WO2019153140A1

WO2019153140A1 - Positioning method and device

Info

Publication number: WO2019153140A1
Application number: PCT/CN2018/075625
Authority: WO
Inventors: 邢平平; 张鸿翼
Original assignee: 华为技术有限公司
Priority date: 2018-02-07
Filing date: 2018-02-07
Publication date: 2019-08-15

Abstract

Embodiments of the present invention provide a positioning method and device, relating to the field of communications. The present invention can ensure the continuity of a high-precision positioning service during cell handover. The method comprises: determining a terminal is about to move out of a service range of a source base station, acquiring a first measurement result of a satellite signal by the source base station, a second measurement result of the satellite signal by a target base station, and a third measurement result of the satellite signal by the terminal; the target base station being a base station accessed by the terminal after the terminal leaves the source base station; calculating first geographic coordinates of the terminal according to the first measurement result and the third measurement result, and calculating second geographic coordinates of the terminal according to the second measurement result and the third measurement result; and determining, according to the first geographic coordinates and/or the second geographic coordinates, a positioning result within a preset duration after the terminal accesses the target base station.

Description

Positioning method and device

Technical field

The present application relates to the field of communications, and in particular, to a positioning method and device.

Background technique

Currently, the terminal can be located using a carrier-phase kinematic (RTK) technique. Specifically, the terminal may be allocated a reference station, and the terminal and the reference station respectively measure the carrier phase of the satellite signal, and perform a complicated operation process according to the measurement results of the reference station and the terminal to determine the geographic coordinates of the terminal.

Existing services require more precise positioning, which requires an increase in the deployment density of the base station to provide high-precision positioning services. In the prior art, one base station closest to the terminal can be used as the base station of the terminal, or a base station can be virtualized in the vicinity of the terminal.

As the density of deployment of the base station increases, the terminal needs to make frequent handovers between different base stations. For example, in a base station cell, the terminal may calculate a geographic coordinate according to the measurement result of the terminal and the measurement result of the reference station, and when the terminal leaves the cell of the reference station and enters the cell of another reference station, according to the The measurement result of the newly accessed base station and the measurement result of the terminal are calculated, and the geographical coordinates of the terminal are calculated. This process takes ten seconds or even ten minutes. That is to say, after the terminal switches the cell, the operation of the terminal is first performed to determine the geographical coordinates of the terminal, so that the continuity of the high-precision positioning service cannot be guaranteed.

Summary of the invention

The embodiment of the invention provides a positioning method and device, which can ensure the continuity of the high-precision positioning service when the cell is switched.

In a first aspect, a positioning method is disclosed, comprising: obtaining a first measurement result of a source base station on a satellite signal, a second measurement result of a target base station on a satellite signal, and a terminal to satellite when determining that the terminal will move out of the source base station service range The third measurement of the signal. The target base station is a base station that is accessed after the terminal leaves the source base station. Further, the first geographic coordinate of the terminal may be calculated according to the first measurement result and the third measurement result, and the second geographic coordinate of the terminal is calculated according to the second measurement result and the third measurement result; finally, according to the first geographic coordinate and/or The second geographic coordinate determines a positioning result within a preset duration after the terminal accesses the target base station.

In the prior art, after the terminal accesses the new base station, the measurement data is accumulated for a certain period of time, and the terminal coordinates calculated according to the measurement data can achieve the positioning accuracy before the terminal is switched. The method provided by the present invention can process the measurement results of the source base station and the target base station in parallel when the terminal is in the service range of the source base station, and use the previously calculated time period after the terminal switches to the target base station. The geographical coordinates determine the positioning result of the terminal to ensure the continuity of the positioning service. The positioning service is not affected by the frequent handover of the cell by the terminal, and the transition is smooth when the terminal switches the cell to ensure the continuity of the positioning service.

With reference to the first aspect, in a first possible implementation manner of the first aspect, determining that the terminal is to leave the service range of the source base station includes: determining that the terminal is located in an edge area of the source base station service range, and the moving direction of the terminal is far from the source The base station service range determines the range of services that the terminal will leave the source base station.

That is to say, when it is determined that the terminal satisfies the above two conditions, it can be determined that the terminal will leave the service range of the source base station, thereby triggering the subsequent process.

In combination with the first aspect or the first possible implementation of the first aspect, in a second possible implementation manner of the first aspect, determining the positioning result according to the first geographic coordinate and/or the second geographic coordinate comprises: Determining, by the first geographic coordinate and the second geographic coordinate, a third geographic coordinate, determining a geographic location corresponding to the third geographic coordinate as a positioning result; or determining a broadcast signal to noise ratio of the first measurement result that is higher than the second measurement result For example, determining a geographic location corresponding to the first geographic coordinate is a positioning result; or determining that the moving direction of the terminal is away from the source base station and close to the target base station, determining that the geographical location corresponding to the second geographic coordinate is the positioning result.

That is to say, a new coordinate can be calculated according to the first geographic coordinate and the second geographic coordinate as the positioning coordinate of the terminal. Alternatively, the first geographic coordinate or the second geographic coordinate may be used as the positioning coordinate of the terminal.

With reference to the first aspect or any one of the foregoing possible implementation manners, in a third possible implementation manner of the first aspect, after determining the positioning result according to the first geographic coordinate and/or the second geographic coordinate, the method The method further includes: obtaining a fourth measurement result of the target base station to the satellite signal, and if the positioning result determined according to the fourth measurement result satisfies the preset accuracy, stopping acquiring the measurement result of the source base station on the satellite signal.

That is to say, if the accuracy of the positioning result determined according to the measurement result of the target base station is no less than the positioning result determined according to the measurement result of the source base station, the measurement result of the satellite signal by the source base station is not acquired in the subsequent process.

With reference to the first aspect or any one of the foregoing possible implementation manners, in a fourth possible implementation manner of the first aspect, after determining the positioning result according to the first geographic coordinate and/or the second geographic coordinate, the method The method further includes: obtaining a fourth measurement result of the target base station on the satellite signal and a fifth measurement result of the source base station on the satellite signal; determining that the broadcast signal to noise ratio of the fifth measurement result is lower than a preset threshold, updating the positioning according to the fourth measurement result As a result, the measurement of the satellite signal by the source base station is stopped.

In a second aspect, an apparatus is disclosed, including: a determining unit, configured to determine that a terminal will move out of a source base station service range; and an acquiring unit, configured to acquire a source base station to a satellite signal when the determining unit determines that the terminal will move out of the source base station service range The first measurement result, the second measurement result of the target base station to the satellite signal, and the third measurement result of the terminal to the satellite signal; the target base station is a base station that is accessed after the terminal leaves the source base station; and the positioning unit is configured to use the first measurement result according to the first measurement result And calculating, by the third measurement result, a first geographic coordinate of the terminal, and calculating a second geographic coordinate of the terminal according to the second measurement result and the third measurement result; the positioning unit is further configured to determine, according to the first geographic coordinate and/or the second geographic coordinate The positioning result within the preset duration after the terminal accesses the target base station.

In the prior art, after the terminal accesses the new base station, the measurement data is accumulated for a certain period of time, and the terminal coordinates calculated according to the measurement data can achieve the positioning accuracy before the terminal is switched. The device provided by the present invention can process the measurement results of the source base station and the target base station in parallel when the terminal is in the service range of the source base station, and use the previously calculated time period after the terminal switches to the target base station. The geographical coordinates determine the positioning result of the terminal to ensure the continuity of the positioning service. The positioning service is not affected by the frequent handover of the cell by the terminal, and the transition is smooth when the terminal switches the cell to ensure the continuity of the positioning service.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the determining unit is specifically configured to: determine that the terminal is located in an edge area of the source base station service range, and the moving direction of the terminal is away from the source base station service range, and then determine The terminal will leave the service range of the source base station.

In combination with the second aspect or the first possible implementation of the second aspect, in a second possible implementation manner of the second aspect, the positioning unit is configured to determine, according to the first geographic coordinate and the second geographic coordinate, the third Geographical coordinates, determining a geographic location corresponding to the third geographic coordinate as a positioning result; or determining a geographic signal to noise ratio of the first measurement result that is higher than a second measurement result, determining a geographic location corresponding to the first geographic coordinate For determining the result of the positioning; or determining that the moving direction of the terminal is away from the source base station and close to the target base station, determining the geographical location corresponding to the second geographic coordinate is the positioning result.

With reference to the second aspect or any one of the foregoing possible implementation manners, in a third possible implementation manner of the second aspect, the acquiring unit is further configured to: in the positioning unit, according to the first geographic coordinate and/or After the geographic coordinates determine the positioning result, the fourth measurement result of the target base station to the satellite signal is obtained; if the positioning result determined by the positioning unit according to the fourth measurement result satisfies the preset precision, the measurement result of the source base station to the satellite signal is stopped.

With reference to the second aspect or any one of the foregoing possible implementation manners, in a fourth possible implementation manner of the second aspect, the acquiring unit is further configured to: in the positioning unit, according to the first geographic coordinates and/or After the geographic coordinates determine the positioning result, the fourth measurement result of the target base station to the satellite signal and the fifth measurement result of the source base station to the satellite signal are obtained; the positioning unit is further configured to determine that the broadcast signal to noise ratio of the fifth measurement result is lower than the pre-predetermined When the threshold is set, the positioning result is updated according to the fourth measurement result; the acquiring unit is further configured to stop acquiring the measurement result of the satellite signal by the source base station.

In a third aspect, a computer readable storage medium is disclosed having stored therein instructions; when it is run on a device as described in the second aspect above and any of its possible implementations, The apparatus performs the positioning method as described in the first aspect above and its various possible implementations.

In a fourth aspect, a wireless communication device is disclosed, wherein the wireless communication device stores instructions that, when the wireless communication device operates on the network device of the second aspect and any of its possible implementations, The network device performs the positioning method as described in the first aspect above and its various possible implementations. In a specific implementation, the wireless communication device can be a chip.

DRAWINGS

FIG. 1 is a schematic diagram of terminal movement according to an embodiment of the present invention;

2 is a structural block diagram of a device according to an embodiment of the present invention;

FIG. 3 is a schematic flowchart of a positioning method according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of another terminal moving according to an embodiment of the present invention; FIG.

Figure 5 is a schematic diagram of DGPS technology;

FIG. 6 is a schematic diagram of determining a target base station according to an embodiment of the present invention;

FIG. 7 is a block diagram of another structure of a device according to an embodiment of the present invention;

FIG. 8 is a block diagram of another structure of a device according to an embodiment of the present invention.

Detailed ways

The so-called satellite positioning technology is to determine a reference station for the terminal, the base station and the terminal respectively measure the satellite signal, and then calculate a geographical coordinate according to the measurement result of the terminal and the measurement result of the reference station, and the geographical position indicated by the geographical coordinate As the positioning result of the terminal. In general, satellite positioning techniques may include differential global positioning system (DGPS) technology and carrier-phase difference (RTK) technology.

At present, the high-precision positioning service tends to be used locally, which means that the coverage of the base station is smaller. Therefore, the terminal frequently switches between different base stations during the positioning process. At the same time, after the terminal switches to the new cell, it takes a long time to calculate the geographic coordinates. Alternatively, a base station closest to the terminal may be selected as the base station of the terminal, or a base station may be virtually created in the vicinity of the terminal.

For example, referring to FIG. 1, the terminal is currently located in the service range of the base station A, but after the terminal moves, it is necessary to determine a new base station for the terminal. Specifically, the moving direction of the terminal is the service range of the base station A, as shown in FIG. 2 The direction of the arrow from left to right. From this, it can be determined that the base station closest to the terminal in this direction is the new base station of the terminal, such as the base station B in FIG. In the prior art, when the terminal switches to a new base station (base station B as shown in FIG. 1), continuous high-precision positioning cannot be achieved.

Specifically, in the DGPS technology, the reference station determines the measurement error according to its own measurement result, and broadcasts the measurement error to the terminal, and the terminal can correct its own measurement result according to the measurement error to obtain accurate geographical coordinates. However, the base station does not broadcast certain necessary information in real time, and may broadcast it in a specific period. If it is broadcast every five seconds, the terminal may have five seconds to receive the information broadcast by the base station, and then within five seconds. There are no positioning results. In this way, when the terminal accesses the new base station, it is also possible that the information broadcasted by the new base station (such as the above measurement error) cannot be received within a certain period of time, and cannot be received until the information broadcasted by the new base station is received. The positioning of the terminal is completed by using DGPS.

In addition, the use of RTK technology requires a large amount of measurement data. After the terminal accesses a certain base station, it takes a certain time, ten seconds or even ten minutes, to accumulate a sufficient amount of measurement data, such as: phase of the base station. The result of the measurement, the result of the phase measurement by the terminal, etc., can be used to solve the geographic coordinates of the terminal based on the measurement data. However, before the accurate geographic coordinates are obtained, the geographic coordinates of the terminal can only be estimated, and the accuracy of the positioning result is poor.

It can be seen that the DGPS technology or the RTK technology is used to implement terminal positioning, and when the terminal switches the cell, continuous high-precision positioning services cannot be realized.

An embodiment of the present invention provides a positioning method, where it is determined that a terminal is to leave a source base station, and then the measurement result of the source base station on the satellite signal, the measurement result of the target base station to the satellite signal, and the measurement result of the terminal to the satellite signal are obtained, and according to the obtained The measurement results calculate two geographic coordinates, and finally determine the positioning result within a certain period of time after the terminal enters the target base station service range according to the two geographic coordinates. In this way, when the terminal is in the service range of the source base station, the measurement result of the source base station and the target base station is processed in parallel, and the terminal is determined by using the previously calculated geographic coordinates within a period of time after the terminal switches to the target base station. The positioning result ensures the continuity of the positioning business. As in the prior art, after the terminal accesses the target base station and performs measurement data accumulation for a certain period of time, the geographic coordinates of the terminal are calculated according to the measurement data. The method provided by the present invention makes the positioning service not affected by the frequent handover of the cell by the terminal, and smoothly transitions when the terminal switches the cell to ensure the continuity of the positioning service.

The positioning method provided by the embodiment of the present application is applicable to the device shown in FIG. 3, where the device may be a network side device or a terminal, and the network side device may be a network side with a computing function, such as an X-edge and a core network server. The device may be a terminal having a computing function, such as a smart phone or an iPad. As shown in FIG. 2, the network side device may include at least one processor 201, a memory 202, a transceiver 203, and a communication bus 204.

The components of the device will be specifically described below with reference to FIG. 2:

The processor 201 is a control center of the device, and may be a processor or a collective name of a plurality of processing elements. For example, the processor 201 is a central processing unit (CPU), may be an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. For example, one or more digital signal processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs).

Among other things, the processor 201 can perform various functions of the device by running or executing a software program stored in the memory 202 and calling data stored in the memory 202.

In a particular implementation, as an embodiment, processor 201 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG.

In a particular implementation, as an embodiment, a device may include multiple processors, such as processor 201 and processor 205 shown in FIG. Each of these processors can be a single core processor (CPU) or a multi-core processor (multi-CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data, such as computer program instructions.

The memory 202 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type that can store information and instructions. The dynamic storage device can also be an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disc storage, and a disc storage device. (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be Any other media accessed, but not limited to this. Memory 202 may be present independently and coupled to processor 201 via communication bus 204. The memory 202 can also be integrated with the processor 201.

The memory 202 is used to store a software program that executes the solution of the present invention, and is controlled by the processor 201 for execution.

The transceiver 203 uses a device such as any transceiver for communication with other devices, and can also be used for communication with a communication network such as an Ethernet, a radio access network (RAN), a wireless local area network ( Wireless Local Area Networks, WLAN), etc. The transceiver 203 may include a receiving unit to implement a receiving function, and a transmitting unit to implement a transmitting function.

The communication bus 204 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in Figure 2, but it does not mean that there is only one bus or one type of bus.

In the embodiment of the present invention, the processor 201 may call the code in the memory 202 to calculate the geographic coordinates of the terminal according to the ranging information of the terminal and the ranging information of the reference station. The ranging information may be pseudo-code ranging information, that is, a measurement distance obtained by using a pseudo-code ranging technology, or may be a carrier phase obtained by measuring a satellite signal.

The device structure shown in FIG. 2 does not constitute a limitation to the network side device, and may include more or less components than those illustrated, or some components may be combined, or different component arrangements.

An embodiment of the present invention provides a positioning method, which is applied to a network side device or a terminal. As shown in FIG. 3, the method includes the following steps:

301. Determine that the terminal will move out of the source base station service range.

It should be noted that, in the embodiment of the present invention, the service range of the base station may be the coverage of the serving cell of the base station, or may be a range in which the base station can provide the positioning service, and the range may be greater than the coverage of the serving cell of the base station, and the present invention The comparison of the examples is not limited.

In a specific implementation, when it is determined that the terminal is currently located in an edge area of the source base station service range, and the moving direction of the terminal is away from the source base station service range, it may be determined that the terminal is to leave the source base station service range.

The positioning method provided by the embodiment of the present invention is implemented by a network side device, and the network side device may determine, according to the current location of the terminal, whether the terminal is located in an edge region of the source base station service range. For example, referring to FIG. 5, it is assumed that the terminal is currently located at the location D of the source base station service range. If the distance between the location D and the preset edge of the source base station service range is less than or equal to the preset threshold, the terminal is considered to be currently located in the source base station service range. Edge area. The preset threshold is set according to the radius of the service range of the source base station. For example, the preset threshold is 1/10 of the radius of the cell. Of course, this is only an example. The preset threshold is not limited in the embodiment of the present invention. . In addition, the preset edge can be considered as the cell edge closest to the current location of the terminal (eg, the above location D).

It can be understood that it is determined that the terminal is currently in the edge area of the source base station service range, and it is not determined that the terminal will move out of the source base station service range, and it is also required to determine whether the terminal's moving direction is far from the source base station service range. When it is further determined that the moving direction of the terminal is away from the source base station service range, it can be determined that the terminal will move out of the source base station service range. In a specific implementation, the network side device may determine the moving direction of the terminal according to the positioning result of the terminal within the service range of the source base station. For example, referring to FIG. 4, it is assumed that the terminal is currently located at the location D within the service range of the source base station. Before that, the terminal positioning result is three geographic locations: A, B, and C. Referring to FIG. 4, if A, B, and C are closer to the right edge of the service range of the source base station (as shown in FIG. 4, D1>D2>D3), it is determined that A, B, and C are gradually away from the source base station service range. Then, it is determined that the moving direction of the terminal is away from the source base station service range. As shown in FIG. 4, if A, B, and C are arranged from left to right, that is, the terminal moves from left to right to position D, it can be considered that the moving direction of the terminal is far from the source base station service range. Of course, if A, B, and C are arranged from right to left, that is, the terminal moves from right to left to position D, it can be considered that the moving direction of the terminal is close to the source base station service range.

Finally, combined with the above two judgment results: the terminal is in the edge area of the source base station service range, and the moving direction of the terminal is away from the source base station service range, and it is determined that the terminal will move out of the source base station service range.

Certainly, the positioning method provided by the embodiment of the present invention may also be implemented by the terminal, and the terminal may determine, according to the quality degradation condition of the signal from the source base station, whether the terminal is to be removed from the service range of the source base station. Specifically, when the terminal detects that the quality attenuation from the source base station signal is greater than a preset value, it is determined that the terminal is located in an edge region of the source base station service range. When the quality attenuation from the source base station signal is a decreasing trend as a whole before the preset time period, it is determined that the moving direction of the terminal is far from the source base station service range.

302. Acquire a first measurement result of the source base station on the satellite signal, a second measurement result of the target base station on the satellite signal, and a third measurement result of the terminal to the satellite signal.

In a specific implementation, the source base station, the target base station, and the terminal may obtain the measurement result of the satellite signal by using DGPS technology or RTK technology.

Further, Figure 5 is a schematic diagram of the DGPS technology. Referring to FIG. 1, the geographical coordinates of a base station (such as a source base station or a target base station according to an embodiment of the present invention) are known, and since the geographical position of the satellite is also known, the actual between the base station and the satellite is The distance is known. The terminal and the reference station respectively obtain the measurement distance by using the pseudo-code ranging technology (this embodiment of the present invention may be referred to as pseudo-code ranging information), and the reference station can determine the measured distance according to the obtained distance and the actual distance between the reference station and the satellite. The measurement error can be used to correct the measurement distance obtained by the pseudo-code ranging technology by using the measurement error, thereby improving the positioning accuracy. Generally, the position of the terminal is determined by determining the position of the three satellites and the distance between the satellite and the current terminal (using the corrected error to the distance of the pseudo-code ranging information).

If the DGPS technology is used in advance to implement terminal positioning, the measurement results of the source base station, the target base station, and the terminal are pseudo-code ranging information, that is, the first measurement result, the second measurement result, and the third measurement result are pseudo-code measurements. Distance information.

In addition, the principle of the RTK technology is that the terminal and the base station simultaneously measure satellite signals, and determine the geographical coordinates of the terminal according to the carrier phase measured by the terminal and the base station. Specifically, the carrier signal is a periodic sinusoidal signal, and the carrier phase includes a whole-peripheral portion and a non-circular portion. The phase measurement of the terminal and the reference station can only measure a portion of the carrier signal that is less than one wavelength, that is, a non-aligned carrier phase. Week part. The core problem of RTK technology is that the carrier phase includes the uncertainty of the whole week, so it takes a complicated calculation process to determine the geographic coordinates of the terminal.

Specifically, for the terminal, the following equation (1) is satisfied:

In the above equation (1), N ₁ is the whole-cycle portion of the carrier phase corresponding to the terminal,

It is the result of terminal phase measurement, λ is the wavelength of the satellite signal, (x ₁ , y ₁ , z ₁ ) is the geographic coordinates of the terminal, and (x ₀ , y ₀ , z ₀ ) is the geographic coordinates of the satellite. And N ₁ , x ₁ , y ₁ , z ₁ are unknown,

λ, x ₀ , y ₀ , z ₀ are known.

For the base station, the following equation (2) is satisfied

Where N ₂ is the whole week portion of the carrier phase corresponding to the reference station,

Is the result of the base phase measurement, (x ₂ , y ₂ , z ₂ ) is the geographic coordinates of the base station. Only N ₂ in equation (2) is unknown and the remaining parameters are known. Since x ₀ , y ₀ , z ₀ and x ₂ , y ₂ , z ₂ are known, it can be considered as the above equation (2)

Is a constant C.

Further, equation (2) is transformed into equation (3):

Equation (1) and equation (3) are subtracted to obtain the following equation (4):

among them,

Yes

with

The difference is a known amount; ΔN is the difference between N ₁ and N ₂ and is an unknown amount; likewise, x ₁ , y ₁ , and z ₁ are unknown. It can be seen that the key to solving the geographic coordinates of the terminal is to solve the above four unknowns of ΔN, x ₁ , y ₁ and z ₁ . In order to solve the above four unknowns, at least four equations are needed. Therefore, the terminal and the base station need to measure at least three other satellites to generate signals, determine three equations, and finally solve for ΔN, x ₁ , y ₁ , z ₁ . It should be noted that the whole week portion of the carrier phase obtained by the terminal or the base station to measure other satellite signals can be approximated as the same. Therefore, the three equations determined by the signals transmitted by the other three satellites are compared with the above equation (4). The ΔN is the same, and x ₀ , y ₀ , and z _{0 are} different. Further, the four equations can be used to solve for ΔN, x ₁ , y ₁ , z ₁ .

If the terminal positioning is implemented by using the RTK technology, the measurement results of the source base station, the target base station, and the terminal are carrier phase and pseudo-code ranging information, that is, the first measurement result, the second measurement result, and the third measurement result are all Carrier phase and pseudo-code ranging information.

In some embodiments, the source base station, the target base station, and the terminal send the measurement result obtained by measuring the satellite signal to the network side device, so that the network side device can acquire the measurement result of the source base station, the target base station, and the terminal to the satellite signal. , such as the first measurement result, the second measurement result, and the third measurement result.

In some embodiments, the source base station and the target base station broadcast the measurement result of the own base station. If the service range of the source base station and the target base station overlaps, when the terminal is in the edge area of the source base station close to the target base station, the terminal can receive the source. The measurement result broadcasted by the base station may also receive the measurement result broadcast by the target base station, that is, the terminal may acquire the first measurement result of the source base station, the second measurement result of the target base station, and of course, the terminal itself may acquire the measurement satellite. The third measurement obtained by the signal.

Certainly, if there is no overlapping area in the service range of the source base station and the target base station, when the terminal is in the edge area where the source base station is close to the target base station, the terminal can only receive the measurement result played by the source base station, and cannot receive the measurement result broadcast by the target base station. The network side device is required to forward the measurement result played by the target base station to the terminal.

303. Calculate a first geographic coordinate of the terminal according to the first measurement result and the third measurement result, and calculate a second geographic coordinate of the terminal according to the second measurement result and the third measurement result.

In the specific implementation, if the DGPS technology is adopted, the source base station, the target base station, and the terminal measure the distance between the self and the satellite, that is, the first measurement result, the second measurement result, and the third measurement result are all pseudo-code ranging. information. Since the source base station and the target base station are the base stations of the positioning terminal, the geographical locations of the source base station and the target base station are determined, that is, the actual distance between the source base station and the target base station to the satellite is known. The first measurement result measured by the source base station may be a measurement distance of the source base station to the satellite, and the network side device (or terminal) may determine the measurement error according to the first measurement result, the actual distance from the source base station to the satellite, and then the third according to the measurement error. The measurement result is corrected to obtain a more accurate distance between the terminal and the satellite, and then the geographic coordinates of the terminal, that is, the first geographical coordinate, are determined according to the distance.

Similarly, the second measurement result measured by the target base station may be a measurement distance of the target base station to the satellite, and the network side device (or terminal) may determine the measurement error according to the second measurement result and the actual distance from the target base station to the satellite, and then according to the measurement error The third measurement result is corrected to obtain a more accurate distance between the terminal and the satellite, and then a geographic coordinate, that is, the first geographical coordinate, is determined according to the distance.

If the RTK technology is used, the source base station, the target base station, and the terminal measure the carrier phase of the satellite signal, that is, the first measurement result, the second measurement result, and the third measurement result are both “carrier phase”. The network side device (or terminal) can calculate the geographic coordinates of the terminal, that is, the first geographical coordinate, according to the carrier phase measured by the source base station and the carrier phase measured by the terminal.

Similarly, the network side device may (or the terminal) calculate the geographic coordinates of the terminal, that is, the second geographic coordinate, according to the carrier phase measured by the target base station and the carrier phase measured by the terminal.

It should be noted that the specific process of calculating the geographic coordinates of the terminal according to the carrier phase measured by the terminal and the carrier phase measured by the reference station (eg, the source base station or the target base station) refers to the foregoing detailed description of the RTK technology, and details are not described herein.

In some embodiments, calculating the terminal according to the second measurement result and the third measurement result while calculating the first geographic coordinate of the terminal according to the first measurement result and the third measurement result The second geographic coordinates. It can be considered that in a unit time, for example, within 1 s, not only the first geographic coordinates but also the second geographic coordinates need to be calculated. In a certain unit time, if the second geographic coordinate calculated according to the measurement result of the target base station does not reach the desired accuracy, further if only the second geographic coordinate is calculated, the final positioning result is not accurate. Of course, if the measurement result of the target base station is used to obtain the high-precision positioning result, the measurement result of the source base station is not required to be obtained, and the calculation result of the first measurement result and the third measurement result is no longer needed. The first geographic coordinates of the terminal.

304. Determine a positioning result of the terminal according to the first geographic coordinate and/or the second geographic coordinate, within a preset duration after the terminal accesses the target base station according to the target base station information.

After the terminal has just accessed the target base station, the data obtained by the target base station measuring the satellite signal is small, and sufficient measurement data has not been accumulated, so that the terminal cannot be located according to the measurement data of the target base station and the measurement data of the terminal, or High precision positioning is not possible. However, in the embodiment provided by the embodiment of the present invention, in the preset duration after the terminal accesses the target base station, the positioning result of the terminal may be determined according to the pre-calculated first geographic coordinate and/or the second geographic coordinate, and the continuous positioning is maintained. High-precision positioning business.

In a specific implementation, the network side device (or terminal) can determine the positioning result according to the following three methods, including:

First, determining a third geographic coordinate according to the first geographic coordinate and the second geographic coordinate, and determining a geographic location corresponding to the third geographic coordinate as the positioning result.

For example, a specific decision may be performed according to the first geographic coordinate and the second geographic coordinate to filter out the calculated third geographic coordinate in the first geographic coordinate or the second geographic coordinate. For example, the first geographic coordinate is used before the fixed solution is obtained using the second geographic coordinate (ie, ΔN is solved), and the second geographic coordinate is adopted after reaching the fixed solution. In general, since ΔN is the difference of the entire circumference portion, ΔN should also be an integer, and once the calculated ΔN is an integer, the ΔN in the calculation is considered to be accurate.

It should be noted that, assuming that the first ΔN calculated according to the measurement data of the target base station and the measurement data of the terminal is an integer, the second geographic coordinate is determined according to the first ΔN, and the new measurement data and the new terminal are subsequently determined according to the target base station. The second ΔN calculated by the measurement data is also an integer, indicating that the previously calculated first ΔN is accurate, and thus the second geographic coordinate can be considered to reach a fixed solution.

In some embodiments, the first geographic coordinate and the second geographic coordinate may also be input, and the calculated result is the third geographic coordinate.

Specifically, after the second geographic coordinate reaches a fixed solution, the distance between the terminal and the source base station and the distance between the terminal and the target base station are estimated according to the current location of the terminal, and the distance between the terminal and the source base station and the distance between the terminal and the target base station are determined. A geographic coordinate, a weight of the second geographic coordinate, and then a weighted average calculation obtains a third geographic coordinate. For example, the distance between the terminal and the source base station is 500m, and the distance from the target base station is 800m, the weight of the first geographic coordinate is 500/(800+500)=5/13, and the weight of the second geographic coordinate is 800. /(800+500)=8/13, the first geographic coordinate = 5/13*X+8/13*Y, where X represents the first geographic coordinate and Y represents the second geographic coordinate.

Second, determining that the broadcast signal to noise ratio of the first measurement result is higher than the broadcast signal to noise ratio of the second measurement result, determining that the geographic location corresponding to the first geographic coordinate is the positioning result.

It should be noted that the playback signal-to-noise ratio is the signal-to-noise ratio of the signal sent by the sender to the receiving and transmitting process.

When the positioning method provided by the embodiment of the present invention is implemented by the terminal, the terminal needs to receive the first measurement result and the second measurement result. If there is an overlapping area in the service range of the source base station and the target base station, when the terminal is in the edge area of the source base station close to the target base station, the terminal may receive the measurement result broadcasted by the source base station, and may also receive the measurement result broadcast by the target base station, then the first The broadcast signal-to-noise ratio of the measurement result is a signal-to-noise ratio in the process of the first measurement result sent by the source base station to the terminal, and the broadcast signal-to-noise ratio of the second measurement result is in the process of the second measurement result sent by the target base station reaching the terminal. Signal to noise ratio.

Certainly, if there is no overlapping area in the service range of the source base station and the target base station, when the terminal is in the edge area where the source base station is close to the target base station, the terminal can only receive the measurement result played by the source base station, and cannot receive the measurement result broadcast by the target base station. The network side device is required to forward the measurement result played by the target base station to the terminal. Then, the broadcast signal to noise ratio of the second measurement result is a signal to noise ratio in the process of the second measurement result sent by the target base station reaching the network side device.

In some embodiments, when the positioning method provided by the embodiment of the present invention is implemented by a network side device, the network side device needs to receive the foregoing first measurement result and the second measurement result. The broadcast signal to noise ratio of the first measurement result is a signal to noise ratio in a process in which the first measurement result sent by the source base station reaches the network side device, and the broadcast signal to noise ratio of the second measurement result is a second measurement sent by the target base station. The result is a signal to noise ratio in the process of reaching the network side device.

Third, determining that the moving direction of the terminal is away from the source base station, and close to the target base station, determining that the geographic location corresponding to the second geographic coordinate is the positioning result.

It should be noted that, after determining to use the second geographic coordinate to reach the fixed solution, the positioning result may be determined according to the third manner described above.

In the embodiment of the present invention, the geographic coordinates may be (x, y, z), wherein the physical meanings of x, y, and z are representations of the three-dimensional position of the terminal in the geocentric coordinate system. Specifically, the geocentric coordinate system represents a spatial rectangular coordinate system established with the center of mass of the earth as the origin, and the X-axis coincides with the intersection of the first meridional plane and the equatorial plane, and is positive to the east; the Z-week coincides with the earth's rotation axis, and the northward direction is Positive; the Z axis is perpendicular to the XY plane and satisfies the right hand rule. The so-called right-hand rule, that is, the thumb of the right hand points to the positive direction of the Z axis, and the direction of the four fingers of the right hand is the direction of the X axis to the Y axis.

In some embodiments, the network side device may further determine a target base station for the terminal, and send information of the target base station to the terminal, so that the terminal accesses the target base station according to information of the target base station.

In a specific implementation, the network side device determines the target base station according to the moving direction of the terminal and the location of the terminal. For example, the network side device may determine, as the target base station, a base station that is closest to the terminal in the direction of the terminal mobile. For example, referring to FIG. 6, the direction in which the terminal moves is from left to right, then the base station Z closest to the terminal on the right side of the current location of the terminal (eg, position D in FIG. 6) can be determined as the target base station.

It should be noted that the foregoing target base station may be considered as the first base station that is accessed after the terminal leaves the service range of the source base station.

In addition, the service range of the source base station and the target base station may have overlapping areas. Of course, the service range of the source base station and the target base station may also have no overlapping area.

In a specific implementation, the target base station determined by the network side device may be a certain base station, and the network side device sends the determined information of the target base station to the terminal, and after indicating that the terminal leaves the service range of the source base station, the terminal may access the target base station.

In some embodiments, there may be multiple target base stations for terminal selection, so the measurement results of multiple target base stations may be obtained in step 302, and then the first measurement result and the third measurement result are calculated in step 303. a first geographic coordinate of the terminal, and calculating a plurality of second geographic coordinates of the terminal according to the second measurement result and each third measurement result. In step 304, a positioning result of the terminal is determined according to the first geographic coordinate and/or the plurality of second geographic coordinates. Specifically, a geographic coordinate may be selected as a final positioning result, or a geographic coordinate may be weighted to obtain a final positioning result.

In some embodiments, the network side device may further determine, by the plurality of base stations in the direction of the mobile terminal, the candidate base station, and the information of the multiple candidate base stations (ie, the accessible base station information according to the embodiment of the present invention). After being sent to the terminal, after receiving the information of the multiple candidate base stations sent by the network side device, the terminal may select one of the multiple candidate base stations as the target base station. That is to say, the information of the candidate base station necessarily includes the information of the target base station.

In some embodiments, after determining the positioning result according to the first geographic coordinate and/or the second geographic coordinate, a fourth measurement result of the satellite signal by the target base station may also be acquired, if If the positioning result determined by the four measurement results meets the preset accuracy, the measurement result of the satellite signal by the source base station is stopped, and the high-precision positioning service can be implemented according to the measurement result of the target base station.

Or determining, after obtaining the fourth measurement result of the target base station on the satellite signal and the fifth measurement result of the source base station on the satellite signal, determining that the broadcast signal to noise ratio of the fifth measurement result is lower than a preset And setting a threshold, updating the positioning result according to the fourth measurement result, and subsequently stopping acquiring the measurement result of the satellite signal by the source base station, and implementing a high-precision positioning service only according to the measurement result of the target base station.

The embodiment of the present invention provides a device, which may be a network side device or a terminal involved in the embodiment of the present invention. In the case where each functional module is divided by corresponding functions, FIG. 7 shows a possible structural diagram of the above device. As shown in FIG. 7, the terminal includes a determining unit 701, an obtaining unit 702, and a positioning unit 703.

A determining unit 701 is configured to support the device to perform step 301 in the above embodiments, and/or other processes for the techniques described herein.

An obtaining unit 702, configured to support the device to perform step 302 in the above embodiments, and/or other processes for the techniques described herein;

a sending unit 703, configured to support the device to perform

steps

303 and 304 in the foregoing embodiments, and/or other processes for the techniques described herein;

It should be noted that all the related content of the steps involved in the foregoing method embodiments may be referred to the functional descriptions of the corresponding functional modules, and details are not described herein again.

Illustratively, in the case of an integrated unit, a schematic structural diagram of the device provided by the embodiment of the present application is shown in FIG. 8. In FIG. 8, the device includes a processing module 801 and a communication module 802. The processing module 801 is configured to control and manage the actions of the device, for example, perform the steps performed by the determining unit 701, the positioning unit 703, and/or other processes for performing the techniques described herein. The communication module 802 is configured to support the interaction between the device and other devices, such as the step of performing the obtaining unit 702 to obtain the measurement result. As shown in FIG. 8, the device may further include a storage module 803 for storing program codes and data of the device.

When the processing module 801 is a processor, the communication module 802 is a transceiver, and the storage module 803 is a memory, the device may be the device shown in FIG. 2. If the transceiver is a receiver and a transmitter, the receiver performs a process of transmitting the device, and the transmitter performs a step of receiving the device, such as: obtaining a first measurement result of the source base station on the satellite signal, and second, the target base station on the satellite signal The measurement result and the third measurement result of the satellite signal by the terminal.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it may occur in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present application are generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be from a website site, computer, server or data center Transfer to another website site, computer, server, or data center by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL), or wireless (eg, infrared, wireless, microwave, etc.). The computer readable storage medium can be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that includes one or more available media. The usable medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above functional modules is illustrated. In practical applications, the above functions can be allocated according to needs. It is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

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. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. The combination may be integrated into another device, or some features may be ignored or not performed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may be one physical unit or multiple physical units, that is, may be located in one place, or may be distributed to multiple different places. . 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 application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be embodied in the form of a software product in the form of a software product in essence or in the form of a contribution to the prior art, and the software product is stored in a storage medium. A number of instructions are included to cause a device (which may be a microcontroller, chip, etc.) or a processor to perform all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

The foregoing is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. . Therefore, the scope of protection of the present application should be determined by the scope of the claims.

Claims

A positioning method, comprising:

Determining that the terminal will move out of the source base station service range, acquiring a first measurement result of the source base station on the satellite signal, a second measurement result of the target base station on the satellite signal, and a third measurement result of the terminal to the satellite signal The target base station is a base station that is accessed after the terminal leaves the source base station;

Calculating a first geographic coordinate of the terminal according to the first measurement result and the third measurement result, and calculating a second geographic coordinate of the terminal according to the second measurement result and the third measurement result;

Determining, according to the first geographic coordinate and/or the second geographic coordinate, a positioning result within a preset duration after the terminal accesses the target base station.
The method according to claim 1, wherein the determining that the terminal will leave the service range of the source base station comprises:

Determining that the terminal is located in an edge area of the source base station service range, and the moving direction of the terminal is away from the source base station service range, determining that the terminal will leave the service range of the source base station.
The method according to claim 1 or 2, wherein the determining the positioning result according to the first geographic coordinate and/or the first geographic coordinate comprises:

Determining a third geographic coordinate according to the first geographic coordinate and the second geographic coordinate, and determining a geographic location corresponding to the third geographic coordinate as the positioning result;

Or determining that the broadcast signal to noise ratio of the first measurement result is higher than the broadcast signal to noise ratio of the second measurement result, determining that the geographic location corresponding to the first geographic coordinate is the positioning result;

Or determining that the moving direction of the terminal is away from the source base station, and close to the target base station, determining that the geographic location corresponding to the second geographic coordinate is the positioning result.
The method according to claim 3, wherein after the determining the positioning result according to the first geographic coordinate and/or the second geographic coordinate, the method further comprises:

Obtaining a fourth measurement result of the satellite signal by the target base station, and if the positioning result determined according to the fourth measurement result meets a preset accuracy, stopping acquiring the measurement result of the satellite signal by the source base station.
The method according to claim 3, wherein after the determining the positioning result according to the first geographic coordinate and/or the second geographic coordinate, the method further comprises:

Obtaining a fourth measurement result of the target base station on the satellite signal and a fifth measurement result of the source base station on the satellite signal;

Determining that the broadcast signal to noise ratio of the fifth measurement result is lower than a preset threshold, updating the positioning result according to the fourth measurement result, and stopping acquiring the measurement result of the satellite signal by the source base station.
An apparatus, comprising:

a determining unit, configured to determine that the terminal will move out of the source base station service range;

An acquiring unit, configured to acquire, when the determining unit determines that the terminal is to be removed from the source base station service range, acquire a first measurement result of the source base station on a satellite signal, and a second measurement result of the target base station on the satellite signal And a third measurement result of the satellite signal by the terminal; the target base station is a base station that is accessed after the terminal leaves the source base station;

a positioning unit, configured to calculate a first geographic coordinate of the terminal according to the first measurement result and the third measurement result, and calculate a second second of the terminal according to the second measurement result and the third measurement result Geographical coordinates

The locating unit is further configured to determine, according to the first geographic coordinate and/or the second geographic coordinate, a positioning result within a preset duration after the terminal accesses the target base station.
The device according to claim 6, wherein the determining unit is specifically configured to: determine that the terminal is located in an edge area of the source base station service range, and the moving direction of the terminal is away from the source base station service The range determines the range of services that the terminal will leave the source base station.
The device according to claim 6 or 7, wherein the positioning unit is configured to determine a third geographic coordinate according to the first geographic coordinate and the second geographic coordinate, and determine the third geographic coordinate The corresponding geographical location is the positioning result;

Or determining that the broadcast signal to noise ratio of the first measurement result is higher than the broadcast signal to noise ratio of the second measurement result, determining that the geographic location corresponding to the first geographic coordinate is the positioning result;

Or determining that the moving direction of the terminal is away from the source base station, and close to the target base station, determining that the geographic location corresponding to the second geographic coordinate is the positioning result.
The device according to claim 8, wherein the obtaining unit is further configured to: after the positioning unit determines a positioning result according to the first geographic coordinate and/or the second geographic coordinate, acquire the And obtaining, by the target base station, a fourth measurement result of the satellite signal; if the positioning result determined by the positioning unit according to the fourth measurement result satisfies a preset accuracy, stopping acquiring the measurement result of the satellite signal by the source base station.
The device according to claim 8, wherein the obtaining unit is further configured to: after the positioning unit determines a positioning result according to the first geographic coordinate and/or the second geographic coordinate, acquire the a fourth measurement result of the satellite signal by the target base station and a fifth measurement result of the satellite signal by the source base station;

The positioning unit is further configured to: determine that the broadcast signal to noise ratio of the fifth measurement result is lower than a preset threshold, and update the positioning result according to the fourth measurement result;

The acquiring unit is further configured to stop acquiring the measurement result of the satellite signal by the source base station.