of the parameters calculated for each subarea, for the request fingerprint based on the found subareas, and calculates the position of the request fingerprint, by using said final parameters for performing the fingerprinting positioning of the mobile terminal.
  • a positioning node of a wireless communication network is arranged to perform fingerprinting positioning of a mobile terminal where measurement information of a request fingerprint, as received from the mobile terminal, is compared with measurement information of reference fingerprints created from location-dependent measurement samples of signals received from base stations within range from hearable cells in a target area with several subareas.
  • the positioning node comprising a processor and a memory, said memory comprising instructions executable by said processor whereby the positioning node is operative to:
  • a computer program storage product comprising instructions which, when executed on at least one processor in the positioning node, cause the at least one processor to carry out the method described above for the positioning node.
  • Fig. 1 is a communication scenario illustrating how fingerprinting positioning of a mobile terminal can be performed, according to the prior art.
  • Fig. 2 is a communication scenario illustrating an example of how the solution may be employed, according to some possible embodiments.
  • Fig. 3 is a flow chart illustrating a procedure in a positioning node, according to further possible embodiments.
  • Fig. 4 is a flow chart illustrating a more detailed part of the procedure in Fig. 3, according to further possible embodiments.
  • Fig. 5 is a flow chart illustrating a more detailed part of the procedure in Fig. 3, according to further possible embodiments.
  • Fig. 6 is a block diagram illustrating how a positioning node may be configured, according to further possible embodiments.
  • Embodiments described herein involve the use of different parameters of the fingerprinting positioning in different areas, in order to improve the accuracy e.g. of an AECID fingerprinting positioning estimation.
  • the different parameters for each area may be obtained from known signal strengths and positions of reference fingerprints.
  • Fig. 2 illustrates an example of how the accuracy of fingerprinting positioning can be improved by employing different parameter values in different areas of a wireless communication network comprising various base stations distributed across a geographic area generally referred to as a target area 200. Only a few base stations are indicated in this figure for simplicity. This can be accomplished by dividing the target area 200 into smaller subareas 202 which are shown as a regular pattern of uniform squares in this example for simplicity, although the subareas 202 may in practice be given different sizes and forms and may also partly overlap one another.
  • a positioning node 204 is operable to calculate differentiated parameters of the fingerprinting positioning, to be used for positioning mobile terminals in different subareas as follows.
  • various reference fingerprints are available and can be retrieved by the positioning node 204, as schematically indicated by numeral 2:1.
  • the positioning node 204 then calculates individual parameter values for different subareas in an action 2:2, which may be done by estimating the position of a known request fingerprint in each subarea using the fingerprinting positioning based on different configurations of the parameters, and selecting the parameters that provide the best, i.e. most accurate, position estimation.
  • the positioning node 204 also stores the calculated and "best" parameters for this subarea in a suitable database 206, in an action 2:3, which may be the same database where the reference fingerprints are maintained as described above.
  • the parameters calculated in this procedure may be the above-mentioned parameters N and l max which are used in the AECID fingerprinting positioning estimation.
  • the best parameters are thus selected for each subarea and saved for use in the fingerprinting positioning whenever a mobile terminal is assumed to be located in the respective subarea.
  • a positioning node of a wireless communication network may operate for performing fingerprinting positioning of a mobile terminal, will now be described with reference to the flow chart in Fig. 3.
  • measurement information of a request fingerprint as received from a mobile terminal, is compared with measurement information of reference fingerprints created from location-dependent measurement samples of signals received from base stations within range from hearable cells in a target area with several subareas.
  • a database with reference fingerprints comprising signal measurement information thus indicative of a radio environment at certain known locations, has been created in beforehand in the manner described above.
  • the term "measurement information" is used to represent any measurements on radio signals that can be used for positioning.
  • Some illustrative but non-limiting examples of measurement information in a fingerprint include signal strength, timing advance, time delay, path loss and signal quality.
  • the positioning node calculates parameters of the
  • the parameters calculated in this action may include a parameter N and a parameter l max which are used in an Adaptive Enhanced Cell Identity, AECID, fingerprinting positioning estimation.
  • the parameter N denotes the number of reference fingerprints that are used for estimating a mobile terminal's position
  • l max represents the missing signal level values.
  • An optional next action 302 indicates that the positioning node may at some point receive the request fingerprint with measurement information from the mobile terminal, which may effectively trigger the determination of the terminal's position according to the following.
  • the mobile terminal may use the LTE
  • Positioning Protocol LPP
  • 3GPP Third Generation Partnership Project
  • finding the corresponding subareas for the request fingerprint may comprise finding the subareas with smallest, i.e. lowest, value of d(n) based on the above-mentioned equation 1 :
  • d(n) is basically a measure of the
  • Another action 306 indicates that the positioning node obtains "final" parameters, out of the parameters calculated for each subarea, for the request fingerprint based on the found subareas.
  • final parameters is used herein to indicate that these parameters are to be used in the actual position determination in the fingerprinting positioning of the mobile terminal.
  • the final parameters may be obtained in different ways as follows.
  • obtaining the final parameters may comprise using a Nearest Neighbourhood, NN, method for selecting parameters of the smallest value of d(n) as the final parameters.
  • obtaining the final parameters may comprise using a K Nearest Neighbourhood, KNN, method for calculating a mean value of the parameters of the subareas.
  • the positioning node calculates the position of the request fingerprint, by using said final parameters obtained in action 306, for performing the fingerprinting positioning of the mobile terminal.
  • the positioning node may use the final parameters, e.g. the above-described N and l max , to calculate the position of the request fingerprint.
  • the position of the request fingerprint denoted EstPos, may be calculated by means of equations 2 and 3.
  • a final action 310 indicates that the positioning node may return the calculated position to the mobile terminal in response to the request fingerprint received in action 302.
  • calculating parameters of the fingerprinting positioning for each subarea may comprise the following actions performed by the positioning node.
  • the target area is divided into subareas, as indicated by action 400, e.g. in the manner shown in Fig. 2.
  • the positioning node determines an average reference measurement for each subarea by calculating an average of all reference fingerprints for each subarea, as indicated by action 402.
  • the positioning node then defines request fingerprints located in each subarea, as indicated by action 404.
  • the positioning node further estimates, i.e. calculates, the position of the request fingerprint in each subarea based on different configurations of the parameters, as indicated by action 406.
  • the different parameter configurations are thus comprised of different "candidate" values of the parameters that are tested in order to find the most accurate parameter values to be used in the respective subareas.
  • the positioning node obtains the parameters with the best position estimation in respective subareas, i.e. the parameter values that have provided a position estimation that is closest to the true position of the respective request fingerprint in each subarea, as indicated by action 408.
  • the positioning node may, in action 304, find the corresponding subareas for the request fingerprint by finding the subareas with smallest value of d(n) based on the equation (1 ).
  • Method B Another example of how the positioning node may find the subareas for the request fingerprint, also referred to as "Method B" below, will now be described with reference to the flow chart in Fig. 5.
  • the positioning node may find the corresponding subareas for the request fingerprint by performing the following actions.
  • the target area is divided into several sub-subareas which are smaller than said subareas, as indicated by action 500.
  • the positioning node then calculates an average of measurements in each sub-subarea, as indicated by action 502.
  • the positioning node further finds a sub-subarea with smallest value of d(n) as an estimated position of the request fingerprint, as indicated by action 504, based on the above-mentioned equation 1 :
  • the positioning node is able to find subareas which are closest to the found sub-subarea, thus being the
  • Step 1 - Step 5
  • Step 5 correspond to at least some of the actions shown in Figs 3-5, as described below:
  • Step 1 Creating a database of reference fingerprints: A fingerprinting positioning estimation is typically preceded by creating a database of reference fingerprints, and there are three basic procedures and sources for building the database:
  • Offline data collection by using a test terminal to collect both ground truth and signal strength measurement.
  • Online data collection in a live network by requesting radio measurement from GSM/C DMA/U MTS/LTE/WLAN for a mobile terminal which performs high accuracy positioning e.g. AGPS.
  • a re-collection of data may be needed in case there is access network
  • Step 2) Calculating the parameters N area and l ma x_area for each subarea of a reference fingerprint:
  • the parameters N_ are a and l max _area are calculated individually for each subarea.
  • An example of this calculation comprises the following operations:
  • a request fingerprint could be another offline data collection which is collected at another time. However, if there is no other offline data collection, Some of the offline data can be assumed as the request fingerprint, while the others can be assumed as the reference fingerprint. Every request fingerprint has thus its own position information. This operation corresponds to action 404 above.
  • operation 1 ) and operation 2) above may be implemented offline, but the following steps are preferably implemented online, i.e. once a mobile terminal is to be positioned.
  • Step 3) Finding corresponding subareas for request fingerprints: This step corresponds to action 304 above.
  • a subarea may be relatively large.
  • at least two different methods may be used for finding the corresponding subareas for the request fingerprint, which are described below, referred to as Method A and Method B.
  • parameter i f! ,_ and parameter N need an initial value, respectively, which is a fixed value named as atim and N sys tem ⁇
  • Method A Finding the subareas with smallest d(n) directly based on Equation (1 ).
  • Method B Roughly calculating the position of request fingerprint based on sub- subarea, basically in accordance with the procedure shown in Fig. 5. Method B is performed as follows.
  • the subareas may be found according to a Probability Density Function (PDF) as follows: 1 ) Find all the reference fingerprints in this subarea, e.g. K different cells which are heard in the subarea, calculate the signal strength PDF for each cell in this subarea, P C i(S).
  • PDF Probability Density Function
  • the request fingerprint is ⁇ s1 , s2, ... sn ⁇ ; where s1 , s2, ... sn is the signal strength of each heard cell.
  • the signal strength in this set are all independent from each other, and the joint probability density function is given by
  • Step 4 Obtaining the Parameter N fina i and l max jinai of the request fingerprint:
  • Step 3 corresponds to action 306 above.
  • different methods may be used for obtaining the final important parameters, e.g. Nfmai and lmaxjinai , of the request fingerprint based on the subarea found in Step 3).
  • Three exemplary methods for obtaining Nfmai and lmaxjinai are described below, denoted Method C, Method D and Method E:
  • Method C Use the NN-method (Nearest neighborhood), which involves selecting e.g. the parameters N_ are a and l ma x_area of the smallest d(n) as Parameter Nnnai and lmaxjinai
  • Method D Use the KNN-method (K Nearest neighborhood), which involves calculating the mean value e.g. of parameters N_ are a and l ma x_area of the subareas.
  • ⁇ and l ma xjinai can be determined as follows:
  • Step 5 Calculating the position of request fingerprint according to
  • the position of a request fingerprint may be calculated using the final parameters, denoted Nnnai and Imaxjinai , e g- in Equation (1 ) and Equation (2), as described above.
  • the embodiments may further comprise dividing a target area into several subareas, or at least into one subarea, and the subareas may overlap, and calculation of the parameters of this area according to known fingerprints, i.e. reference fingerprints.
  • the embodiments may further comprise dividing a target area into several subareas, or at least into one subarea, and the subareas may overlap, and calculation of the parameters of this area according to known fingerprints, i.e. reference fingerprints.
  • embodiments may further comprise dividing the target area into subareas and sub-subareas, which may be overlapping, and calculating their average reference measurement, which may be used to find the corresponding subarea or sub-subarea for the request fingerprint.
  • the block diagram in Fig. 6 illustrates a detailed but non-limiting example of how a positioning node 600 of a wireless communication network may be structured to bring about the above-described solution and embodiments thereof.
  • the positioning node 600 may thus be configured to operate according to any of the examples and embodiments of employing the solution as described above, where appropriate, and as follows.
  • the positioning node 600 in this example is shown in a configuration that comprises a processor "P", a memory “M” and a communication circuit "C" with suitable equipment for receiving and transmitting information and data in the manner described herein.
  • the communication circuit C in the positioning node 600 thus comprises equipment that may be configured for communication with at least a mobile terminal, not shown, using one or more suitable communication protocols depending on implementation.
  • the mobile terminal may use the LPP interface as defined in 3GPP, for providing a request fingerprint with measurement information to the network, which information is used by the positioning node 600 as described herein.
  • the positioning node 600 may be configured or arranged to perform at least the actions of the
  • the positioning node 600 is arranged to perform fingerprinting positioning of a mobile terminal where measurement information of a request fingerprint, as received from the mobile terminal, is compared with measurement information of reference fingerprints created from location-dependent measurement samples of signals received from base stations within range from hearable cells in a target area with several subareas.
  • the positioning node 600 thus comprises the processor P and the memory M, said memory comprising instructions executable by said processor, whereby the positioning node 600 is configured to operate as follows.
  • the positioning node 600 is operable to calculate parameters of the fingerprinting positioning for each subarea of the target area. This first calculating operation is performed by a first calculating module 600a, e.g. in the manner described for action 300 and/or actions 400-408 above.
  • the positioning node 600 is also operable to find corresponding subareas for the request fingerprint. This finding operation may be performed by a finding module 600b in the positioning node 600, e.g. in the manner described for action 304 and/or actions 500-506 above.
  • the positioning node 600 is further operable to obtain final parameters, out of the parameters calculated for each subarea, for the request fingerprint based on the found subareas. This operation is performed by an obtaining module 600c, e.g. in the manner described for action 306 above.
  • the positioning node 600 is further operable to calculate the position of the request fingerprint, by using said final parameters for performing the fingerprinting positioning of the mobile terminal. This second calculating operation may be performed by a second calculating module 600d in the positioning node 600, e.g.
  • Fig. 4 illustrates some possible functional units in the positioning node 600 and the skilled person is able to implement these functional units in practice using suitable software and hardware.
  • the solution is generally not limited to the shown structure of the positioning node 600, and the functional units 600a-d may be configured to operate according to any of the features described in this disclosure, where appropriate.
  • the processor P may comprise a single Central Processing Unit (CPU), or could comprise two or more processing units.
  • the processor P may include a general purpose microprocessor, an instruction set processor and/or related chips sets and/or a special purpose microprocessor such as an Application Specific Integrated Circuit (ASIC).
  • ASIC Application Specific Integrated Circuit
  • the processor P may also comprise a storage for caching purposes.
  • the memory M may comprise the above-mentioned computer readable storage medium or carrier on which the computer program is stored e.g. in the form of computer program modules or the like.
  • the memory M may be a flash memory, a Random-Access Memory (RAM), a Read-Only Memory (ROM) or an Electrically Erasable Programmable ROM (EEPROM).
  • RAM Random-Access Memory
  • ROM Read-Only Memory
  • EEPROM Electrically Erasable Programmable ROM
  • the program modules could in alternative embodiments be distributed on different computer program products in the form of memories within the positioning node 600.

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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)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé, ainsi qu'un nœud de positionnement (204), pour effectuer le positionnement de prise d'empreinte digitale d'un terminal mobile (100), ce procédé consistant à comparer des informations de mesure d'empreinte digitale demandée avec des informations de mesure d'empreinte digitale de référence créées à partir d'échantillons de mesure de signaux, dépendant de la localisation, dans une zone cible (200) comprenant plusieurs sous-zones (202). Des paramètres du positionnement de prise d'empreinte digitale sont calculés (300) pour chaque sous-zone de la zone cible, de telle sorte que différentes valeurs des paramètres peuvent être utilisées dans différentes sous-zones. Des sous-zones correspondantes, destinées à l'empreinte digitale demandée, sont trouvées (304), et des paramètres finaux sont obtenus (306), parmi les paramètres calculés pour chaque sous-zone, pour l'empreinte digitale demandée, sur la base des sous-zones trouvées. La position de l'empreinte digitale demandée est ensuite calculée (308) à l'aide des paramètres finaux, pour l'exécution du positionnement de prise d'empreinte du terminal mobile.
PCT/SE2015/050879 2014-08-22 2015-08-19 Procédé, et noeud de positionnement, pour le positionnement d'un terminal mobile WO2016028208A1 (fr)

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CNPCT/CN2014/085036 2014-08-22

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CN110166991A (zh) * 2019-01-08 2019-08-23 腾讯大地通途（北京）科技有限公司 用于定位电子设备的方法、设备、装置以及存储介质
CN111257830A (zh) * 2018-12-03 2020-06-09 南京理工大学 基于预先设定ap位置的wifi定位算法
US10863452B2 (en) 2018-12-12 2020-12-08 Rohde & Schwarz Gmbh & Co. Kg Method and radio for setting the transmission power of a radio transmission
CN113411745A (zh) * 2021-06-29 2021-09-17 北京红山信息科技研究院有限公司 基于主邻区信号的指纹定位方法、装置、设备及存储介质

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111257830A (zh) * 2018-12-03 2020-06-09 南京理工大学 基于预先设定ap位置的wifi定位算法
CN111257830B (zh) * 2018-12-03 2023-08-04 南京理工大学 基于预先设定ap位置的wifi定位算法
US10863452B2 (en) 2018-12-12 2020-12-08 Rohde & Schwarz Gmbh & Co. Kg Method and radio for setting the transmission power of a radio transmission
CN110166991A (zh) * 2019-01-08 2019-08-23 腾讯大地通途（北京）科技有限公司 用于定位电子设备的方法、设备、装置以及存储介质
CN110166991B (zh) * 2019-01-08 2022-06-24 腾讯大地通途（北京）科技有限公司 用于定位电子设备的方法、设备、装置以及存储介质
CN113411745A (zh) * 2021-06-29 2021-09-17 北京红山信息科技研究院有限公司 基于主邻区信号的指纹定位方法、装置、设备及存储介质

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