WO2018107380A1 - 一种定位方法、系统及相关设备 - Google Patents

一种定位方法、系统及相关设备 Download PDF

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Publication number
WO2018107380A1
WO2018107380A1 PCT/CN2016/109857 CN2016109857W WO2018107380A1 WO 2018107380 A1 WO2018107380 A1 WO 2018107380A1 CN 2016109857 W CN2016109857 W CN 2016109857W WO 2018107380 A1 WO2018107380 A1 WO 2018107380A1
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WO
WIPO (PCT)
Prior art keywords
target
base station
positioning
prs
rstd
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PCT/CN2016/109857
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English (en)
French (fr)
Inventor
薛剑韬
王凯隆
李安俭
高原
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.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP16923947.2A priority Critical patent/EP3543731A4/en
Priority to CN201680091367.6A priority patent/CN110036307A/zh
Priority to PCT/CN2016/109857 priority patent/WO2018107380A1/zh
Priority to KR1020197020359A priority patent/KR20190092548A/ko
Publication of WO2018107380A1 publication Critical patent/WO2018107380A1/zh
Priority to US16/440,586 priority patent/US10813170B2/en

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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
    • 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
    • G01S5/0236—Assistance data, e.g. base station almanac
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices
    • 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
    • G01S5/0284—Relative positioning
    • 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
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H04L5/005—Allocation of pilot signals, i.e. of signals known to the receiver of common pilots, i.e. pilots destined for multiple users or terminals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/20—Selecting an access point
    • 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
    • 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
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • 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
    • 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

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to a positioning method, system, and related device.
  • Positioning services have become an indispensable part of mobile communications and personal communications services, playing an important role in people's production and life and facing diverse needs.
  • the positioning service refers to obtaining a mobile terminal's location information (such as latitude and longitude coordinates) through the mobile communication network of the telecommunication operator, and providing a value-added service for the user to provide corresponding services under the support of the electronic map platform.
  • the demand for location services by users has shown a trend of broadening and high standards, such as the need for positioning in security monitoring, disaster emergency, traffic guidance, interactive games and many other aspects.
  • a positioning algorithm based on Time Difference of Arrival (TDOA) measurement is a commonly used positioning algorithm.
  • Observed Time Difference Of Arrival (OTDOA) and Uplink Time Difference Of Arrival (UTDOA) are common TDOA-based positioning techniques used in mobile cellular network systems.
  • the principle is: when there are three or more base stations in the system, the positioning reference signal (PRS)/Sounding Reference Signal (SRS) signal of the downlink/uplink transmission of different base stations may be used.
  • PRS positioning reference signal
  • SRS Sounding Reference Signal
  • the reference signal time difference (RSTD) determines the location of the user equipment (User Equipment, UE).
  • UE User Equipment
  • the embodiment of the invention discloses a positioning method, a system and a related device, which can improve positioning accuracy and flexibility.
  • a first aspect of the embodiments of the present invention discloses a positioning method, including:
  • the positioning server determines, according to the preset base station selection rule and the neighboring cell measurement result sent by any one of the plurality of to-be-located user equipment UEs (taking the target to-be-targeted UE as an example), determining a base station set participating in the target to-be-positioned UE positioning,
  • the base station selection rule may specifically be that the target to be located UE is adjacent to the neighboring party.
  • a base station having a large received power of the base station constitutes the base station set.
  • the positioning server determines, according to the preset auxiliary UE selection rule and the neighbor UE measurement result sent by the target to be located UE, the set of secondary UEs participating in the target to locate UE, and the auxiliary UEs included in the auxiliary UE set are to be determined with the target.
  • the UE is configured to have a terminal direct-passing technology (D2D) connection.
  • the preset secondary UE selection rule may be that the target UE to be located to the neighboring UE is configured to form the secondary UE set.
  • the positioning server receives the first reference signal arrival time difference RSTD set and the second RSTD set sent by the target to-be-located UE, where the first RSTD set is a positioning reference signal PRS sent by any two base stations in the base station set to reach the target to-be-positioned UE.
  • the RSTD set, the second RSTD set is a set of RSTDs that are sent by the any one of the secondary UEs to the target UE to be located through the D2D connection and the PRS sent by the reference base station in the set of base stations.
  • the location server determines location information of the plurality of UEs to be located according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the method further includes:
  • the positioning server receives the positioning request sent by the target to be located by the UE.
  • the positioning server responds to the positioning request, and configures a measurement parameter of the target to be located UE to perform neighbor cell measurement and neighbor UE measurement.
  • the positioning server receives the neighboring cell measurement result and the neighbor UE measurement result obtained by performing the neighbor cell measurement and the neighbor UE measurement according to the measurement parameter sent by the target to be located UE.
  • the positioning server determines, according to the preset secondary UE selection rule and the neighbor UE measurement result sent by the target to be located UE, the first set of the secondary UE sent by the target to be located after the target UE to be located.
  • the method further includes:
  • the positioning server acquires a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set.
  • the positioning server sends the first PRS parameter set and the second PRS parameter set to the target to-be-located UE, so that the target to-be-targeted UE sends the base station according to the first PRS parameter set to each base station included in the base station set.
  • the PRS performs monitoring, and monitors the PRS sent by each auxiliary UE included in the auxiliary UE set through the D2D connection according to the second PRS parameter set.
  • the positioning server determines, according to the preset base station selection rule and the neighboring cell measurement result sent by the target user equipment UE, the specific manner of participating in the base station set of the target to be located UE:
  • the positioning server acquires the neighboring base station list included in the neighboring cell measurement result sent by the target user equipment UE and the received power of the target to-be-targeted UE to the neighboring base station.
  • the positioning server selects the received power of the target to-be-located UE from the neighboring base station list to be preset in the first predetermined number of base stations in descending order, and determines the preset first number of base stations to participate in the targeted target to be located. Base station collection.
  • the positioning server determines, according to the preset auxiliary UE selection rule and the neighbor UE measurement result sent by the target to be located UE, the specific manner of participating in the target UE to be located in the target UE to be located:
  • the positioning server acquires the neighboring UE list included in the neighbor UE measurement result sent by the target to-be-targeted UE and the received power of the target to-be-targeted UE to the neighboring UE.
  • the locating server selects a location request from the neighboring UE to send a locating request to the locating server, and the receiving power of the target to be located UE is preset to the second predetermined number of UEs in descending order, and the preset second number of UEs is determined as A set of secondary UEs participating in the target location UE positioning.
  • the specific manner of determining the location information of the multiple to-be-located UEs by using the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set is:
  • the positioning server determines a joint positioning equation of the plurality of UEs to be located according to the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set.
  • the positioning server performs multiple iterations on the joint positioning equations of the plurality of UEs to be located to solve the joint positioning equation of the plurality of UEs to be located, and determines the plurality of to-be-positioned according to the solution of the joint positioning equation of the plurality of to-be-positioned UEs Location information of the UE.
  • the specific manner in which the positioning server performs multiple iterations on the joint positioning equation of the multiple to-be-located UEs is:
  • the positioning server acquires the positioning error Cramer's bounds of each of the auxiliary UEs included in the auxiliary UE set at the beginning of each iteration, and participates in each iteration using the smallest auxiliary UE of the positioning error Cramerosphere.
  • a second aspect of the embodiments of the present invention discloses a positioning method, including:
  • the target to be located UE sends the neighboring cell measurement result and the neighboring UE measurement result to the positioning server, where the target to be located UE is any one of the plurality of to-be-located UEs.
  • the target to be located UE receives the first PRS parameter set of the base station set sent by the positioning server and the second PRS parameter set of the auxiliary UE set, and the base station set is configured by the positioning server according to the preset base station selection rule and the neighboring node.
  • the area measurement result determines that the auxiliary UE set is determined by the positioning server according to a preset auxiliary UE selection rule and the neighbor UE measurement result, and each auxiliary UE included in the auxiliary UE set is related to the target to-be-located UE. Established a D2D connection.
  • the target to be located UE monitors the PRS sent by each base station included in the base station set according to the first PRS parameter set, and passes the auxiliary UEs included in the auxiliary UE set according to the second PRS parameter set.
  • the PRS sent by the D2D connection is monitored.
  • the target to be located Obtaining, by the target to be located, the first RSD set that the PRS sent by any two of the base stations in the set of base stations reaches the target to be located, and acquiring any one of the auxiliary UEs by using the D2D connection and the The PRS sent by the reference base station in the set of base stations respectively reaches the second RSTD set of the target to be located UE.
  • the target to be located UE sends the first RSTD set and the second RSTD set to the positioning server, so that the positioning server includes according to the first RSTD set, the second RSTD set, and the base station set.
  • the location information of each base station determines location information of the plurality of UEs to be located.
  • the method further includes:
  • the target to be located UE sends a positioning request to the positioning server.
  • the target to be located UE receives the measurement parameters of the neighboring cell measurement and the neighboring UE measurement sent by the positioning server in response to the positioning request.
  • the target to be located UE performs neighbor cell measurement and neighbor UE measurement according to the measurement parameter, and obtains a neighbor cell measurement result and a neighbor UE measurement result.
  • a third aspect of the embodiments of the present invention discloses a positioning method, including:
  • the target base station determines to send the PRS parameter of the PRS to the target to-be-located UE, where the target base station is any one of the set of base stations determined by the positioning server, and the target to-be-positioned UE is in multiple UEs to be located. Any one of them.
  • the target base station sends the PRS parameter to the positioning server, so that the positioning server sends a PRS parameter set to the to-be-located UE.
  • the target base station sends a PRS to the target to-be-targeted UE, so that the target to-be-targeted UE monitors the PRS according to the PRS parameter set, and sends any two base stations in the base station set to the positioning server respectively.
  • the reference base station is a base station in the set of base stations whose communication quality meets a preset condition and serves the target to be located UE.
  • a fourth aspect of the embodiments of the present invention discloses a positioning server, including:
  • a determining module configured to determine, according to a preset base station selection rule and a neighboring cell measurement result sent by the target user equipment UE, a set of base stations participating in the target to locate UE, where the target to be located UE is to be located Any one of the UEs.
  • a determining module configured to determine, according to the preset auxiliary UE selection rule and the neighbor UE measurement result sent by the target to-be-located UE, the auxiliary UE set that participates in the target to-be-positioned UE positioning, where the auxiliary UE set includes The auxiliary UE establishes a terminal direct-through technology D2D connection with the target to-be-targeted UE.
  • a receiving module configured to receive a first reference signal arrival time difference RSTD set and a second RSTD set sent by the target to-be-located UE, where the first RSTD set is a positioning reference signal respectively sent by any two base stations in the base station set
  • the PRS arrives at the RSTD set of the target to-be-positioned UE
  • the second RSTD set is that the any one of the auxiliary UE sets arrives by the PRS sent by the D2D connection and the reference base station in the base station set respectively.
  • the RSTD set of the UE to which the target is to be located is configured to receive a first reference signal arrival time difference RSTD set and a second RSTD set sent by the target to-be-located UE, where the first RSTD set is a positioning reference signal respectively sent by any two base stations in the base station set
  • the PRS arrives at the RSTD set of the target to-be-positioned UE
  • the second RSTD set is that the any one of the auxiliary UE sets
  • a processing module configured to determine location information of the multiple to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the positioning server further includes a configuration module, where:
  • the receiving module is further configured to receive a positioning request sent by the UE to be located by the target.
  • a configuration module configured to configure, according to the positioning request, a measurement parameter of the target to be located UE to perform neighbor cell measurement and neighbor UE measurement.
  • the receiving module is further configured to receive the neighboring cell measurement result and the neighbor UE measurement result obtained by performing the neighbor cell measurement and the neighbor UE measurement according to the measurement parameter sent by the target to-be-located UE.
  • the positioning server further includes an obtaining module and a sending module, where:
  • an obtaining module configured to acquire a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set.
  • a sending module configured to send the first PRS parameter set and the second PRS parameter set to the target to-be-targeted UE, so that the target to-be-targeted UE sets the base station according to the first PRS parameter set
  • the PRSs sent by the base stations are monitored, and the PRSs sent by the auxiliary UEs included in the auxiliary UE set by the D2D connection are monitored according to the second PRS parameter set.
  • the determining module is specifically configured to:
  • the determining module is specifically configured to:
  • Selecting, from the neighboring UE list, sending a positioning request to the positioning server, and the receiving power of the target to-be-targeted UE is preset in a preset second number of UEs in descending order, and the preset number is preset.
  • the two number of UEs determine a set of secondary UEs that participate in the target to locate UE.
  • processing module is specifically configured to:
  • processing module is specifically configured to:
  • a fifth aspect of the embodiment of the present invention discloses a UE, including:
  • a sending module configured to send a neighboring cell measurement result and a neighboring UE measurement result to the positioning server, where the UE is any one of multiple UEs to be located.
  • a receiving module configured to receive a first PRS parameter set of the base station set sent by the positioning server, and a second PRS parameter set of the auxiliary UE set, where the base station set is configured by the positioning server according to a preset base station selection rule
  • the neighboring area measurement determines that the secondary UE set is determined by the positioning server according to the preset secondary UE selection rule and the neighboring UE measurement result, and each secondary UE included in the secondary UE set is established with the UE. D2D connection.
  • a monitoring module configured to monitor, according to the first PRS parameter set, a PRS sent by each base station included in the base station set, and, according to the second PRS parameter set, to each auxiliary UE included in the auxiliary UE set The PRS sent by the D2D connection is monitored.
  • An acquiring module configured to acquire a first RSTD set that the PRS sent by any two base stations in the set of base stations respectively arrives at the UE, and acquire any one of the auxiliary UEs by using the D2D connection and the base station The PRS sent by the reference base station in the set respectively reaches the second RSTD set of the UE.
  • a sending module configured to send the first RSTD set and the second RSTD set to the positioning server, so that the positioning server is configured according to the first RSTD set, the second RSTD set, and the base station
  • the location information of each base station included in the set is used to determine location information of the plurality of UEs to be located.
  • the UE further includes a measurement module, where:
  • the sending module is further configured to send a positioning request to the positioning server.
  • the receiving module is further configured to receive measurement parameters of the neighboring cell measurement and the neighboring UE measurement sent by the positioning server in response to the positioning request.
  • a measuring module configured to perform neighboring cell measurement and neighbor UE measurement according to the measurement parameter, to obtain a neighboring cell Measurement results and neighbor UE measurements.
  • a sixth aspect of the embodiments of the present invention discloses a base station, including:
  • a determining module configured to determine, to the target to be located, the PRS parameter of the PRS, where the base station is any one of the set of base stations determined by the positioning server, and the target to be located UE is any one of the plurality of to-be-located UEs.
  • a sending module configured to send the PRS parameter to the positioning server, so that the positioning server sends a PRS parameter set to the target to-be-located UE.
  • a sending module configured to send a PRS to the target to-be-targeted UE, so that the target to-be-targeted UE monitors the PRS according to the PRS parameter set, and sends any of the set of base stations to the positioning server.
  • the PRS sent by the two base stations respectively reaches the first RSTD set of the target to-be-targeted UE, and the PRS sent by the reference base station in the auxiliary UE set and the reference base station in the base station set respectively arrives at the target to-be-positioned UE.
  • the second RSTD set is configured to enable the location server to determine location information of the plurality of to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • a seventh aspect of the present invention provides a positioning system, comprising: the positioning server according to any one of the above aspects, the UE according to any one of the fifth aspects, and the base station according to the sixth aspect.
  • An eighth aspect of the embodiments of the present invention discloses a positioning server, including: a processor, a transceiver, and a memory, wherein the processor, the transceiver, and the memory are connected by a bus, and the memory stores executable program code.
  • the transceiver is controlled by the processor for transmitting and receiving a message, and the processor is configured to invoke the executable program code to perform the positioning method according to any one of the above aspects.
  • a ninth aspect of the embodiments of the present invention discloses a UE, including: a processor, a transceiver, and a memory, where the processor, the transceiver, and the memory are connected by a bus, and the memory stores executable program code.
  • the transceiver is controlled by the processor for transmitting and receiving a message, and the processor is configured to invoke the executable program code to perform the positioning method according to any one of the foregoing second aspects.
  • a tenth aspect of the embodiments of the present invention discloses a base station, including: a processor, a transceiver, and a memory, wherein the processor, the transceiver, and the memory are connected by a bus, and the memory stores executable program code,
  • the transceiver is controlled by the processor for transmitting and receiving a message, and the processor is configured to invoke the executable program code to perform the positioning method according to any one of the above third aspects.
  • the positioning server selects a rule according to a preset base station and a target to be located user.
  • the neighboring cell measurement result of the device UE determines the set of base stations participating in the target to locate the UE, and determines the auxiliary to participate in the positioning of the target to be located according to the preset auxiliary UE selection rule and the neighbor UE measurement result of the target to be located UE.
  • the UE is set, and the target to be located UE is any one of a plurality of UEs to be located.
  • the positioning server receives the first RSTD set of the positioning reference signal PRS sent by any two base stations in the set of base stations sent by the target to be located, and any one of the auxiliary UEs and the set of the base station.
  • the PRS sent by the reference base station in the second base station reaches the second RSTD set of the target to be located, and further determines the multiple according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the location information of the UE to be located can improve the positioning accuracy and flexibility.
  • FIG. 1 is a schematic flow chart of a positioning method according to an embodiment of the present invention.
  • FIG. 2a is a schematic diagram of a positioning scenario disclosed in an embodiment of the present invention.
  • FIG. 2b is a schematic diagram of another positioning scenario disclosed in an embodiment of the present invention.
  • 2c is a schematic diagram of still another positioning scenario disclosed in the embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a positioning server according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a UE according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a base station according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of another positioning server according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of another UE according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of another base station according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a positioning system according to an embodiment of the present invention.
  • GSM Global System of Mobile communication
  • CDMA Code Division Multiple Access
  • WCDMA Wideband Code Division Multiple Access
  • GPRS General Packet Radio Service
  • LTE Long Term Evolution
  • FDD Frequency Division Duplex
  • TDD Time Division Duplex
  • UMTS Universal Mobile Telecommunication System
  • WiMAX Worldwide Interoperability for Microwave Access
  • the UE in the embodiment of the present invention includes a terminal (Terminal), a mobile station (Mobile Station, MS), or a mobile terminal (Mobile Terminal), etc.
  • the UE may be a mobile phone or a computer with a mobile terminal, etc., and the UE may also be portable. , pocket, handheld, computer built-in or in-vehicle mobile devices.
  • the base station in the embodiment of the present invention includes a macro base station, an LMU, a micro base station, a pico base station, a pico remote radio unit (pRRU) and a radio radio head (RRH) belonging to the same macro base station.
  • the pRRU and the RRH, etc. which belong to different macro base stations, may specifically include a base station (BS) in GSM or CDMA, or a base station (Node B, NB) in WCDMA, or may be in LTE. Evolutionary Node B (eNB).
  • the LMU is a network element that participates in positioning in the UTDOA technology and receives the SRS from the UE. It is a logical entity that can be shared with the base station or an independent network element device.
  • the Enhanced Serving Mobile Location Center (E-SMLC) in the embodiment of the present invention generally refers to a logical entity responsible for positioning in all systems.
  • the method of performing positioning measurement based on the signal arrival time difference is called TDOA positioning, and the uplink reference signal (SRS)/downlink reference signal (PRS) is used according to the positioning measurement, and can be classified into UTDOA positioning/OTDOA positioning.
  • SRS uplink reference signal
  • PRS downlink reference signal
  • everything is determined based on the signal arrival time difference measurement
  • the technology of the bit belongs to UTDOA positioning or OTODA positioning, and mainly focuses on OTDOA.
  • the device to the device means that the neighboring UEs in the cell can transmit data through the direct link within a short range without forwarding through the central node (ie, the base station), D2D and the mobile cell.
  • the network system shares the use of the licensed frequency band, which is beneficial to centralized interference control and power allocation, and has high communication reliability.
  • FIG. 1 is a schematic flowchart diagram of a positioning method according to an embodiment of the present invention.
  • the positioning method described in this embodiment includes:
  • the target to be located UE sends a positioning request to the positioning server.
  • the target to be located UE is any one of multiple to-be-targeted UEs that send a positioning request to the positioning server.
  • the positioning server sends the measurement parameters of the neighboring cell measurement and the neighboring UE measurement to the target to-be-targeted UE in response to the positioning request.
  • the positioning server responds to the positioning request, configures the measurement parameter of the target to be located and the measurement parameter of the neighbor UE measurement, and sends the measurement parameter to the target to be located UE.
  • the target to-be-targeted UE receives the measurement parameter, and performs neighboring area measurement and neighboring UE measurement according to the measurement parameter, to obtain a neighboring area measurement result and a neighboring UE measurement result.
  • the target to be located UE sends the neighboring area measurement result and the neighboring UE measurement result to the positioning server.
  • the neighboring area measurement result includes the neighboring base station list and the received power of the target to-be-targeted UE to the neighboring base station, and the neighboring UE measurement result includes the neighboring UE list and the received power of the target to-be-targeted UE to the neighboring UE.
  • the target to be located UE performs the neighboring area measurement and the neighboring UE measurement according to the corresponding measurement parameter, and sends the obtained neighboring area measurement result and the neighboring UE measurement result to the positioning server.
  • the positioning server determines, according to a preset base station selection rule and the neighboring area measurement result, a base station set that participates in positioning the target to be located, according to a preset auxiliary UE selection rule and the neighbor UE measurement result, Determining a set of secondary UEs participating in the target to locate UE location.
  • the auxiliary UEs included in the auxiliary UE set are all established with a D2D connection with the target to be located UE.
  • the positioning server determines a manner of participating in the set of base stations to which the target to be located is located.
  • the positioning server may obtain the neighboring base station list included in the neighboring cell measurement result and the received power of the target to-be-targeted UE to the neighboring base station, and select the target to-be-positioned UE from the neighboring base station list to receive the received power in order from largest to smallest. Presetting a first number (for example, 2 or more) of base stations, and determining the preset first number of base stations as a set of base stations participating in target target positioning UE positioning.
  • the positioning server determines the manner in which the set of the secondary UEs to be located in the target UE to be located may be: the positioning server obtains the neighboring UE list included in the neighboring UE measurement result and the received power of the target to-be-targeted UE to the neighboring UE, and selects from the neighboring UE list.
  • the positioning request is sent to the positioning server, and the receiving power of the target to be located UE is ranked in the order of the second to the second (for example, one or more) UEs in descending order. Determining the preset second number of UEs as a set of secondary UEs participating in the target to be located UE positioning.
  • the positioning server acquires a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set.
  • each base station included in the base station set reports the PRS parameter of the PRS to the positioning server
  • each auxiliary UE included in the auxiliary UE set reports the PRS parameter of the PRS to the positioning server, that is, the base station sends the PRS participation to the target to be located UE.
  • the secondary UE also sends a PRS to the target to-be-targeted UE through the D2D connection to participate in its positioning process.
  • the positioning server aggregates the PRS parameters reported by the base stations included in the base station set into the first PRS parameter set, and aggregates the PRS parameters reported by the auxiliary UEs included in the auxiliary UE set into the second PRS parameter set.
  • the positioning server sends the first PRS parameter set and the second PRS parameter set to the target to-be-located UE.
  • the target to-be-targeted UE monitors, according to the first PRS parameter set, a PRS sent by each base station included in the base station set, and performs assistance on the auxiliary UE set according to the second PRS parameter set.
  • the PRS sent by the UE is monitored.
  • the positioning server sends the first PRS parameter set corresponding to the base station set and the second PRS parameter set corresponding to the auxiliary UE set to the target to-be-located UE, and each base station included in the base station set sends the PRS to the target to-be-located UE, and sends the PRS. Transmission timing information of the PRS.
  • Each of the secondary UEs included in the secondary UE set also sends a PRS to the target to-be-located UE, and transmits the transmission timing information of the PRS.
  • the target to be located UE monitors the PRS sent by each base station included in the base station set according to the first PRS parameter set, and transmits the PRS sent by each auxiliary UE included in the auxiliary UE set through the D2D connection according to the second PRS parameter set. Monitor.
  • the target to-be-located UE acquires a first RSTD set that the PRS sent by any two base stations in the set of base stations respectively reaches the target to-be-located UE, and acquires any one of the auxiliary UEs and the auxiliary UE.
  • the PRS sent by the reference base station in the set of base stations respectively reaches the second RSTD set of the target to be located UE.
  • the reference base station is a base station in which the communication quality of the base station set satisfies a preset condition (that is, the communication quality is good) and provides a service for the target to be located UE.
  • a preset condition that is, the communication quality is good
  • the target to be located UE obtains the arrival time of the PRS sent by each base station included in the base station set to reach the target UE to be located according to the transmission timing information of the PRS (Time of Arrival, TOA) And subtracting the TOAs of any two base stations to obtain an RSTD set (denoted as the first RSTD set) of the PRSs sent by the two base stations in the base station set to reach the target UE to be located.
  • TOA Time of Arrival
  • the target to-be-targeted UE obtains the TOA sent by each secondary UE included in the secondary UE set to the TOA of the target to-be-targeted UE according to the transmission timing information of the PRS, and any one of the secondary UEs
  • the TOA is subtracted from the TOA of the reference base station to obtain an RSTD set (denoted as a second RSTD set) of the PRS that is sent by the auxiliary UE and the reference base station respectively to the target UE to be located.
  • the target to be located UE sends the first RSTD set and the second RSTD set to the positioning server.
  • the positioning server determines location information of the multiple to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the distance difference between any two base stations included in the base station set and the target to-be-located UE is calculated according to the RSTD, and the distance difference between any one of the auxiliary UEs and the reference base station and the target to-be-located UE is included in the auxiliary UE set.
  • the positioning server calculates, according to the first RSTD set, a distance difference between any two base stations included in the base station set and the target to-be-located UE, and a distance between any one of the auxiliary UEs and the reference base station and the target to-be-located UE included in the auxiliary UE set. Poorly, using the distance difference and the location information of each base station included in the base station set to write a positioning equation for the target to be located UE, and then according to the RSTD set and the RSTD set reported by other UEs to be located in the plurality of to-be-positioned UEs Corresponding positioning equations, so that a joint positioning equation for the plurality of UEs to be located can be determined.
  • the positioning server may perform a plurality of iterations on the joint positioning equation of the plurality of UEs to be located by using a Gauss-Newton Gauss-Newton iterative method to solve the joint positioning equation of the plurality of UEs to be located, and according to the multiple to be determined
  • the solution of the joint positioning equation of the bit UE determines the location information of the plurality of UEs to be located.
  • the positioning equation written for the target to be located UE is: a hyperbolic equation with the position of two base stations as two focal points or the position of the reference base station as one of the focal points and the position of one auxiliary UE as the other focus,
  • a joint positioning hyperbolic equation group for the plurality of UEs to be located is obtained, and the joint positioning hyperbolic equations are solved to obtain a plurality of intersection points between the hyperbolas, according to the double The plurality of intersections of the curve can determine the location of the plurality of UEs to be located.
  • UTDOA uplink reference signal
  • SRS uplink reference signal
  • the base station is identified by the BS, and UE1, UE2, and UE3 are the UEs to be located, and UE1, UE2, and UE3 establish a D2D connection with each other, and UE1, UE2, and UE3 can respectively Base station communication, specifically, UE1 communicates with BS1, UE2 communicates with BS2, UE3 communicates with BS3, base station set composed of BS1, auxiliary UE set composed of UE2 and UE3 participate in positioning of UE1, base station set composed of BS2, UE1 and UE3
  • Representing the true value of the UE i to UE j signal arrival time Represents the true value of the BS i to UE j signal arrival time, and c represents the speed of light.
  • Representing the distance measurement error of UE i to UE j Represents the distance measurement error of BS i to UE j , and for convenience, Represents the distance difference measurement error.
  • each UE to be located communicates with two other UEs to be located in addition to communication with a certain base station, and thus the number of communication links connected to each UE to be located is three, which can be solved by jointly de-locating The curve equations solve the coordinates of the UE to be located.
  • observing the structure of the joint positioning hyperbolic equations can find that each UE to be located participates in the positioning process of other UEs to be located, and the positioning information between the UEs to be located can be mutually verified, and is received by the UE to be located.
  • the TOA of the PRS extraction signal combined with the known base station coordinates to solve the joint positioning hyperbolic equations, can obtain the coordinates of all UEs to be located.
  • the solution method of the joint positioning hyperbolic equations in the localization scene can be as follows: find a set of UE 1 , UE 2 , and UE 3 coordinates into the equation, and obtain the distance difference measurement error corresponding to each equation. Make many The sum of the squares is closest to the distance of 0. For the threshold to take a decimal approximate to 0, the specific implementation of the algorithm is described as follows (pseudo-code form):
  • X k ( x 1 , y 1 , x 2 , y 2 , x 3 , y 3 ).
  • the base station is identified by the BS, and the UE1, the UE2, and the UE3 are the UEs to be located, and the UE2, the UE2, and the UE3 establish a D2D connection with each other, and UE1, UE2, and UE3 are respectively assigned. It is possible to communicate with two base stations, a set of base stations composed of BS1 and BS2, a set of secondary UEs composed of UE2 and UE3 participate in the positioning of UE1, a set of base stations composed of BS2 and BS3, and a set of secondary UEs composed of UE1 and UE3 participate in the positioning of UE2.
  • each UE to be located performs communication in addition to the two base stations.
  • the UE can communicate with other UEs to be located, and the number of communication links connected to each UE to be located is greater than three, so that the determination of the location of the UE to be located can be determined.
  • the joint positioning hyperbolic equations and the solution method in this positioning scenario are similar to the positioning scenario, and will not be described here.
  • the base station is identified by the BS, and the UE1, the UE2, and the UE3 are the UEs to be located, and the UE2, the UE2, and the UE3 establish a D2D connection with each other, and UE1, UE2, and UE3 can respectively Three base stations communicate, a set of base stations composed of BS1, BS2, and BS3, a set of secondary UEs composed of UE2 and UE3 participate in the positioning of UE1, a set of base stations composed of BS1, BS2, and BS3, and a set of secondary UEs composed of UE1 and UE3 participate in the positioning of UE2.
  • the positioning of the UE to be located can be completed only by using the communication link with the base station, if the D2D is allowed between the UEs to be located on the basis of this.
  • the number of communication links connected to each UE to be located can be increased, and the number of effective equations of the joint positioning hyperbolic equations written according to the number of communication links is increased, thereby improving the positioning accuracy of the UE to be located.
  • the joint positioning hyperbolic equations and the solution method in this positioning scenario are similar to the positioning scenario, and will not be described here.
  • the z coordinate is always 0.
  • the general expression of the joint positioning hyperbolic equations when positioning in conjunction with D2D can be listed for the UE to be located:
  • the Gauss-Newton iterative method is used to solve the joint-based hyperbolic equations written according to the column.
  • a method for solving the joint positioning hyperbolic equations to obtain the position coordinates of the UE to be located is given in the form of pseudo code:
  • ⁇ k is a vector, which is represented by multiple lines for convenience
  • the output iteration coordinates X k (x 1 , y 1 , x 2 , y 2 , x 3 , y 3 , ..., x N , y N )
  • X k (x 1 , y 1 , x 2 , y 2 , x 3 , y 3 , ..., x N , y N )
  • the base station is limited to positioning during the positioning process by combining the D2D. Network load, power limitation, privacy and other factors. In reality, not all UEs that need to locate the positioning request have the will or have the right to assist the UE to participate in the positioning process of the UE to be located that sends the positioning request. This requires The auxiliary UE participating in the positioning process of a UE to be located performs selection, and the conventional auxiliary UE selection method based on signal strength, received power, signal arrival time, etc. is limited to the measurement of the distance between the auxiliary UE to be selected and the UE to be located. In practice, the topology (or location distribution) of the secondary UE also affects the positioning of the positioning UE.
  • Cramér-Rao bound is the performance lower bound of an unbiased estimator, which is commonly used to evaluate the positioning performance, and is used as the positioning of the UE to be located participating in the positioning request.
  • the Crammelian boundary is calculated by taking the inverse of the Fisher matrix (FIM). Assuming that the coordinate vector of UE i is X i , the Fisher matrix is given by:
  • S ⁇ i represents a set of base stations or auxiliary UEs that send PRS to the UE to be located that issues the positioning request, Representing the distance measurement error of the node j (base station or secondary UE) to the UE i to be located that issues the positioning request.
  • represents the Euclidean distance.
  • the superscript T indicates transposition.
  • the coordinate estimation value of the UE i to be located that issues the positioning request is expressed as The base station coordinate value or the auxiliary UE coordinate estimation value participating in the positioning of the UE i to be located is expressed as Then, the positioning error of the UE i to be located in this iteration is expressed by the following formula:
  • the UE to be located that sends the positioning request in the initial state can receive at least three PRSs sent by the base station.
  • the coordinates of the base station and the coordinate estimation values of the UE to be located at the beginning of each iteration to issue a positioning request respectively calculate the positioning error of the UE to be located that issued the positioning request in this iteration, and select the Karme
  • the UE to be located with the smallest positioning request issued by the UE as the secondary UE participates in the positioning process of all the UEs that are to be located in the current iteration until the number of iterations reaches the maximum number of iterations or the positioning error is a minimum value. Stop the iteration and get the positioning result.
  • the present embodiment selects the secondary UE based on the calculation of the Cramer's circle for the UE to be located that issues the positioning request, and comprehensively considers the distance and the position distribution, and is more accurate and suitable than the existing auxiliary UE selection method considering only the distance.
  • the more the number of base stations or auxiliary UEs to which the PRS is sent, the more the number of base stations or auxiliary UEs to which the PRS is sent, the more the number of hyperbolic equations written for the column is The more precise the positioning; on the other hand, the better the quality of the signal transmitted by each communication link communicating with the UE to be located that issues the positioning request, the more accurate the positioning for it.
  • the communication links form interference with each other, and also interfere with signal reception of other UEs that are to be located that issue the positioning request.
  • the D2D communication between the UE to be located and other UEs causes interference to D2D communication between other UEs.
  • the specific interference control coordination process can be as follows:
  • the base station For each UE to be located that sends a positioning request, the base station (for example, the reference base station) allocates an optimal link among all the links with which it may communicate, which may be the closest link or the largest transmission power. The link and ensure that the interference between the optimal links allocated for each UE to be located does not exceed a preset threshold. Then, for each UE base station to be located, calculate the communication interference amount generated for each additional D2D communication link, and if the communication interference amount is less than or equal to the preset communication interference amount threshold, the base station adds corresponding D2D communication thereto. link.
  • the communication interference amount includes the communication interference caused by the existing communication link to the newly added D2D communication link, and the communication interference caused by the newly added D2D communication link to the existing communication link. Therefore, the present embodiment can better control and coordinate the interference problem existing in the positioning process, so that the positioning solution provided by the embodiment of the present invention has practical application significance.
  • the UE to be located can be located by using the D2D technology.
  • the UE to be located sends a specially configured emergency help D2D signal to the UE that can perform D2D communication, and the neighboring UE can voluntarily receive the emergency help D2D signal.
  • Selecting to provide positioning support for the UE to be located may specifically include the following three types of positioning support options:
  • the cooperative UE autonomously transmits its own location.
  • the cooperative UE autonomously provides relay for the emergency help D2D signal.
  • it can add a label to the emergency help D2D signal, indicating that it is a relayed SOS signal, and the network preferentially delivers the positioning task to this type.
  • Emergency assistance for D2D signaling provides a collaborative UE for assistance.
  • the network receives the emergency help D2D signal that has been relayed multiple times or directly receives the emergency help D2D signal, and preferentially delivers the positioning task to the cooperative UE participating in the emergency help D2D signal transmission.
  • the cooperating UE may take an anonymous manner so as not to reveal the location of the cooperating UE participating in the positioning of the UE to be located.
  • the cooperative UE performs measurement on the received emergency help D2D signal, and sends the measurement result to the positioning server for positioning.
  • the present embodiment can solve the problem of emergency positioning in a disaster environment, reduce the dependence on the base station, and better solve the problem of the positioning of the UE in the case of the base station being damaged in the disaster environment, compared to relying solely on the base station positioning.
  • the target to be located UE performs the neighboring area measurement and the neighboring UE measurement according to the measurement parameter, and obtains the neighboring area measurement result and the neighboring UE measurement result, and sends the neighboring area measurement result and the neighboring UE measurement result to the positioning server, and the positioning server according to the positioning server Determining the base station selection rule and the neighboring cell measurement result to determine the set of base stations participating in the target to be located UE, and determining the set of auxiliary UEs participating in the target to be located UE according to the preset auxiliary UE selection rule and the neighbor UE measurement result, to the target
  • the UE to be located transmits a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set, and the target to be located UE monitors the PRS sent by each base station included in the base station set according to the first PRS parameter set, and according to the second The PRS parameter set monitors the PRS sent by each auxiliary UE included in the auxiliary
  • the PRS sent by the secondary base station and the reference base station in the set of base stations respectively reach the second RSTD set of the target to be located UE And sending, by the location server, the first RSTD set and the second RSTD set, so that the location server determines, according to the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set, location information of multiple to-be-located UEs,
  • the D2D technology between the base station and the UE is combined to perform positioning, which can allow the positioning information to be exchanged between the UEs to be located, and form a mutual check, which improves the information amount of the joint positioning hyperbolic equations, and helps to improve the positioning accuracy. Positioning can also be accurately performed when the number of available base stations is insufficient, thereby also enhancing positioning flexibility and universality.
  • FIG. 3 is a schematic structural diagram of a positioning server according to an embodiment of the present invention.
  • the positioning server described in this embodiment includes:
  • the determining module 301 is configured to determine, according to the preset base station selection rule and the neighboring cell measurement result sent by the target user equipment UE, the set of base stations participating in the target to locate UE, where the target to be located UE is multiple to be determined. Any one of the bits UE.
  • the determining module 301 is further configured to determine, according to the preset auxiliary UE selection rule and the neighbor UE measurement result sent by the target to-be-located UE, the auxiliary UE set that participates in the target to-be-positioned UE positioning, where the auxiliary UE set Each of the included auxiliary UEs establishes a terminal direct-through technology D2D connection with the target to-be-targeted UE.
  • the receiving module 302 is configured to receive a first reference signal arrival time difference RSTD set and a second RSTD set sent by the target to-be-located UE, where the first RSTD set is a positioning reference sent by any two base stations in the base station set respectively.
  • the signal PRS arrives at the RSTD set of the target to-be-located UE, and the second RSTD set is a PRS arrives by the any one of the auxiliary UE sets by the D2D connection and the reference base station in the base station set respectively.
  • the RSTD set of the target UE to be located.
  • the processing module 303 is configured to determine location information of the multiple to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the location server further includes a configuration module 304, wherein:
  • the receiving module 302 is further configured to receive a positioning request sent by the target to be located UE.
  • the configuration module 304 is configured to configure, according to the positioning request, a measurement parameter of the target to-be-targeted UE to perform neighbor cell measurement and neighbor UE measurement.
  • the receiving module 302 is further configured to receive the neighboring cell measurement result and the neighbor UE measurement result obtained by performing the neighbor cell measurement and the neighbor UE measurement according to the measurement parameter sent by the target to-be-located UE.
  • the positioning server further includes an obtaining module 305 and a sending module. Block 306, wherein:
  • the obtaining module 305 is configured to acquire a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set.
  • the sending module 306 is configured to send the first PRS parameter set and the second PRS parameter set to the target to-be-targeted UE, so that the target to-be-positioned UE is configured according to the first PRS parameter set.
  • the PRSs sent by the base stations included in the set of base stations are monitored, and the PRSs sent by the auxiliary UEs included in the set of auxiliary UEs through the D2D connection are monitored according to the second set of PRS parameters.
  • the determining module 301 is specifically configured to:
  • the determining module 301 is specifically configured to:
  • Selecting, from the neighboring UE list, sending a positioning request to the positioning server, and the receiving power of the target to-be-targeted UE is preset in a preset second number of UEs in descending order, and the preset number is preset.
  • the two number of UEs determine a set of secondary UEs that participate in the target to locate UE.
  • the processing module 303 is specifically configured to:
  • the processing module 303 is specifically configured to:
  • the positioning server determines, according to the preset base station selection rule and the neighboring area measurement result of the target user equipment UE, the set of base stations participating in the target to locate the UE, according to the preset auxiliary UE selection rule and the The neighboring UE measurement result of the UE to be located is determined, and the set of secondary UEs participating in the target to be located UE is determined, and the target to be located UE is any one of the plurality of to-be-located UEs.
  • the positioning server receives the first RSTD set of the positioning reference signal PRS sent by any two base stations in the set of base stations sent by the target to be located, and any one of the auxiliary UEs and the set of the base station.
  • the PRS sent by the reference base station in the second base station reaches the second RSTD set of the target to be located, and further determines the multiple according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the location information of the UE to be located by combining the D2D technology between the base station and the UE, allows the positioning information to be exchanged between the UEs to be located, and forms mutual verification, thereby improving the information amount of the joint positioning hyperbolic equations. It helps to improve the positioning accuracy, and can also accurately complete the positioning when the number of available base stations is insufficient, thereby enhancing the flexibility and universality of positioning.
  • FIG. 4 is a schematic structural diagram of a UE according to an embodiment of the present invention.
  • the UE described in this embodiment includes:
  • the sending module 401 is configured to send a neighboring cell measurement result and a neighboring UE measurement result to the positioning server, where the UE is any one of a plurality of UEs to be located.
  • the receiving module 402 is configured to receive a first PRS parameter set of the base station set sent by the positioning server and a second PRS parameter set of the auxiliary UE set, where the base station set is selected by the positioning server according to a preset base station selection rule and The neighboring area measurement determines that the set of secondary UEs is determined by the positioning server according to a preset secondary UE selection rule and the neighboring UE measurement result, and each secondary UE included in the secondary UE set is established with the UE. There is a D2D connection.
  • the monitoring module 403 is configured to monitor, according to the first PRS parameter set, a PRS sent by each base station included in the base station set, and set the secondary UE according to the second PRS parameter set. Each of the included auxiliary UEs is monitored by the PRS transmitted by the D2D connection.
  • the obtaining module 404 is configured to acquire a first RSTD set that the PRS sent by any two base stations in the set of base stations respectively arrives at the UE, and acquire any one of the auxiliary UEs by using the D2D connection and the The PRS sent by the reference base station in the set of base stations respectively reaches the second RSTD set of the UE.
  • the sending module 401 is further configured to send the first RSTD set and the second RSTD set to the positioning server, so that the positioning server is configured according to the first RSTD set, the second RSTD set, and The location information of each base station included in the base station set determines location information of the multiple to-be-located UEs.
  • the UE further includes a measurement module 405, where:
  • the sending module 401 is further configured to send a positioning request to the positioning server.
  • the receiving module 402 is further configured to receive measurement parameters of the neighboring cell measurement and the neighboring UE measurement sent by the positioning server in response to the positioning request.
  • the measurement module 405 is configured to perform neighbor cell measurement and neighbor UE measurement according to the measurement parameter, to obtain a neighbor cell measurement result and a neighbor UE measurement result.
  • any one of the plurality of UEs to be located sends the neighboring cell measurement result and the neighboring UE measurement result to the positioning server, and receives the first PRS parameter set of the base station set and the second set of the auxiliary UE set sent by the positioning server.
  • a PRS parameter set and monitoring, according to the first PRS parameter set, the PRS sent by each base station included in the base station set, and monitoring, according to the second PRS parameter set, the PRS sent by each auxiliary UE included in the auxiliary UE set through the D2D connection, and further Obtaining a first RSTD set that the PRS sent by any two base stations in the set of base stations arrives at the UE, and acquiring a PRS sent by the any one of the auxiliary UEs to the UE through the D2D connection and the reference base station in the base station set respectively.
  • a second RSTD set and sending the first RSTD set and the second RSTD set to the positioning server, so that the positioning server determines the multiple to-be-positioned UEs according to the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set.
  • Location information by combining D2D technology between the base station and the UE for positioning, may allow interaction between UEs to be located Bits of information and the formation of cross-checking, The information amount of the joint positioning hyperbolic equations is improved, which helps to improve the positioning accuracy, and the positioning can be accurately performed when the number of available base stations is insufficient, thereby enhancing the flexibility and universality of positioning.
  • FIG. 5 is a schematic structural diagram of a base station according to an embodiment of the present invention.
  • the base station described in this embodiment includes:
  • the determining module 501 is configured to determine to send a PRS parameter of the PRS to the target to be located UE, where the base station is any one of the set of base stations determined by the positioning server, and the target to be located UE is any one of the plurality of to-be-located UEs.
  • the sending module 502 is configured to send the PRS parameter to the positioning server, so that the positioning server sends a PRS parameter set to the target to-be-located UE.
  • the sending module 502 is further configured to send a PRS to the target to-be-targeted UE, so that the target to-be-targeted UE monitors the PRS according to the PRS parameter set, and sends the base station to the positioning server.
  • the PRS sent by any two base stations in the set arrives at the first RSTD set of the target to-be-targeted UE and the PRS sent by any one of the auxiliary UEs and the reference base station in the set of base stations respectively arrive at the target to be located.
  • the positioning server determines the location of the multiple to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set. information.
  • any one of the base stations determined by the positioning server sends the PRS parameter of the PRS to the target to be located UE
  • the target to be located UE is any one of the plurality of to-be-located UEs
  • the base station sends the PRS parameter to the positioning server. So that the positioning server sends the PRS parameter set to the target to be located UE, and then sends the PRS to the target to be located UE, so that the target to be located UE listens to the PRS according to the PRS parameter set, and sends any two of the base station sets to the positioning server.
  • the D2D technology is combined to perform positioning, which can allow the positioning information to be exchanged between the UEs to be located, and form mutual verification, which improves the information amount of the joint positioning hyperbolic equations, helps to improve the positioning accuracy, and the number of available base stations is insufficient. Positioning can also be accurately performed, which also enhances the flexibility and universality of positioning.
  • FIG. 6 is a schematic structural diagram of another positioning server according to an embodiment of the present invention.
  • the positioning server described in this embodiment includes a transceiver 601, a processor 602, and a memory 603.
  • the processor 602 is connected to the transceiver 601 and the memory 603 through a bus.
  • the transceiver 601 may be a radio frequency receiver or a radio frequency chip for transmitting and receiving signals.
  • the transceiver 601 may include an integrated transmit channel (Transmitter, TX) and a receiver (Receiver, RX).
  • the processor 602 may be a baseband processor, a baseband chip, a digital signal processor (DSP), or a system-on-a-chip (SOC) including a baseband processor and an application processor.
  • the foregoing memory 603 is configured to store a set of program codes
  • the processor 602 is configured to call the program code stored in the memory 603, and perform the following operations:
  • the processor 602 is configured to determine, according to the preset base station selection rule and the neighboring cell measurement result sent by the target user equipment UE, the set of base stations participating in the target to be located UE, where the target to be located UE is multiple to be determined. Any one of the bits UE.
  • the processor 602 is further configured to determine, according to a preset auxiliary UE selection rule and a neighbor UE measurement result sent by the target to-be-located UE, a secondary UE set that participates in the target to-be-positioned UE positioning, where the auxiliary UE set Each of the included auxiliary UEs establishes a terminal direct-through technology D2D connection with the target to-be-targeted UE.
  • the transceiver 601 is configured to receive a first reference signal arrival time difference RSTD set and a second RSTD set sent by the target to-be-located UE, where the first RSTD set is a positioning reference sent by any two base stations in the base station set respectively.
  • the signal PRS arrives at the RSTD set of the target to-be-located UE, and the second RSTD set is a PRS arrives by the any one of the auxiliary UE sets by the D2D connection and the reference base station in the base station set respectively.
  • the RSTD set of the target UE to be located.
  • the processor 602 is further configured to determine location information of the multiple to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the transceiver 601 is further configured to receive a positioning request sent by a target to be located UE.
  • the processor 602 is further configured to: in response to the positioning request, configure a measurement parameter of the target to-be-targeted UE to perform neighbor cell measurement and neighbor UE measurement.
  • the transceiver 601 is further configured to receive a neighboring cell measurement result and a neighbor UE measurement result obtained by performing, by using the target to be located, the neighboring cell measurement and the neighboring UE measurement according to the measurement parameter.
  • the processor 602 is further configured to acquire a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set.
  • the transceiver 601 is further configured to send the first PRS parameter set and the second PRS parameter set to the target to-be-targeted UE, so that the target to-be-positioned UE is configured according to the first PRS parameter set.
  • the PRS sent by each base station included in the set of base stations is monitored, and the PRSs sent by the auxiliary UEs included in the set of auxiliary UEs through the D2D connection are monitored according to the second set of PRS parameters.
  • the processor 602 is specifically configured to:
  • the processor 602 is specifically configured to:
  • Selecting, from the neighboring UE list, sending a positioning request to the positioning server, and the receiving power of the target to-be-targeted UE is preset in a preset second number of UEs in descending order, and the preset number is preset.
  • the two number of UEs determine a set of secondary UEs that participate in the target to locate UE.
  • the processor 602 is specifically configured to:
  • the location information of the station determines a joint positioning equation of the plurality of UEs to be located.
  • the processor 602 is specifically configured to:
  • the transceiver 601, the processor 602, and the memory 603, which are described in the embodiments of the present invention, may be implemented in an implementation method provided by an embodiment of the present invention.
  • An implementation manner described in the positioning server is not described herein.
  • the positioning server determines, according to the preset base station selection rule and the neighboring area measurement result of the target user equipment UE, the set of base stations participating in the target to locate the UE, according to the preset auxiliary UE selection rule and the The neighboring UE measurement result of the UE to be located is determined, and the set of secondary UEs participating in the target to be located UE is determined, and the target to be located UE is any one of the plurality of to-be-located UEs.
  • the positioning server receives the first RSTD set of the positioning reference signal PRS sent by any two base stations in the set of base stations sent by the target to be located, and any one of the auxiliary UEs and the set of the base station.
  • the PRS sent by the reference base station in the second base station reaches the second RSTD set of the target to be located, and further determines the multiple according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set.
  • the location information of the UE to be located by combining the D2D technology between the base station and the UE, allows the positioning information to be exchanged between the UEs to be located, and forms mutual verification, thereby improving the information amount of the joint positioning hyperbolic equations. It helps to improve the positioning accuracy, and can also accurately complete the positioning when the number of available base stations is insufficient, thereby enhancing the flexibility and universality of positioning.
  • FIG. 7 is a schematic structural diagram of another UE according to an embodiment of the present invention.
  • the UE described in this embodiment includes: a transceiver 701, a processor 702, a memory 703, an output device 704, and an input device 705.
  • the processor 702 is connected to the transceiver 701, the memory 703, and the output through the bus.
  • Device 704 is coupled to input device 705.
  • the transceiver 701 may be a radio frequency receiver or a radio frequency chip for transmitting and receiving signals. Specifically, the transceiver 701 may include a transmission path and a receiver integrated together.
  • the processor 702 may be a baseband processor, a baseband chip, a DSP, or an SOC.
  • the above memory 703 is a memory device of the UE for storing programs and data. It can be understood that the memory 703 herein may be a high-speed RAM memory, or may be a non-volatile memory, such as at least one disk memory; optionally, at least one of the processors 702 may be located away from the foregoing processor 702. Storage device.
  • the above output device 704 can include a display.
  • the input device 705 can be a touch panel, a microphone, a camera, etc., and the touch panel includes a touch screen and a touch screen.
  • the memory 703 is configured to store a set of program codes, and the processor 702 calls the program code stored in the memory 703 to perform the following operations:
  • the transceiver 701 is configured to send a neighboring cell measurement result and a neighboring UE measurement result to the positioning server, where the UE is any one of multiple UEs to be located.
  • the transceiver 701 is further configured to receive a first PRS parameter set of the base station set sent by the positioning server and a second PRS parameter set of the auxiliary UE set, where the base station set is selected by the positioning server according to the preset base station.
  • the rule and the neighboring cell measurement result determine that the auxiliary UE set is determined by the positioning server according to a preset auxiliary UE selection rule and the neighboring UE measurement result, and each auxiliary UE included in the auxiliary UE set is The UE is established with a D2D connection.
  • the processor 702 is configured to monitor, according to the first PRS parameter set, the PRS sent by each base station included in the base station set, and pass, according to the second PRS parameter set, each auxiliary UE included in the auxiliary UE set.
  • the PRS sent by the D2D connection is monitored.
  • the processor 702 is further configured to acquire a first RSTD set that the PRS sent by any two base stations in the set of base stations respectively reaches the UE, and acquire any one of the auxiliary UEs to obtain the D2D connection by using the D2D And respectively transmitting the PRS sent by the reference base station in the set of base stations to the second RSTD set of the UE.
  • the transceiver 701 is further configured to send the first RSTD set and the location to the positioning server. Determining the second set of RSTDs, so that the location server determines location information of the plurality of to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set. .
  • the transceiver 701 is further configured to send a positioning request to the positioning server.
  • the transceiver 701 is further configured to receive measurement parameters of the neighboring cell measurement and the neighboring UE measurement sent by the positioning server in response to the positioning request.
  • the processor 702 is further configured to perform neighbor cell measurement and neighbor UE measurement according to the measurement parameter, to obtain a neighbor cell measurement result and a neighbor UE measurement result.
  • the transceiver 701, the processor 702, the memory 703, the output device 704, and the input device 705, which are described in the embodiments of the present invention, may be implemented in a positioning method provided by an embodiment of the present invention.
  • An implementation manner described in a UE provided by an embodiment of the present invention may be implemented, and details are not described herein again.
  • any one of the plurality of UEs to be located sends the neighboring cell measurement result and the neighboring UE measurement result to the positioning server, and receives the first PRS parameter set of the base station set and the second set of the auxiliary UE set sent by the positioning server.
  • a PRS parameter set and monitoring, according to the first PRS parameter set, the PRS sent by each base station included in the base station set, and monitoring, according to the second PRS parameter set, the PRS sent by each auxiliary UE included in the auxiliary UE set through the D2D connection, and further Obtaining a first RSTD set that the PRS sent by any two base stations in the set of base stations arrives at the UE, and acquiring a PRS sent by the any one of the auxiliary UEs to the UE through the D2D connection and the reference base station in the base station set respectively.
  • a second RSTD set and sending the first RSTD set and the second RSTD set to the positioning server, so that the positioning server determines the multiple to-be-positioned UEs according to the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set.
  • Location information by combining D2D technology between the base station and the UE for positioning, may allow interaction between UEs to be located
  • the bit information and the mutual check form improve the information amount of the joint positioning hyperbolic equations, which helps to improve the positioning accuracy, and can also accurately complete the positioning when the number of available base stations is insufficient, thereby enhancing the flexibility of positioning. Degree and universality.
  • FIG. 8 is a schematic structural diagram of another base station according to an embodiment of the present invention.
  • the base station described in the following includes a transceiver 801, a processor 802, and a memory 803, which are connected to the transceiver 801 and the memory 803 via a bus.
  • the transceiver 801 may be a radio frequency receiver or a radio frequency chip for transmitting and receiving signals. Specifically, the transceiver 801 may include a transmission path and a receiver integrated together.
  • the processor 802 may be a baseband processor, a baseband chip, a DSP or an SOC, or the like.
  • the above memory 803 is configured to store a set of program codes, and the processor 802 calls the program code stored in the memory 803 to perform the following operations:
  • the processor 802 is configured to determine a PRS parameter for transmitting a PRS to a target to-be-located UE, where the base station is any one of a set of base stations determined by the positioning server, where the target to-be-targeted UE is any one of multiple to-be-located UEs.
  • the transceiver 801 is configured to send the PRS parameter to the positioning server, so that the positioning server sends a PRS parameter set to the target to-be-located UE.
  • the transceiver 801 is further configured to send a PRS to the target to-be-located UE, so that the target to-be-targeted UE monitors the PRS according to the PRS parameter set, and sends the base station to the positioning server.
  • the PRS sent by any two base stations in the set arrives at the first RSTD set of the target to-be-targeted UE and the PRS sent by any one of the auxiliary UEs and the reference base station in the set of base stations respectively arrive at the target to be located.
  • the positioning server determines the location of the multiple to-be-located UEs according to the first RSTD set, the second RSTD set, and location information of each base station included in the base station set. information.
  • the transceiver 801, the processor 802, and the memory 803, which are described in the embodiments of the present invention, may be implemented in the positioning method provided by the embodiment of the present invention.
  • An implementation manner described in a base station is not described herein.
  • any one of the base stations determined by the positioning server sends the PRS parameter of the PRS to the target to be located UE
  • the target to be located UE is any one of the plurality of to-be-located UEs
  • the base station sends the PRS parameter to the positioning server. So that the positioning server sends the PRS parameter set to the target to be located UE, and then sends the PRS to the target to be located UE, so that the target to be located UE listens to the PRS according to the PRS parameter set, and sends any two of the base station sets to the positioning server.
  • the PRS sent by the base station respectively reaches the first RSTD set of the target to be located UE and any one of the auxiliary UE sets.
  • the PRS sent by the reference base station in the UE and the base station set respectively reaches the second RSTD set of the target UE to be located, so that the positioning server determines the multiple according to the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set.
  • the location information of the UE to be located by combining the D2D technology between the base station and the UE, can allow the positioning information to be exchanged between the UEs to be located, and form mutual verification, thereby improving the information amount of the joint positioning hyperbolic equations. It can improve the positioning accuracy, and can accurately complete the positioning when the number of available base stations is insufficient, thereby enhancing the flexibility and universality of positioning.
  • FIG. 9 is a schematic structural diagram of a positioning system according to an embodiment of the present invention.
  • the positioning system described in this embodiment includes: a target to be located UE 901, a positioning server 902, a base station set 903, and a secondary UE set 904, where:
  • the target to be located UE 901 is configured to send a positioning request to the positioning server 902.
  • the target to be located UE 901 is any one of a plurality of UEs to be located.
  • the positioning server 902 is configured to send the measurement parameters of the neighboring cell measurement and the neighboring UE measurement to the target to-be-targeted UE 901 in response to the positioning request.
  • the target to be located UE 901 is further configured to receive the measurement parameter, and perform neighbor cell measurement and neighbor UE measurement according to the measurement parameter, to obtain a neighbor cell measurement result and a neighbor UE measurement result.
  • the target to be located UE 901 is further configured to send the neighboring cell measurement result and the neighbor UE measurement result to the positioning server 902.
  • the location server 902 is further configured to determine, according to the preset base station selection rule and the neighboring cell measurement result, the base station set 903 that participates in the target to locate UE 901, according to the preset auxiliary UE selection rule and the neighbor.
  • the UE measurement result determines the secondary UE set 904 participating in the target UE 901 positioning.
  • the location server 902 is further configured to acquire a first PRS parameter set of the base station set 903 and a second PRS parameter set of the auxiliary UE set 904.
  • the location server 902 is further configured to send the first PRS parameter set and the second PRS parameter set to the target to-be-located UE 901.
  • the target to be located UE 901 is further configured to monitor, according to the first PRS parameter set, the PRS sent by each base station included in the base station set 903, and according to the second PRS parameter set The PRS sent by each secondary UE included in the secondary UE set 904 is monitored.
  • the target to be located UE 901 is further configured to acquire a first RSTD set that the PRS sent by any two base stations in the base station set 903 respectively reaches the target to-be-positioned UE, and acquire any one of the auxiliary UE sets 904.
  • the PRS sent by the UE and the reference base station in the set of base stations respectively reaches the second RSTD set of the target to be located UE.
  • the reference base station is a base station in the set of base stations whose communication quality meets a preset condition and serves the target to be located UE.
  • the target to be located UE 901 is further configured to send the first RSTD set and the second RSTD set to the positioning server 902.
  • the location server 902 is further configured to determine location information of the multiple to-be-located UEs according to location information of each base station included in the first RSTD set, the second RSTD set, and the base station set 903.
  • the functions of the target to be located UE 901, the positioning server 902, the base station set 903, and the auxiliary UE set 904 in this embodiment may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the foregoing method embodiment. The related description is not repeated here.
  • the target to be located UE performs the neighboring area measurement and the neighboring UE measurement according to the measurement parameter, and obtains the neighboring area measurement result and the neighboring UE measurement result, and sends the neighboring area measurement result and the neighboring UE measurement result to the positioning server, and the positioning server according to the positioning server Determining the base station selection rule and the neighboring cell measurement result to determine the set of base stations participating in the target to be located UE, and determining the set of auxiliary UEs participating in the target to be located UE according to the preset auxiliary UE selection rule and the neighbor UE measurement result, to the target
  • the UE to be located transmits a first PRS parameter set of the base station set and a second PRS parameter set of the auxiliary UE set, and the target to be located UE monitors the PRS sent by each base station included in the base station set according to the first PRS parameter set, and according to the second The PRS parameter set monitors the PRS sent by each auxiliary UE included in the auxiliary
  • the PRS sent by the secondary base station and the reference base station in the set of base stations respectively reach the second RSTD set of the target to be located UE And sending, by the location server, the first RSTD set and the second RSTD set, so that the location server determines, according to the first RSTD set, the second RSTD set, and the location information of each base station included in the base station set, location information of multiple to-be-located UEs,
  • the D2D technology between the base station and the UE is combined for positioning, which can allow the UE to be located to be located and interacted with each other.
  • the information and the mutual verification form improve the information amount of the joint positioning hyperbolic equations, which helps to improve the positioning accuracy, and can also accurately complete the positioning when the number of available base stations is insufficient, thereby enhancing the positioning flexibility. And universality.
  • the program may be stored in a computer readable storage medium, and the storage medium may include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

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Abstract

一种定位方法、系统及相关设备，其中一种定位方法包括：定位服务器确定参与目标待定位UE定位的基站集合和辅助UE集合，该目标待定位UE为多个待定位UE中的任意一个。定位服务器接收该目标待定位UE发送的该基站集合中任意两个基站分别发送的定位参考信号PRS到达该目标待定位UE的第一RSTD集合和该辅助UE集合中任意一个辅助UE和该基站集合中的参考基站分别发送的PRS到达该目标待定位UE的第二RSTD集合，根据该第一RSTD集合、该第二RSTD集合和该基站集合包括的各基站的位置信息，确定出该多个待定位UE的位置信息。通过本发明实施例可以提高定位精度和灵活度。

Description

一种定位方法、系统及相关设备 技术领域
本发明涉及通信技术领域，尤其涉及一种定位方法、系统及相关设备。
背景技术
定位业务已经成为移动通信和个人通信服务不可或缺的一部分，在人们的生产生活中发挥着重要作用并面临着多样化的需求。定位业务是指通过电信运营商的移动通信网络获取移动终端用户的位置信息(如经纬度坐标)，在电子地图平台的支持下，可以为用户提供相应服务的一种增值业务。而用户对位置服务的需求呈现出广泛化、高标准的发展趋势，例如在安全监控、灾难应急、交通疏导、交互式游戏等诸多方面对定位的需求。
基于到达时间差(Time Difference of Arrival，TDOA)测量的定位算法是常用的定位算法。观察到达时间差(Observed Time Difference Of Arrival，OTDOA)和上行信号到达时间差(Uplink Time Difference Of Arrival，UTDOA)是常见的基于TDOA测量的定位技术，运用于移动蜂窝网络系统中。其原理是：当系统中存在三个或三个以上的基站时，可以根据不同基站下行/上行传输的定位参考信号(Positioning Reference Signal，PRS)/探测参考信号(Sounding Reference Signal，SRS)信号的参考信号到达时间差(Reference Signal Time Difference，RSTD)确定用户设备(User Equipment，UE)的位置。然而这种定位方法定位精度有待提高，而且每个UE必须能够与三个或三个以上基站进行通信才可进行定位，局限性较强，定位灵活性差。
发明内容
本发明实施例公开了一种定位方法、系统及相关设备，可以提高定位精度和灵活度。
本发明实施例第一方面公开了一种定位方法，包括：
定位服务器根据预设的基站选取规则和多个待定位用户设备UE中的任意一个(以目标待定位UE为例)发送的邻区测量结果，确定参与该目标待定位UE定位的基站集合，预设的基站选取规则具体可以是将目标待定位UE对邻近 基站的接收功率较大的基站组成该基站集合。
定位服务器根据预设的辅助UE选取规则和该目标待定位UE发送的邻UE测量结果，确定参与该目标待定位UE定位的辅助UE集合，该辅助UE集合包括的各辅助UE均与该目标待定位UE建立有终端直通技术D2D连接，预设的辅助UE选取规则具体可以是将目标待定位UE对邻近UE的接收功率较大的UE组成该辅助UE集合。
定位服务器接收该目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合，第一RSTD集合为基站集合中任意两个基站分别发送的定位参考信号PRS到达该目标待定位UE的RSTD集合，第二RSTD集合为辅助UE集合中任意一个辅助UE通过D2D连接和基站集合中的参考基站分别发送的PRS到达该目标待定位UE的RSTD集合。
定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息，确定该多个待定位UE的位置信息。
可选的，定位服务器根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与目标待定位UE定位的基站集合之前，所述方法还包括：
定位服务器接收目标待定位UE发送的定位请求。
定位服务器响应所述定位请求，配置目标待定位UE进行邻区测量和邻UE测量的测量参数。
定位服务器接收目标待定位UE发送的根据该测量参数进行邻区测量和邻UE测量得到的邻区测量结果和邻UE测量结果。
可选的，定位服务器根据预设的辅助UE选取规则和目标待定位UE发送的邻UE测量结果，确定参与目标待定位UE定位的辅助UE集合之后，定位服务器接收目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合之前，所述方法还包括：
定位服务器获取基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合。
定位服务器向目标待定位UE发送第一PRS参数集合和第二PRS参数集合，以使得目标待定位UE根据第一PRS参数集合对基站集合包括的各基站发送的 PRS进行监听，以及根据第二PRS参数集合对辅助UE集合包括的各辅助UE通过D2D连接发送的PRS进行监听。
可选的，定位服务器根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与该目标待定位UE定位的基站集合的具体方式为：
定位服务器获取目标待定位用户设备UE发送的邻区测量结果包括的邻近基站列表和目标待定位UE对邻近基站的接收功率。
定位服务器从邻近基站列表中选取目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量的基站，将该预设第一数量的基站确定为参与目标待定位UE定位的基站集合。
可选的，定位服务器根据预设的辅助UE选取规则和目标待定位UE发送的邻UE测量结果，确定参与目标待定位UE定位的辅助UE集合的具体方式为：
定位服务器获取目标待定位UE发送的邻UE测量结果包括的邻近UE列表和目标待定位UE对邻近UE的接收功率。
定位服务器从邻近UE列表中选取向定位服务器发送定位请求，且目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量的UE，将预设第二数量的UE确定为参与目标待定位UE定位的辅助UE集合。
可选的，定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息，确定该多个待定位UE的位置信息的具体方式为：
定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息，确定该多个待定位UE的联合定位方程。
定位服务器对多个待定位UE的联合定位方程进行多次迭代，以求解该多个待定位UE的联合定位方程，并根据该多个待定位UE的联合定位方程的解确定该多个待定位UE的位置信息。
可选的，定位服务器对所述多个待定位UE的联合定位方程进行多次迭代的具体方式为：
定位服务器获取每一次的迭代开始时辅助UE集合包括的各辅助UE的定位误差克拉美罗界，并利用定位误差克拉美罗界最小的辅助UE参与每一次的迭代。
本发明实施例第二方面公开了一种定位方法，包括：
目标待定位UE向定位服务器发送邻区测量结果和邻UE测量结果，所述目标待定位UE为多个待定位UE中的任意一个。
目标待定位UE接收所述定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，所述基站集合由所述定位服务器根据预设的基站选取规则和所述邻区测量结果确定，所述辅助UE集合由所述定位服务器根据预设的辅助UE选取规则和所述邻UE测量结果确定，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有D2D连接。
目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
目标待定位UE获取所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合，以及获取所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合。
目标待定位UE向所述定位服务器发送所述第一RSTD集合和所述第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
可选的，目标待定位UE向定位服务器发送邻区测量结果和邻UE测量结果之前，所述方法还包括：
目标待定位UE向定位服务器发送定位请求。
目标待定位UE接收所述定位服务器响应所述定位请求而发送的邻区测量和邻UE测量的测量参数。
目标待定位UE根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
本发明实施例第三方面公开了一种定位方法，包括：
目标基站确定向目标待定位UE发送PRS的PRS参数，所述目标基站为定位服务器确定的基站集合中的任意一个，所述目标待定位UE为多个待定位UE中 的任意一个。
目标基站向所述定位服务器发送所述PRS参数，以使得所述定位服务器向所述待定位UE发送PRS参数集合。
目标基站向所述目标待定位UE发送PRS，以使得所述目标待定位UE根据所述PRS参数集合对所述PRS进行监听，并向所述定位服务器发送所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
可选的，所述参考基站为所述基站集合中通信质量满足预设条件且为所述目标待定位UE服务的基站。
本发明实施例第四方面公开了一种定位服务器，包括：
确定模块，用于根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合，所述目标待定位UE为多个待定位UE中的任意一个。
确定模块，还用于根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有终端直通技术D2D连接。
接收模块，用于接收所述目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合，所述第一RSTD集合为所述基站集合中任意两个基站分别发送的定位参考信号PRS到达所述目标待定位UE的RSTD集合，所述第二RSTD集合为所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的RSTD集合。
处理模块，用于根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
可选的，所述定位服务器还包括配置模块，其中：
接收模块，还用于接收目标待定位UE发送的定位请求。
配置模块，用于响应所述定位请求，配置所述目标待定位UE进行邻区测量和邻UE测量的测量参数。
接收模块，还用于接收所述目标待定位UE发送的根据所述测量参数进行邻区测量和邻UE测量得到的邻区测量结果和邻UE测量结果。
可选的，所述定位服务器还包括获取模块和发送模块，其中：
获取模块，用于获取所述基站集合的第一PRS参数集合和所述辅助UE集合的第二PRS参数集合。
发送模块，用于向所述目标待定位UE发送所述第一PRS参数集合和所述第二PRS参数集合，以使得所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
可选的，确定模块，具体用于：
获取目标待定位用户设备UE发送的邻区测量结果包括的邻近基站列表和所述目标待定位UE对邻近基站的接收功率。
从所述邻近基站列表中选取所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量的基站，将所述预设第一数量的基站确定为参与所述目标待定位UE定位的基站集合。
可选的，确定模块，具体用于：
获取所述目标待定位UE发送的邻UE测量结果包括的邻近UE列表和所述目标待定位UE对邻近UE的接收功率。
从所述邻近UE列表中选取向所述定位服务器发送定位请求，且所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量的UE，将所述预设第二数量的UE确定为参与所述目标待定位UE定位的辅助UE集合。
可选的，处理模块，具体用于：
根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的联合定位方程。
对所述多个待定位UE的联合定位方程进行多次迭代，以求解所述多个待定位UE的联合定位方程，并根据所述多个待定位UE的联合定位方程的解确定 所述多个待定位UE的位置信息。
可选的，处理模块，具体用于：
获取每一次的迭代开始时所述辅助UE集合包括的各辅助UE的定位误差克拉美罗界，并利用所述定位误差克拉美罗界最小的辅助UE参与所述每一次的迭代。
本发明实施例第五方面公开了一种UE，包括：
发送模块，用于向定位服务器发送邻区测量结果和邻UE测量结果，所述UE为多个待定位UE中的任意一个。
接收模块，用于接收所述定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，所述基站集合由所述定位服务器根据预设的基站选取规则和所述邻区测量结果确定，所述辅助UE集合由所述定位服务器根据预设的辅助UE选取规则和所述邻UE测量结果确定，所述辅助UE集合包括的各辅助UE均与所述UE建立有D2D连接。
监听模块，用于根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
获取模块，用于获取所述基站集合中任意两个基站分别发送的PRS到达所述UE的第一RSTD集合，以及获取所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述UE的第二RSTD集合。
发送模块，还用于向所述定位服务器发送所述第一RSTD集合和所述第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
可选的，所述UE还包括测量模块，其中：
发送模块，还用于向定位服务器发送定位请求。
接收模块，还用于接收所述定位服务器响应所述定位请求而发送的邻区测量和邻UE测量的测量参数。
测量模块，用于根据所述测量参数进行邻区测量和邻UE测量，得到邻区 测量结果和邻UE测量结果。
本发明实施例第六方面公开了一种基站，包括：
确定模块，用于确定向目标待定位UE发送PRS的PRS参数，所述基站为定位服务器确定的基站集合中的任意一个，所述目标待定位UE为多个待定位UE中的任意一个。
发送模块，用于向所述定位服务器发送所述PRS参数，以使得所述定位服务器向所述目标待定位UE发送PRS参数集合。
发送模块，还用于向所述目标待定位UE发送PRS，以使得所述目标待定位UE根据所述PRS参数集合对所述PRS进行监听，并向所述定位服务器发送所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
本发明实施例第七方面公开了一种定位系统，包括：上述第四方面任一项所述的定位服务器、上述第五方面任一项所述的UE和上述第六方面所述的基站。
本发明实施例第八方面公开了一种定位服务器，包括：处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过总线连接，所述存储器存储有可执行程序代码，所述收发器受所述处理器的控制用于收发消息，所述处理器用于调用所述可执行程序代码，执行上述第一方面任一项所述的定位方法。
本发明实施例第九方面公开了一种UE，包括：处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过总线连接，所述存储器存储有可执行程序代码，所述收发器受所述处理器的控制用于收发消息，所述处理器用于调用所述可执行程序代码，执行上述第二方面任一项所述的定位方法。
本发明实施例第十方面公开了一种基站，包括：处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过总线连接，所述存储器存储有可执行程序代码，所述收发器受所述处理器的控制用于收发消息，所述处理器用于调用所述可执行程序代码，执行上述第三方面任一项所述的定位方法。
本发明实施例中，定位服务器根据预设的基站选取规则和目标待定位用户 设备UE的邻区测量结果，确定参与该目标待定位UE定位的基站集合，根据预设的辅助UE选取规则和该目标待定位UE的邻UE测量结果，确定参与该目标待定位UE定位的辅助UE集合，该目标待定位UE为多个待定位UE中的任意一个。定位服务器接收该目标待定位UE发送的该基站集合中任意两个基站分别发送的定位参考信号PRS到达该目标待定位UE的第一RSTD集合和该辅助UE集合中任意一个辅助UE和该基站集合中的参考基站分别发送的PRS到达该目标待定位UE的第二RSTD集合，进而根据该第一RSTD集合、该第二RSTD集合和该基站集合包括的各基站的位置信息，确定出该多个待定位UE的位置信息，可以提高定位精度和灵活度。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种定位方法的流程示意图；
图2a是本发明实施例公开的一种定位场景的示意图；
图2b是本发明实施例公开的另一种定位场景的示意图；
图2c是本发明实施例公开的又一种定位场景的示意图；
图3是本发明实施例公开的一种定位服务器的结构示意图；
图4是本发明实施例公开的一种UE的结构示意图；
图5是本发明实施例公开的一种基站的结构示意图；
图6是本发明实施例公开的另一种定位服务器的结构示意图；
图7是本发明实施例公开的另一种UE的结构示意图；
图8是本发明实施例公开的另一种基站的结构示意图；
图9是本发明实施例公开的一种定位系统的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清 楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例中的技术方案可应用于各种通信系统，例如：全球移动通讯系统(Global System of Mobile communication，GSM)、码分多址(Code Division Multiple Access，CDMA)系统、宽带码分多址(Wideband Code Division Multiple Access，WCDMA)系统、通用分组无线业务(General Packet Radio Service，GPRS)、长期演进(Long Term Evolution，LTE)系统、LTE频分双工(Frequency Division Duplex，FDD)系统、LTE时分双工(Time Division Duplex，TDD)、通用移动通信系统(Universal Mobile Telecommunication System，UMTS)或全球互联微波接入(Worldwide Interoperability for Microwave Access，WiMAX)通信系统等。
本发明实施例中的UE包括终端(Terminal)、移动台(Mobile Station，MS)或移动终端(Mobile Terminal)等，例如，UE可以是移动电话或具有移动终端的计算机等，UE还可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置。
本发明实施例中的基站包括宏基站、LMU、微型基站、微微基站、归属于同一个宏基站的微型射频拉远单元(pico Remote Radio Unit，pRRU)与射频拉远单元(Remote Radio Head，RRH)等，归属于不同宏基站的pRRU与RRH等，具体可以包括GSM或CDMA中的基站(Base Station，BS)，也可以是WCDMA中的基站(Node B，NB)，还可以是LTE中的演进型基站(Evolutional Node B，eNB)。其中，LMU是UTDOA技术中参与定位，并接收UE发送SRS的网元，是一个逻辑实体，可以与基站共设备，也可以是独立的网元设备。
本发明实施例中的定位服务器(Enhanced Serving Mobile Location Center，E-SMLC)泛指一切系统中负责定位的逻辑实体。
其中，基于信号到达时间差而完成定位测量的方法叫做TDOA定位，根据定位测量采用上行参考信号(SRS)/下行参考信号(PRS)，可分为UTDOA定位/OTDOA定位。在本发明实施例中，将一切基于信号到达时间差测量实现定 位的技术归属为UTDOA定位或者OTODA定位，且主要关注OTDOA。
其中，终端直通技术(Device to Device，D2D)是指小区内邻近的UE可以近距离范围内通过直连链路进行数据传输，而不需要通过中心节点(即基站)进行转发，D2D与移动蜂窝网络系统共享使用授权频带，有利于集中式干扰控制及功率分配，通信可靠性较高。
请参阅图1，为本发明实施例提供的一种定位方法的流程示意图。本实施例中所描述的定位方法，包括：
101、目标待定位UE向定位服务器发送定位请求。
其中，目标待定位UE为向定位服务器发送定位请求的多个待定位UE中的任意一个。
102、所述定位服务器响应所述定位请求向所述目标待定位UE发送邻区测量和邻UE测量的测量参数。
具体实现中，定位服务器响应定位请求，配置目标待定位UE进行邻区测量的测量参数和邻UE测量的测量参数，并向目标待定位UE发送该测量参数。
103、所述目标待定位UE接收所述测量参数，并根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
104、所述目标待定位UE向所述定位服务器发送所述邻区测量结果和所述邻UE测量结果。
其中，邻区测量结果包括邻近基站列表和目标待定位UE对邻近基站的接收功率，邻UE测量结果包括邻近UE列表和目标待定位UE对邻近UE的接收功率。
具体实现中，目标待定位UE根据相应的测量参数进行邻区测量和邻UE测量，将得到的邻区测量结果和邻UE测量结果发送给定位服务器。
105、所述定位服务器根据预设的基站选取规则和所述邻区测量结果，确定参与所述目标待定位UE定位的基站集合，根据预设的辅助UE选取规则和所述邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合。
其中，辅助UE集合包括的各辅助UE均与目标待定位UE建立有D2D连接。
具体实现中，定位服务器确定参与目标待定位UE定位的基站集合的方式 可以为：定位服务器获取邻区测量结果包括的邻近基站列表和目标待定位UE对邻近基站的接收功率，从邻近基站列表中选取目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量(例如2个或2个以上)的基站，将该预设第一数量的基站确定为参与目标待定位UE定位的基站集合。
同时，定位服务器确定参与目标待定位UE定位的辅助UE集合的方式可以为：定位服务器获取邻UE测量结果包括的邻近UE列表和目标待定位UE对邻近UE的接收功率，从邻近UE列表中选取同时或者同一时间段内也向定位服务器发送了定位请求，且目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量(例如1个或1个以上)的UE，将该预设第二数量的UE确定为参与目标待定位UE定位的辅助UE集合。
106、所述定位服务器获取所述基站集合的第一PRS参数集合和所述辅助UE集合的第二PRS参数集合。
具体实现中，基站集合包括的各基站向定位服务器上报发送PRS的PRS参数，辅助UE集合包括的各辅助UE也向定位服务器上报发送PRS的PRS参数，即除了基站向目标待定位UE发送PRS参与其定位过程之外，辅助UE通过D2D连接也向目标待定位UE发送PRS以参与其定位过程。定位服务器将基站集合包括的各基站上报的PRS参数汇整为第一PRS参数集合，将辅助UE集合包括的各辅助UE上报的PRS参数汇整为第二PRS参数集合。
107、所述定位服务器向所述目标待定位UE发送所述第一PRS参数集合和所述第二PRS参数集合。
108、所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE发送的PRS进行监听。
具体实现中，定位服务器将基站集合对应的第一PRS参数集合和辅助UE集合对应的第二PRS参数集合发送给目标待定位UE，基站集合包括的各基站向目标待定位UE发送PRS，并发送PRS的发送定时信息。辅助UE集合包括的各辅助UE也向目标待定位UE发送PRS，并发送PRS的发送定时信息。目标待定位UE根据第一PRS参数集合对基站集合包括的各基站发送的PRS进行监听，根据第二PRS参数集合对辅助UE集合包括的各辅助UE通过D2D连接发送的PRS 进行监听。
109、所述目标待定位UE获取所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合，以及获取所述辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合。
其中，参考基站为基站集合中通信质量满足预设条件(即通信质量良好)且为目标待定位UE提供服务的基站。
具体实现中，对于基站集合包括的各基站发送的PRS，目标待定位UE根据PRS的发送定时信息，获得基站集合包括的各基站发送的PRS到达目标待定位UE的到达时间(Time of Arrival，TOA)，将任意两个基站的TOA相减即可得到基站集合中任意两个基站分别发送的PRS到达目标待定位UE的RSTD集合(记为第一RSTD集合)。对于辅助UE集合包括的各辅助UE发送的PRS，目标待定位UE根据PRS的发送定时信息，获得辅助UE集合包括的各辅助UE发送的PRS到达目标待定位UE的TOA，将任意一个辅助UE的TOA与参考基站的TOA相减即可得到辅助UE集合中任意一个辅助UE和参考基站分别发送的PRS到达目标待定位UE的RSTD集合(记为第二RSTD集合)。
110、所述目标待定位UE向所述定位服务器发送所述第一RSTD集合和所述第二RSTD集合。
111、所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
其中，根据RSTD可以计算出基站集合包括的任意两个基站与目标待定位UE的距离差，辅助UE集合包括的任意一个辅助UE和参考基站与目标待定位UE的距离差。
具体实现中，定位服务器根据第一RSTD集合计算出基站集合包括的任意两个基站与目标待定位UE的距离差，以及辅助UE集合包括的任意一个辅助UE和参考基站与目标待定位UE的距离差，利用距离差和基站集合包括的各基站的位置信息列写针对目标待定位UE的定位方程，再根据该多个待定位UE中的其它待定位UE上报的RSTD集合和RSTD集合也列写对应的定位方程，从而可以确定出针对该多个待定位UE的联合定位方程。
进一步的，定位服务器可以利用高斯-牛顿Gauss-Newton迭代法对该多个待定位UE的联合定位方程进行多次迭代，以求解该多个待定位UE的联合定位方程，并根据该多个待定位UE的联合定位方程的解确定该多个待定位UE的位置信息。
其中，针对目标待定位UE列写的定位方程即为：以两个基站的位置作为两个焦点或者以参考基站的位置作为其中一个焦点、一个辅助UE的位置作为另一个焦点的双曲线方程，通过将该多个待定位UE的双曲线方程联立得到针对该多个待定位UE的联合定位双曲线方程组，对联合定位双曲线方程组求解得到双曲线之间的多个交点，根据双曲线的多个交点即可确定该多个待定位UE的位置。
需要说明的是，UTDOA的定位原理与OTDOA基本相同，只是采用的是上行参考信号SRS，UE发送SRS，基站接收SRS，这里不再赘述。
举例来说，定位场景一，如图2a所示，基站以BS标识，UE1、UE2和UE3为待定位UE，UE1、UE2和UE3之间相互建立D2D连接，UE1、UE2和UE3分别可以与一个基站通信，具体是UE1与BS1通信，UE2与BS2通信，UE3与BS3通信，BS1组成的基站集合、UE2和UE3组成的辅助UE集合参与UE1的定位，BS2组成的基站集合、UE1和UE3组成的辅助UE集合参与UE2的定位，BS3组成的基站集合、UE1和UE2组成的辅助UE集合参与UE3的定位，设BSi,i＝1,2,3的x y z坐标分别表示为
Figure PCTCN2016109857-appb-000001
UEj,j＝1,2,3的x y z坐标分别表示为xj、yj、zj(UE的z坐标默认为0)。
Figure PCTCN2016109857-appb-000002
代表UEi到UEj信号到达时间的真实值，
Figure PCTCN2016109857-appb-000003
代表BSi到UEj信号到达时间的真实值，c代表光速。
Figure PCTCN2016109857-appb-000004
代表UEi到UEj的距离测量误差,
Figure PCTCN2016109857-appb-000005
代表BSi到UEj的距离测量误差，另外为了表示方便，
Figure PCTCN2016109857-appb-000006
代表距离差测量误差。根据图2a中存在的通信链路数量，针对UE1、UE2和UE3可以列出如下联合定位双曲线方程组：
Figure PCTCN2016109857-appb-000007
Figure PCTCN2016109857-appb-000008
Figure PCTCN2016109857-appb-000009
Figure PCTCN2016109857-appb-000010
Figure PCTCN2016109857-appb-000011
Figure PCTCN2016109857-appb-000012
可见，每个待定位UE除了与某一基站进行通信外，还与其它两个待定位UE进行通信，因而连接到每个待定位UE的通信链路数量为三个，可以通过解联合定位双曲线方程组对待定位UE的坐标进行求解。
另外，观察联合定位双曲线方程组的结构可以发现每个待定位UE都参与到其它待定位UE的定位过程中，待定位UE之间的定位信息可以形成相互校验，通过待定位UE接收到的PRS提取信号的TOA，结合已知的基站坐标求解联合定位双曲线方程组即可得到所有待定位UE的坐标。
其中，本定位场景中的联合定位双曲线方程组的求解方式可以如下：找到一组UE1、UE2、UE3坐标带入方程，得到每个方程对应的距离差测量误差
Figure PCTCN2016109857-appb-000013
使得诸多
Figure PCTCN2016109857-appb-000014
的平方和能够离0的距离最接近，
Figure PCTCN2016109857-appb-000015
为门限取近似于0的小数，算法的具体实现描述如下(伪代码形式)：
测量
Figure PCTCN2016109857-appb-000016
在定位区域内随机撒放3个点，每个点的坐标作为待定位UE的坐标的真实值。使用这些点坐标的估计值(初次迭代时使用随机数生成值作为估计值，再次迭代时使用上次迭代的结果作为估计值)，每次迭代的待定位UE坐标估计值 表示为Xk＝(x1,y1,x2,y2,x3,y3)。
For k＝1to最大迭代次数
使用方程计算得到迭代k的剩余函数
Figure PCTCN2016109857-appb-000017
If
Figure PCTCN2016109857-appb-000018
迭代结束，输出迭代坐标Xk＝(x1,y1,x2,y2,x3,y3)
Return
End
计算迭代k的雅克比矩阵：
Figure PCTCN2016109857-appb-000019
计算迭代k的Gauss—Newton方向dk
Figure PCTCN2016109857-appb-000020
计算下一次迭代的UEi,i＝1,2,3位置坐标Xk+1＝Xk+dk
End
其中，方程各个偏导数均存在，因此能够计算雅克比矩阵。
再举例来说，定位场景二，如图2b所示，基站以BS标识，UE1、UE2和UE3为待定位UE，UE1、UE2和UE3之间相互建立D2D连接，UE1、UE2和UE3分 别可以与两个基站通信，BS1、BS2组成的基站集合、UE2和UE3组成的辅助UE集合参与UE1的定位，BS2、BS3组成的基站集合、UE1和UE3组成的辅助UE集合参与UE2的定位，BS1、BS3组成的基站集合、UE1和UE2组成的辅助UE集合参与UE3的定位，通过允许待定位UE之间以D2D的形式进行通信，每个待定位UE除了与两个基站进行通信外，还可与其它待定位UE进行通信，连接到每个待定位UE的通信链路数大于三个，因而可以实现对于待定位UE位置的确定。本定位场景下的联合定位双曲线方程组以及求解方法与定位场景一类似，此处不再赘述。
又举例来说，定位场景三，如图2c所示，基站以BS标识，UE1、UE2和UE3为待定位UE，UE1、UE2和UE3之间相互建立D2D连接，UE1、UE2和UE3分别可以与三个基站通信，BS1、BS2、BS3组成的基站集合、UE2和UE3组成的辅助UE集合参与UE1的定位，BS1、BS2、BS3组成的基站集合、UE1和UE3组成的辅助UE集合参与UE2的定位，BS1、BS2、BS3组成的基站集合、UE1和UE2组成的辅助UE集合参与UE3的定位。当每个待定位的UE能够与三个及以上的基站进行通信时，只利用与基站的通信链路就可以完成对待定位UE的定位，如果在此基础上允许待定位UE之间以D2D的形式进行通信，则可以增加连接到每个待定位UE的通信链路数量，根据通信链路数量列写的联合定位双曲线方程组的有效方程数增加，从而可以提高待定位UE的定位精度。本定位场景下的联合定位双曲线方程组以及求解方法与定位场景一类似，此处不再赘述。
在一些可行的实施方式中，假设无论是基站到待定位UE还是待定位UE到待定位UE，所有连接可能性均实际对应有通信链路且通信链路之间不构成干扰。设BSi,i＝1,2,...,m,...,M代表参与定位的基站。基站的x y z坐标分别表示为
Figure PCTCN2016109857-appb-000021
Figure PCTCN2016109857-appb-000022
UEj,j＝1,2,...,n,...,N代表待定位UE，待定位UE的x y z坐标分别表示为xj、yj、zj，在此假设待定位UE的z坐标恒为0。
Figure PCTCN2016109857-appb-000023
代表UEi到UEj信号到达时间的真实值，
Figure PCTCN2016109857-appb-000024
代表BSi到UEj信号到达时间的真实值，为了便于整体描述，增加
Figure PCTCN2016109857-appb-000025
的情况，只不过当i＝j时，
Figure PCTCN2016109857-appb-000026
代表UEi到UEj的距离测量误差,
Figure PCTCN2016109857-appb-000027
代表BSi到UEj的距离测量误差，另外为了表示方便，
Figure PCTCN2016109857-appb-000028
代表距离差测量误差。根据存在的通信链路数量， 针对待定位UE可以列出如下在结合D2D进行定位时联合定位双曲线方程组的一般表达形式：
Figure PCTCN2016109857-appb-000029
Figure PCTCN2016109857-appb-000030
然后，根据列写的联合定位双曲线方程组使用Gauss-Newton迭代法进行求解。下面以伪代码形式给出求解联合定位双曲线方程组得到待定位UE位置坐标的方法：
For k＝1to最大迭代次数
使用方程计算得到迭代k的剩余函数
Figure PCTCN2016109857-appb-000031
(注：δk为向量，为了方便，分多行表示)
If
Figure PCTCN2016109857-appb-000032
迭代结束，输出迭代坐标Xk＝(x1,y1,x2,y2,x3,y3,...,xN,yN)
(每次迭代的待定位UE坐标估计值表示为Xk＝(x1,y1,x2,y2,x3,y3,...,xN,yN))
Return
End
计算迭代k的雅克比矩阵：
Figure PCTCN2016109857-appb-000033
计算迭代k的Gauss—Newton方向dk
Figure PCTCN2016109857-appb-000034
计算下一次迭代的UEi,i＝1,2,...,n,...,N位置坐标Xk+1＝Xk+dk
End
其中，方程各个偏导数均存在，因此能够计算雅克比矩阵。
在一些可行的实施方式中，在基站结合D2D进行定位过程中，受限于定位 网络负荷、功率限制、隐私等因素，实际情况下并非所有发送定位请求的待定位UE都有意愿或者有权限作为辅助UE参与到其它发送定位请求的待定位UE的定位过程中，这就需要对参与到某个待定位UE的定位过程的辅助UE进行选择，传统的基于信号强度、接收功率、信号到达时间等的辅助UE选择方法局限于对待选择的辅助UE与待定位UE之间距离的衡量，而实际中，辅助UE的拓扑结构(或者说是位置分布)也会对待定位UE的定位造成影响。
其中，克拉美罗界(Cramér-Rao bound，CRB)是一种无偏估计器的性能下界，它常用来评估定位性能，运用它作为定位过程中对参与到发出定位请求的待定位UE的定位过程中辅助UE的选取依据。克拉美罗界通过取费舍矩阵(Fisher matrix，FIM)的逆来进行计算。假设UEi的坐标向量为Xi，则费舍矩阵通过下式给出：
Figure PCTCN2016109857-appb-000035
其中，S→i代表向发出定位请求的待定位UE发送PRS的基站或者辅助UE构成的集合，
Figure PCTCN2016109857-appb-000036
代表节点j(基站或者辅助UE)到发出定位请求的待定位UEi的距离测量误差。
Figure PCTCN2016109857-appb-000037
其中||.||代表求欧氏距离。上标T表示转置。涉及到上述定位场景三中对于伪代码的描述，每次迭代开始时，假设发出定位请求的待定位UEi的坐标估计值表示为
Figure PCTCN2016109857-appb-000038
参与待定位UEi定位的基站坐标值或者辅助UE坐标估计值表示为
Figure PCTCN2016109857-appb-000039
则待定位UEi在本此迭代的定位误差克拉美罗界由下式表示：
Figure PCTCN2016109857-appb-000040
其中
Figure PCTCN2016109857-appb-000041
在每次迭代时，假设初始状态下每个发送定位请求的待定位UE至少能够接收到三个以上基站发出的PRS。利用基站的坐标和发出定位请求的待定位UE在每次迭代开始时的坐标估计值，分别计算每个发出定位请求的待定位UE在 本次迭代的定位误差克拉美罗界，并选取卡尔美罗界最小的发出定位请求的待定位UE作为辅助UE参与其它所有发出定位请求的待定位UE在本轮迭代中的定位过程，直到迭代次数达到最大迭代次数或者定位误差为极小值
Figure PCTCN2016109857-appb-000042
停止迭代，并得出定位结果。
可见，本实施方式基于克拉美罗界的计算为发出定位请求的待定位UE选择辅助UE，综合考虑了距离及位置分布，相对于现有仅考虑距离的辅助UE选取方法更加准确、合适。
在一些可行的实施方式中，具体到每一个发出定位请求的待定位UE，向其发送PRS的基站或者辅助UE数目越多意味着针对其列写的双曲线方程个数越多，对其的定位越精确；另一方面，与发出定位请求的待定位UE通信的每条通信链路传递的信号质量越好，对于其的定位越精确。但是随着与发出定位请求的待定位UE进行通信的基站或者辅助UE数目的增加，通信链路相互之间构成干扰，并且也会对其它发出定位请求的待定位UE的信号接收造成干扰，这些都会在一定程度上降低通信链路传递的信号质量，因此可以针对通信链路数和通信质量的进行权衡，以期达到最佳定位效果。以待定位UE与其它UE之间的D2D通信对其它UE之间的D2D通信造成干扰为例，具体的干扰控制协调流程可以如下：
针对每一个发出定位请求的待定位UE，基站(例如参考基站)在所有可能与之通信的链路中分配一条最优链路，具体可以是距离最近的链路，也可以是发送功率最大的链路，并确保为每一个待定位UE分配的最优链路之间的干扰不超过预设阈值。然后，针对每一个待定位UE基站，计算为其每增加一条D2D通信链路所产生的通信干扰量，如果通信干扰量小于或等于预设通信干扰量阈值，则基站为其增加相应的D2D通信链路。其中，通信干扰量包括现有通信链路对新增的D2D通信链路造成的通信干扰量，以及新增的D2D通信链路对现有通信链路造成的通信干扰量。从而本实施方式可以很好地对定位过程中存在的干扰问题进行控制协调，使得本发明实施例提供的定位方案更加具有实际应用意义。
在一些可行的实施方式中，在出现重大灾难事故的定位场景中，由于基础设施不可避免地遭到损坏，单独依靠基站提供的定位服务可能由于基站本身的 故障而不能进行，此时待定位UE可以通过D2D技术进行定位：首先待定位UE向周边可以进行D2D通信的UE发送特殊构造的紧急求助D2D信号，周边UE在接收到紧急求助D2D信号时可以自愿选择为待定位UE提供定位支持(即成为其定位过程中的协作UE)，具体可以包含以下三种定位支持的选择：
(1)在网络的帮助下，协作UE自主发送自己的位置。
(2)协作UE自主为紧急求助D2D信号提供中继，在中继的过程中可以为紧急求助D2D信号添加标签，表明其为经过中继的SOS信号，网络将定位任务优先交付给此类为紧急求助D2D信号传递提供帮助的协作UE。或者网络接收到经过多次中继的紧急求助D2D信号或者直接接收到紧急求助D2D信号，将定位任务优先交付给参与紧急求助D2D信号传递的协作UE。协作UE可以采取匿名方式，从而不会暴露参与待定位UE定位的协作UE的位置。
(3)协作UE对于接收到的紧急求助D2D信号进行测量，并将测量结果发送给定位服务器用于定位。
可见，本实施方式可以解决在灾难环境中的应急定位问题，减少了对于基站的依赖，相对于单独依靠基站定位更好地解决了灾难环境中在基站受损的情况下UE的定位问题。
本发明实施例中，目标待定位UE根据测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果，向定位服务器发送邻区测量结果和邻UE测量结果，定位服务器根据预设的基站选取规则和邻区测量结果确定参与目标待定位UE定位的基站集合，以及根据预设的辅助UE选取规则和邻UE测量结果确定参与目标待定位UE定位的辅助UE集合，向目标待定位UE发送基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，目标待定位UE根据第一PRS参数集合对基站集合包括的各基站发送的PRS进行监听，以及根据第二PRS参数集合对辅助UE集合包括的各辅助UE发送的PRS进行监听，并获取基站集合中任意两个基站分别发送的PRS到达目标待定位UE的第一RSTD集合，以及获取辅助UE集合中任意一个辅助UE和基站集合中的参考基站分别发送的PRS到达目标待定位UE的第二RSTD集合，再向定位服务器发送第一RSTD集合和第二RSTD集合，从而定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息确定出多个待定位UE的位置信息，通过 将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图3，为本发明实施例提供的一种定位服务器的结构示意图。本实施例中所描述的定位服务器，包括：
确定模块301，用于根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合，所述目标待定位UE为多个待定位UE中的任意一个。
所述确定模块301，还用于根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有终端直通技术D2D连接。
接收模块302，用于接收所述目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合，所述第一RSTD集合为所述基站集合中任意两个基站分别发送的定位参考信号PRS到达所述目标待定位UE的RSTD集合，所述第二RSTD集合为所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的RSTD集合。
处理模块303，用于根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
在一些可行的实施方式中，所述定位服务器还包括配置模块304，其中：
所述接收模块302，还用于接收目标待定位UE发送的定位请求。
所述配置模块304，用于响应所述定位请求，配置所述目标待定位UE进行邻区测量和邻UE测量的测量参数。
所述接收模块302，还用于接收所述目标待定位UE发送的根据所述测量参数进行邻区测量和邻UE测量得到的邻区测量结果和邻UE测量结果。
在一些可行的实施方式中，所述定位服务器还包括获取模块305和发送模 块306，其中：
所述获取模块305，用于获取所述基站集合的第一PRS参数集合和所述辅助UE集合的第二PRS参数集合。
所述发送模块306，用于向所述目标待定位UE发送所述第一PRS参数集合和所述第二PRS参数集合，以使得所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
在一些可行的实施方式中，所述确定模块301，具体用于：
获取目标待定位用户设备UE发送的邻区测量结果包括的邻近基站列表和所述目标待定位UE对邻近基站的接收功率。
从所述邻近基站列表中选取所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量的基站，将所述预设第一数量的基站确定为参与所述目标待定位UE定位的基站集合。
在一些可行的实施方式中，所述确定模块301，具体用于：
获取所述目标待定位UE发送的邻UE测量结果包括的邻近UE列表和所述目标待定位UE对邻近UE的接收功率。
从所述邻近UE列表中选取向所述定位服务器发送定位请求，且所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量的UE，将所述预设第二数量的UE确定为参与所述目标待定位UE定位的辅助UE集合。
在一些可行的实施方式中，所述处理模块303，具体用于：
根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的联合定位方程。
对所述多个待定位UE的联合定位方程进行多次迭代，以求解所述多个待定位UE的联合定位方程，并根据所述多个待定位UE的联合定位方程的解确定所述多个待定位UE的位置信息。
在一些可行的实施方式中，所述处理模块303，具体用于：
获取每一次的迭代开始时所述辅助UE集合包括的各辅助UE的定位误差克拉美罗界，并利用所述定位误差克拉美罗界最小的辅助UE参与所述每一次 的迭代。
可以理解的是，本实施例的定位服务器的各功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，定位服务器根据预设的基站选取规则和目标待定位用户设备UE的邻区测量结果，确定参与该目标待定位UE定位的基站集合，根据预设的辅助UE选取规则和该目标待定位UE的邻UE测量结果，确定参与该目标待定位UE定位的辅助UE集合，该目标待定位UE为多个待定位UE中的任意一个。定位服务器接收该目标待定位UE发送的该基站集合中任意两个基站分别发送的定位参考信号PRS到达该目标待定位UE的第一RSTD集合和该辅助UE集合中任意一个辅助UE和该基站集合中的参考基站分别发送的PRS到达该目标待定位UE的第二RSTD集合，进而根据该第一RSTD集合、该第二RSTD集合和该基站集合包括的各基站的位置信息，确定出该多个待定位UE的位置信息，通过将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图4，为本发明实施例提供的一种UE的结构示意图。本实施例中所描述的UE，包括：
发送模块401，用于向定位服务器发送邻区测量结果和邻UE测量结果，所述UE为多个待定位UE中的任意一个。
接收模块402，用于接收所述定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，所述基站集合由所述定位服务器根据预设的基站选取规则和所述邻区测量结果确定，所述辅助UE集合由所述定位服务器根据预设的辅助UE选取规则和所述邻UE测量结果确定，所述辅助UE集合包括的各辅助UE均与所述UE建立有D2D连接。
监听模块403，用于根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合 包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
获取模块404，用于获取所述基站集合中任意两个基站分别发送的PRS到达所述UE的第一RSTD集合，以及获取所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述UE的第二RSTD集合。
所述发送模块401，还用于向所述定位服务器发送所述第一RSTD集合和所述第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
在一些可行的实施方式中，所述UE还包括测量模块405，其中：
所述发送模块401，还用于向定位服务器发送定位请求。
所述接收模块402，还用于接收所述定位服务器响应所述定位请求而发送的邻区测量和邻UE测量的测量参数。
所述测量模块405，用于根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
可以理解的是，本实施例的UE的各功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，多个待定位UE中的任意一个UE向定位服务器发送邻区测量结果和邻UE测量结果，接收定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，并根据第一PRS参数集合对基站集合包括的各基站发送的PRS进行监听，以及根据第二PRS参数集合对辅助UE集合包括的各辅助UE通过D2D连接发送的PRS进行监听，进而获取基站集合中任意两个基站分别发送的PRS到达该UE的第一RSTD集合，以及获取辅助UE集合中任意一个辅助UE通过D2D连接和基站集合中的参考基站分别发送的PRS到达该UE的第二RSTD集合，并向定位服务器发送第一RSTD集合和第二RSTD集合，以使得定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息确定该多个待定位UE的位置信息，通过将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验， 提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图5，为本发明实施例提供的一种基站的结构示意图。本实施例中所描述的基站，包括：
确定模块501，用于确定向目标待定位UE发送PRS的PRS参数，所述基站为定位服务器确定的基站集合中的任意一个，所述目标待定位UE为多个待定位UE中的任意一个。
发送模块502，用于向所述定位服务器发送所述PRS参数，以使得所述定位服务器向所述目标待定位UE发送PRS参数集合。
所述发送模块502，还用于向所述目标待定位UE发送PRS，以使得所述目标待定位UE根据所述PRS参数集合对所述PRS进行监听，并向所述定位服务器发送所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
可以理解的是，本实施例的基站的各功能模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，定位服务器确定的基站集合中的任意一个基站向目标待定位UE发送PRS的PRS参数，目标待定位UE为多个待定位UE中的任意一个，基站向定位服务器发送PRS参数，以使得定位服务器向目标待定位UE发送PRS参数集合，再向目标待定位UE发送PRS，以使得目标待定位UE根据PRS参数集合对PRS进行监听，并向定位服务器发送基站集合中任意两个基站分别发送的PRS到达目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和基站集合中的参考基站分别发送的PRS到达目标待定位UE的第二RSTD集合，以使得定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息确定该多个待定位UE的位置信息，通过将基站和UE之间 的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图6，为本发明实施例提供的另一种定位服务器的结构示意图。本实施例中所描述的定位服务器，包括：收发器601、处理器602和存储器603，上述处理器602通过总线与收发器601和存储器603连接。
其中，上述收发器601具体可以为射频接收机或者射频芯片，用于收发信号，具体地，收发器601可以包括集成在一起的发射通路(Transmitter，TX)以及接收器(Receiver，RX)。上述处理器602具体可以为基带处理器、基带芯片、数字信号处理器(Digital Signal Processor，DSP)或者包括基带处理器和应用处理器在内片上系统(SOC)等。
上述存储器603，用于存储一组程序代码，上述处理器602用于调用存储器603中存储的程序代码，执行如下操作：
处理器602，用于根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合，所述目标待定位UE为多个待定位UE中的任意一个。
所述处理器602，还用于根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有终端直通技术D2D连接。
收发器601，用于接收所述目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合，所述第一RSTD集合为所述基站集合中任意两个基站分别发送的定位参考信号PRS到达所述目标待定位UE的RSTD集合，所述第二RSTD集合为所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的RSTD集合。
所述处理器602，还用于根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
在一些可行的实施方式中，所述收发器601，还用于接收目标待定位UE发送的定位请求。
所述处理器602，还用于响应所述定位请求，配置所述目标待定位UE进行邻区测量和邻UE测量的测量参数。
所述收发器601，还用于接收所述目标待定位UE发送的根据所述测量参数进行邻区测量和邻UE测量得到的邻区测量结果和邻UE测量结果。
在一些可行的实施方式中，所述处理器602，还用于获取所述基站集合的第一PRS参数集合和所述辅助UE集合的第二PRS参数集合。
所述收发器601，还用于向所述目标待定位UE发送所述第一PRS参数集合和所述第二PRS参数集合，以使得所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
在一些可行的实施方式中，所述处理器602，具体用于：
获取目标待定位用户设备UE发送的邻区测量结果包括的邻近基站列表和所述目标待定位UE对邻近基站的接收功率。
从所述邻近基站列表中选取所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量的基站，将所述预设第一数量的基站确定为参与所述目标待定位UE定位的基站集合。
在一些可行的实施方式中，所述处理器602，具体用于：
获取所述目标待定位UE发送的邻UE测量结果包括的邻近UE列表和所述目标待定位UE对邻近UE的接收功率。
从所述邻近UE列表中选取向所述定位服务器发送定位请求，且所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量的UE，将所述预设第二数量的UE确定为参与所述目标待定位UE定位的辅助UE集合。
在一些可行的实施方式中，所述处理器602，具体用于：
根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基 站的位置信息，确定所述多个待定位UE的联合定位方程。
对所述多个待定位UE的联合定位方程进行多次迭代，以求解所述多个待定位UE的联合定位方程，并根据所述多个待定位UE的联合定位方程的解确定所述多个待定位UE的位置信息。
在一些可行的实施方式中，所述处理器602，具体用于：
获取每一次的迭代开始时所述辅助UE集合包括的各辅助UE的定位误差克拉美罗界，并利用所述定位误差克拉美罗界最小的辅助UE参与所述每一次的迭代。
具体实现中，本发明实施例中所描述的收发器601、处理器602和存储器603可执行本发明实施例提供的一种定位方法中所描述的实现方式，也可执行本发明实施例提供的一种定位服务器中所描述的实现方式，在此不再赘述。
本发明实施例中，定位服务器根据预设的基站选取规则和目标待定位用户设备UE的邻区测量结果，确定参与该目标待定位UE定位的基站集合，根据预设的辅助UE选取规则和该目标待定位UE的邻UE测量结果，确定参与该目标待定位UE定位的辅助UE集合，该目标待定位UE为多个待定位UE中的任意一个。定位服务器接收该目标待定位UE发送的该基站集合中任意两个基站分别发送的定位参考信号PRS到达该目标待定位UE的第一RSTD集合和该辅助UE集合中任意一个辅助UE和该基站集合中的参考基站分别发送的PRS到达该目标待定位UE的第二RSTD集合，进而根据该第一RSTD集合、该第二RSTD集合和该基站集合包括的各基站的位置信息，确定出该多个待定位UE的位置信息，通过将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图7，为本发明实施例提供的另一种UE的结构示意图。本实施例中所描述的UE，包括：收发器701、处理器702、存储器703、输出设备704和输入设备705，上述处理器702通过总线与收发器701、存储器703、输出 设备704和输入设备705连接。
其中，上述收发器701具体可以为射频接收机或者射频芯片，用于收发信号，具体地，收发器701可以包括集成在一起的发射通路以及接收器。上述处理器702具体可以为基带处理器、基带芯片、DSP或者SOC等。上述存储器703是UE的记忆设备，用于存放程序和数据。可以理解的是，此处的存储器703可以是高速RAM存储器，也可以是非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器；可选的还可以是至少一个位于远离前述处理器702的存储装置。
其中，上述输出设备704可以包括显示器。上述输入设备705可以为触控面板、麦克风、摄像头等，触控面板包括触摸屏和触控屏等。
上述存储器703，用于存储一组程序代码，上述处理器702调用存储器703中存储的程序代码，执行如下操作：
收发器701，用于向定位服务器发送邻区测量结果和邻UE测量结果，所述UE为多个待定位UE中的任意一个。
所述收发器701，还用于接收所述定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，所述基站集合由所述定位服务器根据预设的基站选取规则和所述邻区测量结果确定，所述辅助UE集合由所述定位服务器根据预设的辅助UE选取规则和所述邻UE测量结果确定，所述辅助UE集合包括的各辅助UE均与所述UE建立有D2D连接。
处理器702，用于根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
所述处理器702，还用于获取所述基站集合中任意两个基站分别发送的PRS到达所述UE的第一RSTD集合，以及获取所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述UE的第二RSTD集合。
所述收发器701，还用于向所述定位服务器发送所述第一RSTD集合和所 述第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
在一些可行的实施方式中，所述收发器701，还用于向定位服务器发送定位请求。
所述收发器701，还用于接收所述定位服务器响应所述定位请求而发送的邻区测量和邻UE测量的测量参数。
所述处理器702，还用于根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
具体实现中，本发明实施例中所描述的收发器701、处理器702、存储器703、输出设备704和输入设备705可执行本发明实施例提供的一种定位方法中所描述的实现方式，也可执行本发明实施例提供的一种UE中所描述的实现方式，在此不再赘述。
本发明实施例中，多个待定位UE中的任意一个UE向定位服务器发送邻区测量结果和邻UE测量结果，接收定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，并根据第一PRS参数集合对基站集合包括的各基站发送的PRS进行监听，以及根据第二PRS参数集合对辅助UE集合包括的各辅助UE通过D2D连接发送的PRS进行监听，进而获取基站集合中任意两个基站分别发送的PRS到达该UE的第一RSTD集合，以及获取辅助UE集合中任意一个辅助UE通过D2D连接和基站集合中的参考基站分别发送的PRS到达该UE的第二RSTD集合，并向定位服务器发送第一RSTD集合和第二RSTD集合，以使得定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息确定该多个待定位UE的位置信息，通过将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图8，为本发明实施例提供的另一种基站的结构示意图。本实施例 中所描述的基站，包括：收发器801、处理器802和存储器803，上述处理器802通过总线与收发器801和存储器803连接。
其中，上述收发器801具体可以为射频接收机或者射频芯片，用于收发信号，具体地，收发器801可以包括集成在一起的发射通路以及接收器。上述处理器802具体可以为基带处理器、基带芯片、DSP或者SOC等。
上述存储器803，用于存储一组程序代码，上述处理器802调用存储器803中存储的程序代码，执行如下操作：
处理器802，用于确定向目标待定位UE发送PRS的PRS参数，所述基站为定位服务器确定的基站集合中的任意一个，所述目标待定位UE为多个待定位UE中的任意一个。
收发器801，用于向所述定位服务器发送所述PRS参数，以使得所述定位服务器向所述目标待定位UE发送PRS参数集合。
所述收发器801，还用于向所述目标待定位UE发送PRS，以使得所述目标待定位UE根据所述PRS参数集合对所述PRS进行监听，并向所述定位服务器发送所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
具体实现中，本发明实施例中所描述的收发器801、处理器802和存储器803可执行本发明实施例提供的一种定位方法中所描述的实现方式，也可执行本发明实施例提供的一种基站中所描述的实现方式，在此不再赘述。
本发明实施例中，定位服务器确定的基站集合中的任意一个基站向目标待定位UE发送PRS的PRS参数，目标待定位UE为多个待定位UE中的任意一个，基站向定位服务器发送PRS参数，以使得定位服务器向目标待定位UE发送PRS参数集合，再向目标待定位UE发送PRS，以使得目标待定位UE根据PRS参数集合对PRS进行监听，并向定位服务器发送基站集合中任意两个基站分别发送的PRS到达目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助 UE和基站集合中的参考基站分别发送的PRS到达目标待定位UE的第二RSTD集合，以使得定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息确定该多个待定位UE的位置信息，通过将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
请参阅图9，为本发明实施例提供的一种定位系统的结构示意图。本实施例中所描述的定位系统，包括：目标待定位UE901、定位服务器902、基站集合903和辅助UE集合904，其中：
目标待定位UE901，用于向定位服务器902发送定位请求。
其中，所述目标待定位UE901为多个待定位UE中的任意一个。
所述定位服务器902，用于响应所述定位请求向所述目标待定位UE901发送邻区测量和邻UE测量的测量参数。
所述目标待定位UE901，还用于接收所述测量参数，并根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
所述目标待定位UE901，还用于向所述定位服务器902发送所述邻区测量结果和所述邻UE测量结果。
所述定位服务器902，还用于根据预设的基站选取规则和所述邻区测量结果，确定参与所述目标待定位UE901定位的基站集合903，根据预设的辅助UE选取规则和所述邻UE测量结果，确定参与所述目标待定位UE901定位的辅助UE集合904。
所述定位服务器902，还用于获取所述基站集合903的第一PRS参数集合和所述辅助UE集合904的第二PRS参数集合。
所述定位服务器902，还用于向所述目标待定位UE901发送所述第一PRS参数集合和所述第二PRS参数集合。
所述目标待定位UE901，还用于根据所述第一PRS参数集合对所述基站集合903包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所 述辅助UE集合904包括的各辅助UE发送的PRS进行监听。
所述目标待定位UE901，还用于获取所述基站集合903中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合，以及获取所述辅助UE集合904中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合。
其中，所述参考基站为所述基站集合中通信质量满足预设条件且为所述目标待定位UE服务的基站。
所述目标待定位UE901，还用于向所述定位服务器902发送所述第一RSTD集合和所述第二RSTD集合。
所述定位服务器902，还用于根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合903包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
可以理解的是，本实施例的目标待定位UE901、定位服务器902、基站集合903和辅助UE集合904的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。
本发明实施例中，目标待定位UE根据测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果，向定位服务器发送邻区测量结果和邻UE测量结果，定位服务器根据预设的基站选取规则和邻区测量结果确定参与目标待定位UE定位的基站集合，以及根据预设的辅助UE选取规则和邻UE测量结果确定参与目标待定位UE定位的辅助UE集合，向目标待定位UE发送基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，目标待定位UE根据第一PRS参数集合对基站集合包括的各基站发送的PRS进行监听，以及根据第二PRS参数集合对辅助UE集合包括的各辅助UE发送的PRS进行监听，并获取基站集合中任意两个基站分别发送的PRS到达目标待定位UE的第一RSTD集合，以及获取辅助UE集合中任意一个辅助UE和基站集合中的参考基站分别发送的PRS到达目标待定位UE的第二RSTD集合，再向定位服务器发送第一RSTD集合和第二RSTD集合，从而定位服务器根据第一RSTD集合、第二RSTD集合和基站集合包括的各基站的位置信息确定出多个待定位UE的位置信息，通过将基站和UE之间的D2D技术结合进行定位，可以允许待定位UE之间交互定位 信息，并形成相互校验，提高了联合定位双曲线方程组的信息量，有助于提高定位精度，同时在可用的基站数量不足时也可以精确地完成定位，从而也增强了定位的灵活度和普适性。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上所揭露的仅为本发明一种较佳实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (25)

  1. 一种定位方法，其特征在于，包括：
    定位服务器根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合，所述目标待定位UE为多个待定位UE中的任意一个；
    所述定位服务器根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有终端直通技术D2D连接；
    所述定位服务器接收所述目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合，所述第一RSTD集合为所述基站集合中任意两个基站分别发送的定位参考信号PRS到达所述目标待定位UE的RSTD集合，所述第二RSTD集合为所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的RSTD集合；
    所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
  2. 根据权利要求1所述的方法，其特征在于，所述定位服务器根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合之前，所述方法还包括：
    定位服务器接收目标待定位UE发送的定位请求；
    所述定位服务器响应所述定位请求，配置所述目标待定位UE进行邻区测量和邻UE测量的测量参数；
    所述定位服务器接收所述目标待定位UE发送的根据所述测量参数进行邻区测量和邻UE测量得到的邻区测量结果和邻UE测量结果。
  3. 根据权利要求1或2所述的方法，其特征在于，所述定位服务器根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所 述目标待定位UE定位的辅助UE集合之后，所述定位服务器接收所述目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合之前，所述方法还包括：
    所述定位服务器获取所述基站集合的第一PRS参数集合和所述辅助UE集合的第二PRS参数集合；
    所述定位服务器向所述目标待定位UE发送所述第一PRS参数集合和所述第二PRS参数集合，以使得所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
  4. 根据权利要求1～3中任一项所述的方法，其特征在于，所述定位服务器根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合，包括：
    定位服务器获取目标待定位用户设备UE发送的邻区测量结果包括的邻近基站列表和所述目标待定位UE对邻近基站的接收功率；
    所述定位服务器从所述邻近基站列表中选取所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量的基站，将所述预设第一数量的基站确定为参与所述目标待定位UE定位的基站集合。
  5. 根据权利要求1～4中任一项所述的方法，其特征在于，所述定位服务器根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合，包括：
    所述定位服务器获取所述目标待定位UE发送的邻UE测量结果包括的邻近UE列表和所述目标待定位UE对邻近UE的接收功率；
    所述定位服务器从所述邻近UE列表中选取向所述定位服务器发送定位请求，且所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量的UE，将所述预设第二数量的UE确定为参与所述目标待定位UE定位的辅助UE集合。
  6. 根据权利要求1～5中任一项所述的方法，其特征在于，所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息，包括：
    所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的联合定位方程；
    所述定位服务器对所述多个待定位UE的联合定位方程进行多次迭代，以求解所述多个待定位UE的联合定位方程，并根据所述多个待定位UE的联合定位方程的解确定所述多个待定位UE的位置信息。
  7. 根据权利要求6所述的方法，其特征在于，所述定位服务器对所述多个待定位UE的联合定位方程进行多次迭代，包括：
    所述定位服务器获取每一次的迭代开始时所述辅助UE集合包括的各辅助UE的定位误差克拉美罗界，并利用所述定位误差克拉美罗界最小的辅助UE参与所述每一次的迭代。
  8. 一种定位方法，其特征在于，包括：
    目标待定位UE向定位服务器发送邻区测量结果和邻UE测量结果，所述目标待定位UE为多个待定位UE中的任意一个；
    所述目标待定位UE接收所述定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，所述基站集合由所述定位服务器根据预设的基站选取规则和所述邻区测量结果确定，所述辅助UE集合由所述定位服务器根据预设的辅助UE选取规则和所述邻UE测量结果确定，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有D2D连接；
    所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听；
    所述目标待定位UE获取所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合，以及获取所述辅助UE集合中任意一 个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合；
    所述目标待定位UE向所述定位服务器发送所述第一RSTD集合和所述第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
  9. 根据权利要求8所述的方法，其特征在于，所述目标待定位UE向定位服务器发送邻区测量结果和邻UE测量结果之前，所述方法还包括：
    目标待定位UE向定位服务器发送定位请求；
    所述目标待定位UE接收所述定位服务器响应所述定位请求而发送的邻区测量和邻UE测量的测量参数；
    所述目标待定位UE根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
  10. 一种定位方法，其特征在于，包括：
    目标基站确定向目标待定位UE发送PRS的PRS参数，所述目标基站为定位服务器确定的基站集合中的任意一个，所述目标待定位UE为多个待定位UE中的任意一个；
    所述目标基站向所述定位服务器发送所述PRS参数，以使得所述定位服务器向所述待定位UE发送PRS参数集合；
    所述目标基站向所述目标待定位UE发送PRS，以使得所述目标待定位UE根据所述PRS参数集合对所述PRS进行监听，并向所述定位服务器发送所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
  11. 根据权利要求10所述的方法，其特征在于，
    所述参考基站为所述基站集合中通信质量满足预设条件且为所述目标待定位UE服务的基站。
  12. 一种定位服务器，其特征在于，包括：
    确定模块，用于根据预设的基站选取规则和目标待定位用户设备UE发送的邻区测量结果，确定参与所述目标待定位UE定位的基站集合，所述目标待定位UE为多个待定位UE中的任意一个；
    所述确定模块，还用于根据预设的辅助UE选取规则和所述目标待定位UE发送的邻UE测量结果，确定参与所述目标待定位UE定位的辅助UE集合，所述辅助UE集合包括的各辅助UE均与所述目标待定位UE建立有终端直通技术D2D连接；
    接收模块，用于接收所述目标待定位UE发送的第一参考信号到达时间差RSTD集合和第二RSTD集合，所述第一RSTD集合为所述基站集合中任意两个基站分别发送的定位参考信号PRS到达所述目标待定位UE的RSTD集合，所述第二RSTD集合为所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的RSTD集合；
    处理模块，用于根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
  13. 根据权利要求12所述的定位服务器，其特征在于，所述定位服务器还包括配置模块，其中：
    所述接收模块，还用于接收目标待定位UE发送的定位请求；
    所述配置模块，用于响应所述定位请求，配置所述目标待定位UE进行邻区测量和邻UE测量的测量参数；
    所述接收模块，还用于接收所述目标待定位UE发送的根据所述测量参数进行邻区测量和邻UE测量得到的邻区测量结果和邻UE测量结果。
  14. 根据权利要求12或13所述的定位服务器，其特征在于，所述定位服务器还包括获取模块和发送模块，其中：
    所述获取模块，用于获取所述基站集合的第一PRS参数集合和所述辅助UE集合的第二PRS参数集合；
    所述发送模块，用于向所述目标待定位UE发送所述第一PRS参数集合和所述第二PRS参数集合，以使得所述目标待定位UE根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听。
  15. 根据权利要求12～14中任一项所述的定位服务器，其特征在于，所述确定模块，具体用于：
    获取目标待定位用户设备UE发送的邻区测量结果包括的邻近基站列表和所述目标待定位UE对邻近基站的接收功率；
    从所述邻近基站列表中选取所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第一数量的基站，将所述预设第一数量的基站确定为参与所述目标待定位UE定位的基站集合。
  16. 根据权利要求12～15中任一项所述的定位服务器，其特征在于，所述确定模块，具体用于：
    获取所述目标待定位UE发送的邻UE测量结果包括的邻近UE列表和所述目标待定位UE对邻近UE的接收功率；
    从所述邻近UE列表中选取向所述定位服务器发送定位请求，且所述目标待定位UE的接收功率按照从大到小的顺序排在前面预设第二数量的UE，将所述预设第二数量的UE确定为参与所述目标待定位UE定位的辅助UE集合。
  17. 根据权利要求12～16中任一项所述的定位服务器，其特征在于，所述处理模块，具体用于：
    根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基 站的位置信息，确定所述多个待定位UE的联合定位方程；
    对所述多个待定位UE的联合定位方程进行多次迭代，以求解所述多个待定位UE的联合定位方程，并根据所述多个待定位UE的联合定位方程的解确定所述多个待定位UE的位置信息。
  18. 根据权利要求17所述的定位服务器，其特征在于，所述处理模块，具体用于：
    获取每一次的迭代开始时所述辅助UE集合包括的各辅助UE的定位误差克拉美罗界，并利用所述定位误差克拉美罗界最小的辅助UE参与所述每一次的迭代。
  19. 一种UE，其特征在于，包括：
    发送模块，用于向定位服务器发送邻区测量结果和邻UE测量结果，所述UE为多个待定位UE中的任意一个；
    接收模块，用于接收所述定位服务器发送的基站集合的第一PRS参数集合和辅助UE集合的第二PRS参数集合，所述基站集合由所述定位服务器根据预设的基站选取规则和所述邻区测量结果确定，所述辅助UE集合由所述定位服务器根据预设的辅助UE选取规则和所述邻UE测量结果确定，所述辅助UE集合包括的各辅助UE均与所述UE建立有D2D连接；
    监听模块，用于根据所述第一PRS参数集合对所述基站集合包括的各基站发送的PRS进行监听，以及根据所述第二PRS参数集合对所述辅助UE集合包括的各辅助UE通过所述D2D连接发送的PRS进行监听；
    获取模块，用于获取所述基站集合中任意两个基站分别发送的PRS到达所述UE的第一RSTD集合，以及获取所述辅助UE集合中任意一个辅助UE通过所述D2D连接和所述基站集合中的参考基站分别发送的PRS到达所述UE的第二RSTD集合；
    所述发送模块，还用于向所述定位服务器发送所述第一RSTD集合和所述第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE 的位置信息。
  20. 根据权利要求19所述的UE，其特征在于，所述UE还包括测量模块，其中：
    所述发送模块，还用于向定位服务器发送定位请求；
    所述接收模块，还用于接收所述定位服务器响应所述定位请求而发送的邻区测量和邻UE测量的测量参数；
    所述测量模块，用于根据所述测量参数进行邻区测量和邻UE测量，得到邻区测量结果和邻UE测量结果。
  21. 一种基站，其特征在于，包括：
    确定模块，用于确定向目标待定位UE发送PRS的PRS参数，所述基站为定位服务器确定的基站集合中的任意一个，所述目标待定位UE为多个待定位UE中的任意一个；
    发送模块，用于向所述定位服务器发送所述PRS参数，以使得所述定位服务器向所述目标待定位UE发送PRS参数集合；
    所述发送模块，还用于向所述目标待定位UE发送PRS，以使得所述目标待定位UE根据所述PRS参数集合对所述PRS进行监听，并向所述定位服务器发送所述基站集合中任意两个基站分别发送的PRS到达所述目标待定位UE的第一RSTD集合以及辅助UE集合中任意一个辅助UE和所述基站集合中的参考基站分别发送的PRS到达所述目标待定位UE的第二RSTD集合，以使得所述定位服务器根据所述第一RSTD集合、所述第二RSTD集合和所述基站集合包括的各基站的位置信息，确定所述多个待定位UE的位置信息。
  22. 一种定位系统，其特征在于，包括：如权利要求12～18中任一项所述的定位服务器、如权利要求19或20所述的UE和如权利要求21所述的基站。
  23. 一种定位服务器，其特征在于，包括：处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过总线连接，所述存储器存储有可执行 程序代码，所述收发器受所述处理器的控制用于收发消息，所述处理器用于调用所述可执行程序代码，执行如权利要求1～7中任一项所述的定位方法。
  24. 一种UE，其特征在于，包括：处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过总线连接，所述存储器存储有可执行程序代码，所述收发器受所述处理器的控制用于收发消息，所述处理器用于调用所述可执行程序代码，执行如权利要求8或9所述的定位方法。
  25. 一种基站，其特征在于，包括：处理器、收发器和存储器，所述处理器、所述收发器和所述存储器通过总线连接，所述存储器存储有可执行程序代码，所述收发器受所述处理器的控制用于收发消息，所述处理器用于调用所述可执行程序代码，执行如权利要求10或11所述的定位方法。
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US20190297673A1 (en) 2019-09-26
US10813170B2 (en) 2020-10-20

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