WO2018202072A1

WO2018202072A1 - Fusion positioning method and device, equipment, and storage medium

Info

Publication number: WO2018202072A1
Application number: PCT/CN2018/085441
Authority: WO
Inventors: 王园园; 陈诗军; 陈大伟
Original assignee: 中兴通讯股份有限公司
Priority date: 2017-05-05
Filing date: 2018-05-03
Publication date: 2018-11-08
Also published as: CN108810875A

Abstract

Provided in an embodiment of the present invention are a fusion positioning method and device, an equipment and a storage medium, the method comprising: a user equipment (UE) receiving positioning auxiliary data; the UE using the auxiliary data to perform, according to an LTE Positioning Protocol (LPP)-related capability, fusion positioning which comprises an inertial measurement unit (IMU).

Description

Fusion positioning method and device, device and storage medium

Cross-reference to related applications

The present application is filed on the basis of the Chinese Patent Application No. PCT Application No. PCT Application No. This application.

Technical field

The present invention relates to the field of communications, and in particular to a method, device, device, and storage medium for merging positioning.

Background technique

LTE (Long Term Evolution) is a long-term evolution of the UMTS (Universal Mobile Telecommunications System) technology standard developed by the 3GPP (The 3rd Generation Partnership Project), in 2004. It was officially launched and launched at the 3GPP Toronto Conference in December.

The fifth generation of the new radio ^{(5 th Generation New Radio, 5GNR} ), orthogonal frequency division multiplexing global standard 5G (Orthogonal Frequency Division Multiplexing, OFDM) new aperture design, is the next generation of cellular technology is very important basis. The 5GNR network has three main characteristics, the enhanced mobile broadband (MBB), the Massive Machine Type Communication (mMTC), and the Ultra Reliable Low Latency Communications (URLLC).

The Location Service (LCS) is a new value-added service provided by the mobile communication network. The service obtains the location information (latitude and longitude, moving speed, etc.) of the terminal through wireless positioning technology, and provides the terminal, the mobile communication network or other external entities to implement various location-related services. Currently, LTE long-term evolution technology supports multiple positioning methods, including Global Positioning System (GPS), OTDOA (Observed Time Difference of Arrival), Wifi and Bluetooth. However, the current protocol has not defined and standardized how to support IMU positioning and fusion positioning including IMU positioning.

Most of the existing terminal devices include Inertial Measurement Unit (IMU) sensors. The use of IMU for fusion positioning can effectively improve the sensitivity and accuracy of positioning and improve the user experience.

There is currently no solution to the problem of how to configure and support the fusion location including the IMU in the related art.

Summary of the invention

The embodiments of the present invention provide a method, a device, and a storage medium for merging positioning, so as to at least solve the technical problem that the positioning sensitivity and the positioning accuracy are too low in the related art, and the problem that the fusion positioning including the IMU cannot be configured and supported.

According to an embodiment of the present invention, a method for merging positioning is provided, comprising: receiving, by a UE, positioning assistance data; and using, by the UE, the merging information including an inertial measurement unit IMU according to an LPP correlation capability.

In other embodiments, before the UE receives the positioning assistance data, the method further includes: receiving, by the UE, LPP information sent by an Evolved Service Mobile Location Center (E-SMLC) for requesting LPP related capabilities, The UE transmits a Long Term Evolution Location Protocol LPP related capability to the E-SMLC; or the UE sends the LPP related capability to the E-SMLC.

In other embodiments, the LPP-related capabilities include IMU positioning capabilities and other positioning capabilities, wherein the other positioning capabilities include at least one of: Global Navigation and Positioning System (GNSS) positioning capabilities, and assisted global navigation and positioning system A-GNSS positioning capabilities. The observable time difference OTDOA positioning capability, enhanced cell ECID positioning capability, WIFI positioning capability, and Bluetooth positioning capability can be observed.

In other embodiments, the receiving the positioning assistance data by the UE includes: the positioning assistance data request sent by the UE to the E-SMLC by using the LPP information, where the UE receives the positioning assistance sent by the E-SMLC through the LPP information. Data; or the UE receives the positioning assistance data sent by the E-SMLC through LPP information.

In other embodiments, the positioning assistance data includes positioning assistance data that supports IMU fusion positioning.

In other embodiments, the positioning assistance data includes at least one of the following: a convergence period of the IMU positioning and other positioning modes, a fusion strategy of the IMU positioning and other positioning modes, an IMU positioning reference point, an IMU positioning starting time point, and an IMU. The sensor error correction information includes: one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.

In other embodiments, the fusion positioning including the IMU includes at least one of the following: IMU positioning, fusion positioning including other positioning methods and IMU positioning; wherein the other positioning modes include one of the following: GNSS positioning, A- GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning,.

In other embodiments, the performing, by the UE, the merging, including the inertial measurement unit IMU, according to the LPP-related capability, includes: the UE acquiring measurement information of the sensor; and the UE obtaining the location according to the measurement information. The inertial information of the UE; the UE uses the inertial information and the auxiliary data to select a positioning mode other than the IMU positioning and the IMU positioning to perform the fusion positioning including the IMU according to the LPP correlation capability; The sensor includes at least one of the following: an accelerometer, a gyroscope, a magnetometer, and the inertial information includes at least one of: speed, direction, gravity, relative position, and the relative position is a relative position reported by the two IMUs.

In other embodiments, the obtaining, by the UE, the inertial information of the UE according to the measurement information comprises: acquiring, by the UE, the inertial information by performing integral calculation and/or fitting on the measurement information.

In other embodiments, the acquiring, by the UE, the inertial information by performing integral calculation and/or fitting on the data of the sensor includes: performing, by the UE, an integral obtaining speed on the measurement result of the accelerometer; the UE to the accelerometer The measurement results are integrated twice to obtain relative position information; the UE obtains information of direction change and speed change by fitting data of the accelerometer and the gyroscope.

In other embodiments, the UE performs the merging according to the merging policy and the merging period, where the merging locating policy and the merging period are configured in one of the following modes: E-SMLC configuration, high-level configuration , the system is predefined.

In other embodiments, the fusion positioning strategy includes one of the following:

Between the positioning output results P _n and P _{n+1 of} the other positioning modes, the measurement result P _n+t =P _n +P _IMU at the time of output n+t is used by the _IMU , wherein 0<t<1;

Determining the current positioning result P _n by using the IMU positioning on the basis of the positioning results P _n and P _n-1 of the other positioning modes;

The P _IMU is a relative vector value of inertial information from 0 to t·T time and/or inertial information of (n+t)·T corresponding time measured by the UE according to the IMU measurement and/or calculation. a real-time vector value; the T is a time interval between the measurement and reporting of the other positioning modes, and n is the number of times of positioning of the other positioning modes.

According to an embodiment of the present invention, another method for merging positioning is provided, including: E-SMLC transmitting positioning assistance data to the UE; and receiving, by the E-SMLC, the UE according to the Long Term Evolution Location Protocol (LPP) The capability uses location information reported by the positioning assistance data; the E-SMLC performs fusion positioning including the inertial measurement unit IMU based on the location information.

In other embodiments, before the E-SMLC sends the positioning assistance data to the UE, the method further includes: the E-SMLC sending, to the UE, LPP information for requesting a positioning capability, where the E - the SMLC receives the LPP correlation capability sent by the UE; or the E-SMLC receives the LPP correlation capability sent by the UE.

In other embodiments, the sending, by the E-SMLC, the positioning assistance data to the UE includes: the E-SMLC receiving a positioning assistance data request sent by the UE by using LPP information, where the E-SMLC is sent by using an LPP information. Determining the positioning assistance data to the UE; or the E-SMLC transmitting the positioning assistance data to the UE by using LPP information.

In other embodiments, the positioning assistance data includes the positioning assistance data including the fused location of the IMU.

In other embodiments, the merging positioning assistance data including the IMU includes at least one of the following: a convergence period of the IMU positioning and other positioning modes, a fusion strategy of the IMU positioning and other positioning modes, an IMU positioning reference point, and an IMU positioning start Time point, IMU sensor error correction information; wherein the other positioning modes include one of the following: global positioning system GPS positioning, observable arrival time differential OTDOA positioning, Wifi positioning, Bluetooth positioning, Beidou positioning, Galileo positioning.

In other embodiments, the fusion positioning of the IMU includes at least one of: IMU positioning, fusion positioning including other positioning methods and IMU positioning; wherein the other positioning modes include one of the following: GNSS positioning, A-GNSS Positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.

In other embodiments, the location information includes inertial information and measurement time reported by the UE, and an inertia information estimation error, where the inertial information includes at least one of: speed, direction, gravity, relative position, and the relative position. For the relative position of the two IMU intervals, the measurement time is a measurement time at which the UE reports the inertial information.

In other embodiments, the E-SMLC completes the convergence positioning according to the convergence policy and the convergence period, where the configuration manner of the convergence positioning policy and the convergence period includes: an E-SMLC configuration or a core network upper layer. Configuration.

Between the positioning output results P _n and P _{n+1 of} the other positioning modes, the positioning result is output by using the IMU positioning: P _n+t =P _n +P _IMU where 0<t<1;

Determining the current positioning result P _n and reducing the positioning error by using the IMU positioning on the basis of the positioning results P _n and P _n-1 of the other positioning modes;

The P _IMU is an inertial information of the inertial information relative vector value and/or (n+t)·T corresponding time from 0 to t·T time measured by the UE according to the IMU measurement and/or calculation. a vector value; the T is a measurement and reporting time interval of the other positioning modes, and n is a positioning number of the other positioning modes.

According to another embodiment of the present invention, a device for merging positioning is provided, which is applied to a UE, comprising: a receiving module configured to receive positioning assistance data; and a positioning module configured to use the auxiliary data according to the LPP related capability A fusion positioning comprising an inertial measurement unit IMU is performed.

According to another embodiment of the present invention, another apparatus for merging positioning is provided, which is applied to an E-SMLC, comprising: a sending module configured to send positioning assistance data to the UE; and a receiving module configured to receive the UE The location information reported by the positioning assistance data is used according to the long-term evolution positioning protocol (LPP) related capability; the positioning module is configured to perform the fusion positioning including the inertial measurement unit IMU according to the location information.

According to still another embodiment of the present invention, a storage medium is also provided. The storage medium is arranged to store program code for performing the following steps:

Receiving positioning assistance data;

A fusion location comprising an inertial measurement unit IMU is performed in accordance with the LPP correlation capability using the assistance data.

According to still another embodiment of the present invention, there is also provided a fusion positioning apparatus comprising a memory and a processor, wherein the memory stores a computer program executable on a processor, wherein the processor performs the The above-described fusion positioning method is implemented in the program.

According to the embodiment of the present invention, the UE receives the positioning assistance data; the UE uses the auxiliary data to perform the fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability, and supports the IMU positioning and the IMU including the signaling and the process. Converged positioning can better utilize the sensors currently available in most terminals to carry out the positioning service of the mobile network, and solve the technical problems of low sensitivity of positioning and low positioning accuracy in related technologies, thereby achieving optimized positioning results, positioning sensitivity and improving user experience. Effect.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

1 is a flow chart of a method for merging positioning according to an embodiment of the present invention;

2 is a flow chart of another method for merging positioning according to an embodiment of the present invention;

FIG. 3 is a process diagram of UE mode-based fusion positioning including IMU positioning according to this embodiment; FIG.

4 is a process diagram of a network mode-based fusion positioning including IMU positioning in this embodiment;

Figure 5 is a schematic structural view of an E-SMLC of the present embodiment;

6 is a schematic structural diagram of a terminal according to this embodiment;

7 is a structural block diagram of an apparatus for merging positioning according to an embodiment of the present invention;

FIG. 8 is a structural block diagram of another apparatus for merging positioning according to an embodiment of the present invention.

detailed description

The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict.

It is to be understood that the terms "first", "second" and the like in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a particular order or order.

Example 1

In this embodiment, a method for merging positioning is provided. FIG. 1 is a flowchart of a method for merging positioning according to an embodiment of the present invention. As shown in FIG. 1 , the process includes the following steps:

Step S102, the UE receives the positioning assistance data.

In step S104, the UE performs the fusion positioning including the inertial measurement unit IMU according to the LPP (LTE Positioning Protocol) correlation capability using the auxiliary data.

Through the above steps, the UE receives the positioning assistance data; the UE uses the auxiliary data to perform the fusion positioning including the IMU according to the LPP related capability, and supports the IMU positioning and the IMU-based fusion positioning by designing signaling and processes, which can better utilize most of the current The sensors provided by the terminal perform the positioning service of the mobile network, and solve the technical problems of low sensitivity of positioning and low positioning accuracy in the related technology, and achieve the effects of optimizing the positioning result, positioning sensitivity and improving the user experience.

In other embodiments, the execution body of the foregoing steps may be a terminal, such as a mobile phone, etc., but is not limited thereto.

In other embodiments, before the UE receives the positioning assistance data, the method further includes:

The UE receives the LPP information sent by the E-SMLC for requesting the LPP related capability, and the UE sends the Long Term Evolution Positioning Protocol (LPP) related capability to the E-SMLC; or

The UE sends the LPP related capability to the E-SMLC.

In other embodiments, the LPP related capabilities include IMU positioning capabilities and other positioning capabilities, wherein other positioning capabilities include at least one of: Global Navigation Positioning System GNSS positioning capabilities, assisted global navigation positioning system A-GNSS positioning capabilities, observable arrival Time differential OTDOA positioning capability, enhanced cell identification ECID positioning capability, WIFI positioning capability, Bluetooth positioning capability.

In other embodiments, the positioning assistance data may be, but is not limited to, a fusion period of the IMU positioning and other positioning modes, a fusion strategy of the IMU positioning and other positioning modes, an IMU positioning reference point, an IMU positioning starting time point, and an IMU sensor error. Correction information; other positioning modes in this embodiment include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, observable arrival time differential OTDOA positioning, Wifi positioning, Bluetooth positioning, Beidou positioning, Galileo positioning, or other divisions. Positioning outside the IMU positioning.

In other embodiments, the fused location including the IMU may be, but is not limited to, IMU locating, merging including other locating modes and IMU locating.

In other embodiments, the UE uses the auxiliary data to perform the fusion positioning including the IMU according to the LPP related capability, including:

Step S11: The UE acquires measurement information of the sensor.

Step S12: The UE obtains inertial information of the UE according to the measurement information.

Step S13: The UE uses the inertial information and the auxiliary data to select a positioning mode other than the IMU positioning and the IMU positioning to perform the fusion positioning including the IMU according to the LPP correlation capability;

The sensor can be, but is not limited to, an accelerometer, a gyroscope, and a magnetometer. The inertial information can be, but is not limited to, speed, direction, gravity, relative position, and the relative position is the relative position reported by the IMU twice.

In other embodiments, obtaining, by the UE, the inertial information of the UE according to the measurement information comprises: acquiring, by the UE, the inertia information by performing integral calculation and/or fitting on the measurement information. The UE obtains the inertial information by integrating and calculating the data of the sensor, including: the UE performs an integral acquisition speed on the measurement result of the accelerometer; the UE performs two times integration on the measurement result of the accelerometer to obtain relative position information; The data of the accelerometer and the gyroscope are fitted to obtain information on the direction change and the speed change.

In other embodiments, the UE performs the merging according to the merging policy and the merging period. The Configuring the merging policy and the merging period include one of the following: E-SMLC configuration, high-level configuration, and system predefined.

Between the positioning output results P _n and P _{n+1 of} other positioning modes, the measurement result of the time n + t is outputted by the IMU, P _n+t = P _n + P _IMU , where 0 < t <1;

Based on the positioning results P _n and P _n-1 of other positioning modes, the current positioning result P _{n is} corrected by the IMU positioning;

The P _IMU is an inertial information real-time vector value of the inertial information relative vector value and/or the time corresponding to (n+t)·T from the 0 to t·T time obtained by the UE according to the IMU measurement and/or reporting information; T is the time interval between the measurement and reporting of other positioning methods, and n is the number of positioning times of other positioning methods.

Another method for merging positioning is provided in this embodiment. FIG. 2 is a flowchart of another method for merging positioning according to an embodiment of the present invention. As shown in FIG. 2, the process includes the following steps:

Step S202, the evolved service mobile positioning center E-SMLC sends positioning assistance data to the UE;

Step S204: The E-SMLC receives the location information reported by the UE by using the positioning assistance data according to the LPP related capability.

Step S206, the E-SMLC performs the fusion positioning including the inertial measurement unit IMU according to the position information.

In other embodiments, before the E-SMLC sends the positioning assistance data to the UE, the E-SMLC negotiates with the UE to determine that the UE has the LPP-related capability, including two modes:

The E-SMLC sends the LPP information for requesting the positioning capability to the UE, and the E-SMLC receives the LPP related capability sent by the UE;

The E-SMLC receives the LPP related capability sent by the UE.

In this embodiment, the LPP related capability includes an IMU positioning capability and other positioning capabilities, wherein the other positioning capabilities include at least one of the following: a global navigation and positioning system GNSS positioning capability, an assisted global navigation and positioning system A-GNSS positioning capability, and an observable arrival. Time differential OTDOA positioning capability, enhanced cell ECID positioning capability, WIFI positioning capability, Bluetooth positioning capability.

In other embodiments, the E-SMLC sends the positioning assistance data to the UE in two ways, namely:

The E-SMLC receives the positioning assistance data request sent by the UE through the LPP information, and the E-SMLC sends the positioning assistance data to the UE by using the LPP information; or

The E-SMLC transmits positioning assistance data to the UE through the LPP information.

In this embodiment, the positioning assistance data includes the positioning assistance data including the fusion positioning of the IMU.

In other embodiments, the IMU fusion positioning assistance data may be, but is not limited to, a fusion period including the positioning of the IMU and other positioning modes, a fusion strategy of the IMU positioning and other positioning methods, an IMU positioning reference point, and an IMU positioning starting time point. , IMU sensor error correction information; wherein other positioning methods include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning, or other positioning methods other than IMU positioning.

In other embodiments, the merging of the IMU may be, but is not limited to, IMU positioning, including other positioning methods, and fusion positioning of IMU positioning;

In other embodiments, the location information includes inertial information and measurement time reported by the UE, and an inertia information estimation error. The inertial information may be, but is not limited to, speed, direction, gravity, relative position, and relative position being two IMUs. The relative position of the interval, the measurement time is the measurement time of the inertial information reported by the UE.

In other embodiments, the E-SMLC performs the converged positioning according to the convergence policy and the convergence period, where the configuration manner of the converged positioning policy and the convergence period includes: E-SMLC configuration or core network high-level configuration.

Between the positioning output results P _n and P _{n+1 of} other positioning modes, the positioning result is output by using the IMU positioning: P _n+t =P _n +P _IMU where 0<t<1;

Based on the positioning results P _n and P _n-1 of other positioning modes, the current positioning result P _{n is} corrected by the IMU positioning and the positioning error is reduced;

The P _IMU is an inertial information real-time vector value of the inertial information relative vector value and/or the time corresponding to (n+t)·T from the 0 to t·T time obtained by the UE according to the IMU measurement and/or reporting information; T is the measurement and reporting interval of other positioning methods, and n is the number of positioning times of other positioning methods.

Example 2

This embodiment may be combined with or supplemented with the solution of Embodiment 1 for explaining the present application in detail with reference to specific examples:

Example 1

The E-SMLC and the UE are included in this example.

FIG. 3 is a process diagram of UE mode-based fusion positioning including IMU positioning according to the embodiment. FIG. 3 is a schematic diagram of a UE mode-based fusion positioning process including IMU positioning according to Embodiment 1 of the present invention. include:

Step 110: The E-SMLC sends a positioning capability request to the UE.

The E-SMLC sends a positioning capability request to the UE by using the LPP information; the foregoing positioning capability request includes at least an IMU positioning capability request, such as an IMU-RequestCapabilities information;

Step 120: The UE sends a positioning capability response to the E-SMLC.

The UE receives the positioning capability request information, and generates a corresponding positioning capability response to be sent to the E-SMLC through the LPP information; the positioning capability response includes at least an IMU positioning capability response, such as an IMU-ProvideCapabilities information;

Step 130: The UE sends a positioning assistance data request to the E-SLMC.

The UE sends a positioning assistance data request to the E-SLMC through the LPP information;

Step 140: The E-SMLC sends a positioning assistance data response to the UE.

The E-SMLC sends the positioning assistance data response to the UE through the LPP information, such as positioning the convergence period and/or the fusion policy information;

Step 150: The UE performs other positioning according to the positioning assistance information (such as one or more of OTDOA, GPS, WiFi, or Bluetooth positioning);

Step 160: The UE combines the foregoing positioning result and the IMU positioning, and completes the fusion positioning according to a certain convergence strategy and period;

Step 170: The E-SMLC sends a location information request to the UE.

Step 180: The UE sends a location information response to the E-SMLC.

The above information includes but is not limited to: fusion positioning result, measurement time and measurement error of fusion positioning.

Example 2

The E-SMLC and the UE are included in this example.

4 is a process diagram of network mode-based fusion positioning including IMU positioning according to the embodiment. FIG. 4 is a schematic diagram of a network mode-based fusion positioning process including IMU positioning according to Embodiment 2 of the present invention, where the process includes:

Step 210: The E-SMLC sends a positioning capability request to the UE.

Step 220: The UE sends a positioning capability response to the E-SMLC.

Step 230: The UE sends a positioning assistance data request to the E-SLMC.

Step 240: The E-SMLC sends a positioning assistance data response to the UE.

The E-SMLC sends the positioning assistance data response to the UE through the LPP information; for example, the reporting information and the reporting period measured by the IMU;

Step 250: The UE performs other positioning (such as one or more of OTDOA, GPS, WiFi, or Bluetooth positioning) and IMU positioning according to the positioning assistance information;

Step 260: The E-SMLC sends a location information request to the UE, and at least includes: a measurement information request and/or a measurement error request;

Step 270: The UE sends a location information response to the E-SMLC; at least: the location or measurement information of the IMU, where the location or measurement information of the IMU includes the measured relative time, speed, direction, and gravity of the UE;

Step 280: The E-SMLC completes the IMU fusion positioning according to the location information according to a certain convergence policy.

Corresponding to the foregoing method embodiment, FIG. 5 is a schematic structural diagram of an E-SMLC according to the embodiment. The E-SMLC structure diagram of the embodiment of the present invention is as shown in FIG. 5. The E-SMLC 50 includes a sending unit 51, a receiving unit 52, and Processing unit 53;

For Example 1, the E-SMLC is mainly used as the transmitting unit 51 and the receiving unit 52, including

The E-SMLC, as the sending unit 51, sends a positioning capability request and positioning assistance data to the UE;

The E-SMLC, as the receiving unit 52, receives the positioning capability response, the positioning assistance data request, and the location information sent by the UE.

For example 2, the E-SMLC uses a transmitting unit 51, a receiving unit 52, and a processing unit 53, including

The E-SMLC, as the processing unit 53, completes the fusion positioning in combination with the measurement information reported by the UE.

Corresponding to the foregoing method embodiment, FIG. 6 is a schematic structural diagram of a terminal according to this embodiment. The UE structure diagram of the embodiment of the present invention is as shown in FIG. 6. The UE 60 includes a sending unit 61, a receiving unit 62, and a processing unit 63.

For example 1, the UE uses a transmitting unit 61, a receiving unit 62, and a processing unit 63, including

The UE, as the sending unit 61, sends a positioning capability response and location information to the E-SMLC;

The UE, as the receiving unit 62, receives the positioning capability request, the positioning assistance data, and the location information request sent by the E-SMLC.

The UE, as the processing unit 63, completes the relevant measurement of the specific positioning mode, and completes the fusion positioning by combining the positioning assistance information.

For example 2, the UE uses the transmitting unit 61, the receiving unit 62, and the processing unit 63, including

As the processing unit 63, the UE completes related measurement of a specific positioning manner.

With the solution of the embodiment, the IMU positioning and the converged positioning including the IMU are supported, and specific processes and signaling supporting the UE-based and network-based two converged positioning modes are considered. It can make better use of the sensors (such as accelerometers, gyroscopes, magnetometers, etc.) that most terminals now have for mobile network positioning services, to achieve optimal positioning results, positioning sensitivity and user experience.

Example 3

In this embodiment, a device for merging and positioning is also provided, and the device is configured to implement the foregoing embodiments and preferred embodiments, and details are not described herein. As used below, the term "module" may implement a combination of software and/or hardware of a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware, is also possible and contemplated.

FIG. 7 is a structural block diagram of an apparatus for merging positioning according to an embodiment of the present invention, which is applied to a UE, as shown in FIG. 7, the apparatus includes:

The receiving module 72 is configured to receive positioning assistance data from the E-SMLC;

The positioning module 74 is configured to perform the fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability using the auxiliary data.

FIG. 8 is a structural block diagram of another apparatus for merging positioning according to an embodiment of the present invention, which is applied to an E-SMLC, as shown in FIG. 8, the apparatus includes:

The sending module 82 is configured to send positioning assistance data to the UE;

The receiving module 84 is configured to receive location information reported by the UE by using the positioning assistance data according to the LPP related capability;

The positioning module 86 is configured to perform fusion positioning including the inertial measurement unit IMU according to the position information.

It should be noted that each of the above modules may be implemented by software or hardware. For the latter, the foregoing may be implemented by, but not limited to, the foregoing modules are all located in the same processor; or, the above modules are in any combination. The forms are respectively located in different processors, or the corresponding functions are implemented through a storage medium.

Example 4

It should be noted that, in the embodiment of the present invention, if the above-mentioned fusion positioning method is implemented in the form of a software function module and sold or used as a stand-alone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions. A computing device (which may be a personal computer, server, or network device, etc.) is implemented to perform all or part of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read only memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.

Embodiments of the present invention provide a fusion positioning device, including a memory and a processor, wherein the memory stores a computer program executable on a processor, wherein the processor implements the above-described fusion positioning when executing the program method.

Embodiments of the present invention also provide a storage medium. In this embodiment, the above storage medium may be configured to store program code for performing the following steps:

Step S1, receiving positioning assistance data from the slave;

In step S2, the assisted data is used to perform the fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability.

In this embodiment, the foregoing storage medium may include, but not limited to, a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk. A variety of media that can store program code.

In this embodiment, the processor performs receiving positioning assistance data according to the stored program code in the storage medium;

In this embodiment, the processor performs the use of the auxiliary data to perform the fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability according to the stored program code in the storage medium.

For specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and implementation manners, and details are not described herein again.

It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. For example, they may be implemented by program code executable by a computing device such that they may be stored in a storage device for execution by the computing device and, in some cases, may be performed in a different order than The steps shown or described are either made separately into individual integrated circuit modules, or a plurality of modules or steps are fabricated as a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases, the former is A better implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk, The optical disc includes a number of instructions for causing a terminal device (which may be a cell phone, a computer, a server, or a network device, etc.) to perform the methods described in various embodiments of the present invention.

It is to be understood that the phrase "one embodiment" or "an embodiment" or "an" Thus, "in one embodiment" or "in an embodiment" or "an" In addition, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the size of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be taken to the embodiments of the present invention. The implementation process constitutes any limitation. The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, such as: multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, or direct coupling, or communication connection of the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms. of.

The units described above as separate components may or may not be physically separated, and the components displayed as the unit may or may not be physical units; they may be located in one place or distributed on multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; The unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

It will be understood by those skilled in the art that all or part of the steps of implementing the foregoing method embodiments may be performed by hardware related to program instructions. The foregoing program may be stored in a computer readable storage medium, and when executed, the program includes The foregoing steps of the method embodiment; and the foregoing storage medium includes: a removable storage device, a read only memory (ROM), a magnetic disk, or an optical disk, and the like, which can store program codes.

Alternatively, the above-described integrated unit of the present invention may be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a standalone product. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in the form of a software product in essence or in the form of a software product stored in a storage medium, including a plurality of instructions. A computing device (which may be a personal computer, server, or network device, etc.) is implemented to perform all or part of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a mobile storage device, a ROM, a magnetic disk, or an optical disk.

The above is only the embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. It is intended to be covered by the scope of the invention. Therefore, the scope of the invention should be determined by the scope of the appended claims.

Industrial applicability

In the embodiment of the present invention, the UE receives the positioning assistance data; the UE uses the auxiliary data to perform the fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability, and thus, the positioning sensitivity and the related technology are solved by the present invention. Technical problems with low positioning accuracy.

Claims

A method of merging positioning, including:

The user equipment UE receives the positioning assistance data;

The UE uses the assistance data to perform fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability.
The method of claim 1, wherein before the receiving the positioning assistance data by the UE, the method further comprises:

Receiving, by the UE, an LPP information sent by an evolved service mobile positioning center E-SMLC for requesting an LPP related capability, the UE transmitting a Long Term Evolution Location Protocol (LPP) related capability to the E-SMLC; or

The UE sends the LPP related capability to the E-SMLC.
The method of claim 1, wherein the LPP correlation capability comprises IMU positioning capability and other positioning capabilities, wherein the other positioning capabilities comprise at least one of: Global Navigation Positioning System (GNSS) positioning capability, assisted global navigation positioning system A-GNSS positioning capability, observable arrival time differential OTDOA positioning capability, enhanced cell ECID positioning capability, WIFI positioning capability, Bluetooth positioning capability.
The method of claim 1, wherein the receiving the positioning assistance data by the UE comprises:

Receiving, by the UE, a positioning assistance data request sent by the LPP information to the E-SMLC, where the UE receives the positioning assistance data sent by the E-SMLC through the LPP information; or

The UE receives the positioning assistance data sent by the E-SMLC through LPP information.
The method of claim 1 wherein said positioning assistance data comprises positioning assistance data that supports IMU fusion positioning.
The method according to claim 5, wherein the positioning assistance data comprises at least one of: a fusion period of IMU positioning and other positioning modes, a fusion strategy of IMU positioning and other positioning modes, an IMU positioning reference point, and an IMU positioning The first time point, the IMU sensor error correction information; wherein the other positioning modes include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.
The method according to claim 1, wherein the fusion positioning including the IMU comprises at least one of: IMU positioning, fusion positioning including other positioning methods and IMU positioning; wherein the other positioning modes include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.
The method according to claim 1, wherein the UE performs the fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability by using the auxiliary data, including:

The UE acquires measurement information of the sensor;

Obtaining, by the UE, inertial information of the UE according to the measurement information;

The UE uses the inertial information and the auxiliary data to select a positioning mode other than the IMU positioning and the IMU positioning to perform the fusion positioning including the IMU according to the LPP correlation capability;

The sensor includes at least one of the following: an accelerometer, a gyroscope, a magnetometer, and the inertial information includes at least one of: speed, direction, gravity, relative position, and the relative position is relative to two IMU reports. position.
The method according to claim 8, wherein the obtaining, by the UE, the inertial information of the UE according to the measurement information comprises:

The UE acquires the inertia information by performing integral calculation and/or fitting on the measurement information.
The method according to claim 9, wherein the obtaining, by the UE, the inertial information by performing integral calculation and/or fitting on the data of the sensor comprises:

The UE performs an integral acquisition speed on the measurement result of the accelerometer;

The UE performs two times integration on the measurement result of the accelerometer to obtain relative position information;

The UE derives information on direction changes and speed changes by fitting data to the accelerometer and the gyroscope.
The method according to claim 6, wherein the UE completes the merging and locating according to the merging policy and the merging period, wherein the configuration manner of the fused positioning policy and the merging period includes one of the following: E- SMLC configuration, high level configuration, system pre-defined.
The method of claim 11 wherein said fused positioning strategy comprises one of:

Between the positioning output results P n and P n+1 of the other positioning modes, the measurement result P n+t =P n +P IMU at the time of output n+t is used by the IMU , wherein 0<t<1;

Determining the current positioning result P n by using the IMU positioning on the basis of the positioning results P n and P n-1 of the other positioning modes;

The P IMU is a relative vector value of inertial information from 0 to t·T time and/or inertial information of (n+t)·T corresponding time measured by the UE according to the IMU measurement and/or calculation. a real-time vector value; the T is a time interval between the measurement and reporting of the other positioning modes, and n is the number of times of positioning of the other positioning modes.
A method of merging positioning, including:

The evolved service mobile positioning center E-SMLC sends the positioning assistance data to the UE;

The E-SMLC receives the location information reported by the UE according to the long-term evolution positioning protocol (LPP) related capability, and uses the positioning assistance data;

The E-SMLC performs fusion positioning including the inertial measurement unit IMU based on the position information.
The method of claim 13, wherein before the sending of the positioning assistance data to the UE by the E-SMLC, the method further comprises:

Transmitting, by the E-SMLC, LPP information for requesting a positioning capability, the E-SMLC receiving an LPP related capability sent by the UE; or

The E-SMLC receives the LPP related capability sent by the UE.
The method of claim 13, wherein the LPP correlation capability comprises IMU positioning capability and other positioning capabilities, wherein the other positioning capabilities comprise at least one of: Global Navigation Positioning System (GNSS) positioning capability, assisted global navigation positioning system A-GNSS positioning capability, observable arrival time differential OTDOA positioning capability, enhanced cell ECID positioning capability, WIFI positioning capability, Bluetooth positioning capability.
The method according to claim 13, wherein the sending, by the E-SMLC, the positioning assistance data to the UE comprises:

Receiving, by the E-SMLC, a positioning assistance data request sent by the UE by using LPP information, where the E-SMLC sends the positioning assistance data to the UE by using LPP information; or

The E-SMLC sends the positioning assistance data to the UE by using LPP information.
The method of claim 13 wherein said positioning assistance data comprises said positioning assistance data comprising a fusion location of an IMU.
The method according to claim 17, wherein the IMU-containing fused positioning assistance data comprises at least one of: a fusion period of IMU positioning and other positioning modes, a fusion strategy of IMU positioning and other positioning modes, and an IMU positioning reference point. IMU positioning start time point, IMU sensor error correction information; wherein the other positioning methods include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.
The method according to claim 13, wherein the fusion positioning of the IMU comprises at least one of: IMU positioning, fusion positioning including other positioning methods and IMU positioning; wherein the other positioning modes include one of the following: GNSS Positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.
The method according to claim 13, wherein the location information comprises inertial information and measurement time reported by the UE, and an inertia information estimation error, the inertial information comprising at least one of: speed, direction, gravity, relative position The relative position is a relative position of the two IMU intervals, and the measurement time is a measurement time at which the UE reports the inertial information.
The method of claim 18, wherein the E-SMLC completes the merging according to the merging policy and the merging period, wherein the merging positioning policy and the merging period are configured by: E-SMLC Configuration or core network high-level configuration.
The method of claim 21 wherein said fused positioning strategy comprises one of:

Between the positioning output results P n and P n+1 of the other positioning modes, the positioning result is output by using the IMU positioning: P n+t =P n +P IMU where 0<t<1;

Determining the current positioning result P n and reducing the positioning error by using the IMU positioning on the basis of the positioning results P n and P n-1 of the other positioning modes;

The P IMU is an inertial information of the inertial information relative vector value and/or (n+t)·T corresponding time from 0 to t·T time measured by the UE according to the IMU measurement and/or calculation. a vector value; the T is a measurement and reporting time interval of the other positioning modes, and n is a positioning number of the other positioning modes.
A device for merging a location, where the application is in a user equipment UE, including:

a receiving module configured to receive positioning assistance data;

And a positioning module configured to perform fusion positioning including the inertial measurement unit IMU according to the LPP correlation capability using the auxiliary data.
A device for merging positioning, wherein the application is in an E-SMLC of an evolved service mobile positioning center, including:

a sending module, configured to send positioning assistance data to the UE;

a receiving module, configured to receive location information reported by the UE by using the positioning assistance data according to a long-term evolution positioning protocol LPP related capability;

The positioning module is configured to perform fusion positioning including the inertial measurement unit IMU according to the position information.
A storage medium, wherein the storage medium includes a stored program, wherein the program is executed to perform the fusion positioning method according to any one of claims 1 to 22.
A fusion positioning device comprising a memory and a processor, wherein the memory stores a computer program executable on a processor, wherein the processor executes the program to implement any one of claims 1 to 22. The fusion positioning method.