WO2020134015A1 - 基于5g的定位方法以及基于5g的定位系统 - Google Patents

基于5g的定位方法以及基于5g的定位系统 Download PDF

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Publication number
WO2020134015A1
WO2020134015A1 PCT/CN2019/094979 CN2019094979W WO2020134015A1 WO 2020134015 A1 WO2020134015 A1 WO 2020134015A1 CN 2019094979 W CN2019094979 W CN 2019094979W WO 2020134015 A1 WO2020134015 A1 WO 2020134015A1
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Prior art keywords
positioning
information
base station
station
vehicle
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Ceased
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PCT/CN2019/094979
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English (en)
French (fr)
Inventor
余玮琦
万四爽
王晓云
刘国宝
金玥
兰银河
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China Unionpay Co Ltd
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China Unionpay Co Ltd
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Priority to SG11202103105PA priority Critical patent/SG11202103105PA/en
Priority to US17/419,075 priority patent/US11474187B2/en
Publication of WO2020134015A1 publication Critical patent/WO2020134015A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/071—DGPS corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0236—Assistance data, e.g. base station almanac
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/042—Public Land Mobile systems, e.g. cellular systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices

Definitions

  • the invention relates to communication technology, in particular to a high-precision positioning method based on 5G and a high-precision positioning system based on 5G.
  • FIG. 1 is a schematic diagram showing a conventional positioning method.
  • the existing precise positioning solution is to assist in the installation of many CORS base stations for calibration to achieve centimeter-level positioning.
  • the positioning process is as follows: As a preparation step, the CROS base station obtains positioning information from the satellite in real time in advance.
  • Step S1 The terminal 10 acquires positioning from the satellite 20;
  • Step S2 The terminal 10 sends the positioning information to the data center 30;
  • Step S3 The data center 30 finds the closest CROS base station 1 according to the positioning information and CROS base station distribution information, and sends a request to the CROS base station 1;
  • Step S4 After receiving the request, the CROS base station 1 returns the processed real-time calibration information (including pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, meteorological data around the station) to the data center 30;
  • the processed real-time calibration information including pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, meteorological data around the station
  • Step S5 The data center 30 processes the data to obtain calibration information and returns to the terminal 10;
  • Step S6 The terminal 10 calibrates the positioning according to the calibration information.
  • the present invention aims to propose a 5G-based positioning method and a 5G-based positioning system that can reduce positioning costs and achieve high-precision positioning.
  • An aspect of the 5G-based positioning method of the present invention is characterized in that the method is implemented using 5G base stations, satellites, and user terminals.
  • the method includes the following steps:
  • the 5G base station obtains the positioning information of the 5G base station from the satellite, obtains the calibration information based on the positioning information, and the 5G base station broadcasts the calibration information to the outside;
  • the user terminal obtains the initial positioning information of the user terminal from the satellite;
  • the user terminal accesses the nearest 5G base station in real time, and monitors and acquires the calibration information broadcast by the nearest 5G base station;
  • the user terminal calibrates the initial positioning information acquired in the initial positioning step according to the calibration information acquired in the monitoring step to obtain positioning result information.
  • the calibration information includes pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, and meteorological data around the station.
  • the 5G base station uses the difference between the positioning information acquired from the satellite and the positioning information of the 5G base station as the calibration information.
  • the positioning system of the 5G-based positioning method of the present invention is characterized by including:
  • Satellite used to provide positioning services
  • a 5G base station configured to obtain positioning information from the satellite in real time and obtain calibration information based on the positioning information, and broadcast the calibration information to the outside;
  • the user terminal is used for acquiring the initial positioning information of the user terminal from the satellite, and for acquiring the calibration information broadcast by the 5G base station, and calibrating the initial positioning information according to the calibration information to obtain positioning result information .
  • the calibration information includes pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, and meteorological data around the station.
  • the 5G base station uses the difference between the positioning information acquired from the satellite and the positioning information of the 5G base station as the calibration information.
  • the vehicle refueling/charging method based on 5G positioning of the present invention is characterized by including the following steps:
  • the vehicle control system obtains vehicle position information based on 5G positioning
  • the vehicle control system sends vehicle positioning information to the positioning server, and the positioning server sends the position of the nearest gas station/charging station to the vehicle control system according to the vehicle positioning information;
  • the vehicle control system locates the nearest gas station/charging station according to navigation
  • the vehicle control system obtains the location information of the nearest gas station/charging station in the nearest gas station/charging station based on 5G positioning;
  • the vehicle control system navigates the vehicle to the nearest refueling port/charging pile according to the location information of the refueling port/charging pile, and realizes matching between the vehicle and the refueling terminal/charging pile;
  • the vehicle realizes refueling/charging at the nearest refueling port/charging pile.
  • the first positioning step includes:
  • the 5G base station obtains the positioning information from the satellite.
  • the 5G base station compares the obtained positioning information with the position information stored by itself, and uses the difference between the two as calibration information and the external light ratio;
  • the vehicle control system obtains initial positioning information from the satellite
  • the vehicle control system monitors the calibration information broadcast by the 5G base station closest to the base station;
  • the vehicle control system calibrates the initial positioning information according to the acquired calibration information to obtain vehicle positioning information.
  • the second positioning step includes:
  • the 5G base station obtains positioning information from the satellite, obtains the calibration information based on the positioning information, and the 5G base station broadcasts the calibration information to the outside;
  • the vehicle control system obtains initial positioning information from the satellite
  • the vehicle control system accesses the nearest 5G base station in real time, monitors and acquires the calibration information broadcast by the nearest 5G base station;
  • the vehicle control system calibrates the initial positioning information according to the calibration information to obtain the vehicle positioning information
  • the vehicle control system sends vehicle positioning information to the 5G base station;
  • the 5G base station sends the vacant and closest fueling port/charging station location information in the gas station/charging station closest to the vehicle location to the vehicle control system.
  • the computer-readable medium of the present invention has stored thereon a computer program, which when executed by a processor implements the above-mentioned 5G-based positioning method.
  • the computer device of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and is characterized in that, when the processor executes the computer program, the above-mentioned 5G-based positioning method is implemented.
  • 5G base stations can be used to achieve centimeter-level accuracy positioning, and there is no need to additionally install CROS base stations and data centers, thereby reducing the cost of precise positioning while achieving Improve positioning accuracy.
  • FIG. 1 is a schematic diagram showing a conventional positioning method.
  • 2 is a schematic diagram showing the distribution of base stations for 4G communication and base stations for 5G communication.
  • FIG. 3 is a schematic diagram showing the structure of a 5G-based positioning system according to the first embodiment of the present invention.
  • 5G is the fifth-generation communication technology, and its main features are wavelengths in the millimeter range, ultra-wideband, ultra-high speed, and ultra-low latency. If mobile communication uses a high frequency band, then its biggest problem is that the transmission distance is greatly shortened and the coverage capacity is greatly reduced. Therefore, in 5G communication, in order to cover the same area, the number of 5G base stations that need to be set will greatly exceed the number of base stations for 4G communication.
  • FIG. 2 is a schematic diagram showing the distribution of base stations for 4G communication and base stations for 5G communication. As shown in Figure 2, in 5G communication, compared with 4G communication, the base stations are distributed very densely. In the invention described below, the characteristics of the ultra-dense distribution of 5G communication base stations are utilized.
  • FIG. 3 is a schematic diagram showing the structure of a 5G-based positioning system according to the first embodiment of the present invention.
  • the 5G-based positioning system includes a satellite 100, a 5G base station 200, and a user terminal 300. Only three base stations are illustrated in FIG. 3, and the number of 5G base stations is not limited here.
  • the satellite 100 is used to provide positioning services, for example, to provide initial positioning information of the user terminal 300, and the positioning of the initial positioning information is accurate at the meter level.
  • the 5G base station 200 is used to broadcast positioning calibration information including pseudorange and phase information, station coordinates, station movement rate vectors, GPS ephemeris, meteorological data around the station, and other information.
  • the user terminal 100 is used to perform calculation according to the initial positioning and calibration information and obtain the final positioning result.
  • the positioning method implemented by the 5G-based positioning system of the first embodiment of the present invention includes the following steps:
  • Step S100 5G base station 200 acquires positioning information from satellite 100 in real time, and 5G base station 200 processes the acquired positioning information to broadcast calibration information (including pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, station) Weather data, etc.), as an example here, the so-called calibration information means that the 5G base station 200 itself stores its own precise positioning information, and the 5G base station 200 obtains satellite positioning information from the satellite 100, and compares its own precise positioning information with The difference in positioning information obtained from satellites is used as calibration information;
  • calibration information including pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, station) Weather data, etc.
  • Step S200 The user terminal 300 obtains initial positioning information from the satellite 100;
  • Step S300 The user terminal 300 accesses the nearest 5G base station 200 in real time, monitors and acquires the calibration information broadcast by the nearest 5G base station 200;
  • Step S400 The user terminal 300 obtains calibration information from the nearest real-time access 5G base station 200, and uses the calibration information to calibrate the initial positioning information to obtain accurate positioning result information. This is because the 5G base stations are densely distributed, in a 5G The base station covers a relatively small area, and in this small area, the calibration information of the 5G base station 200 can be used for the calibration of the user terminal 300 located in the same area, because the distance between the two is close and the accuracy is almost the same .
  • multiplexing 5G base stations can replace CORS base stations, saving CORS base station cost. Moreover, there is no need to establish a specific data center to collect the information of each auxiliary base station for processing. At the same time, the calibration information is no longer acquired by the terminal by making an access request to the CORS base station, but is processed by the 5G base station and broadcasts the calibration information to the outside, and the terminal acquires by listening. Therefore, the number of terminals that can be processed no longer depends on the processing capacity of the data center. Furthermore, due to the multiplexing of 5G base stations, the cost of precise positioning can be reduced, and it can no longer be limited to industry customers, and can expand the scope of application.
  • a charging method for charging or charging based on 5G positioning includes:
  • Step S1 The vehicle owner issues a refueling/charging request through the vehicle control system
  • Step S2 The 5G base station obtains positioning information from the satellite, and the 5G base station processes the obtained positioning information to broadcast calibration information (including pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, meteorological data around the station) Etc.);
  • calibration information including pseudorange and phase information, station coordinates, station movement rate vector, GPS ephemeris, meteorological data around the station
  • Step S3 The vehicle control system obtains initial positioning information from the satellite;
  • Step S4 The vehicle control system monitors the calibration information broadcast by the 5G base station of the closest base station;
  • Step S5 The vehicle control system calibrates the initial positioning information according to the obtained calibration information to obtain accurate vehicle positioning information, that is, the vehicle control system obtains accurate vehicle positioning information according to the distance between the vehicle and the location of the 5G base station;
  • Step S6 The vehicle control system sends the vehicle positioning information to the positioning server;
  • Step S7 The positioning server sends the position of the nearest gas station/charging station to the vehicle control system according to the vehicle positioning information;
  • Step S9 The vehicle control system locates the nearest gas station/charging station according to navigation
  • Step S10 The vehicle and the nearest gas station/charging station are automatically matched through the 5G base station, for example, the vehicle is located to the nearest gas station/charging station and is the nearest gas port/charging pile, the vehicle control system prompts The owner's refueling terminal number/charging pile number;
  • Step S11 When the vehicle reaches the corresponding fueling terminal number/charging pile number, the vehicle and the fueling terminal/charging pile are matched;
  • Step S12 The oil gun/charging pile is automatically opened, and the owner can self-service refueling/charging;
  • Step S13 After the fueling/charging is completed, the vehicle owner confirms the fueling/charging information on the fueling end/charging pile;
  • Step S14 The gas station sends the gas/charging fee, location, merchant number and other transaction request information to the background system, and the background system completes the transaction according to the transaction request information.
  • step S10 the automatic matching between the vehicle and the nearest gas station/charging station through the 5G base station can be achieved by using the 5G base station for high-precision positioning.
  • it may include the following steps:
  • the 5G base station obtains positioning information from the satellite, obtains calibration information based on the positioning information, and the 5G base station broadcasts the calibration information to the outside world;
  • the user terminal obtains initial positioning information from the satellite
  • the vehicle control system accesses the nearest 5G base station in real time, monitors and acquires the calibration information broadcast by the nearest 5G base station; the vehicle control system calibrates the initial positioning information according to the calibration information, and obtains the vehicle positioning information;
  • the vehicle control system sends vehicle positioning information to the 5G base station;
  • the 5G base station sends the vacant and closest fueling port/charging station location information in the gas station/charging station closest to the vehicle location to the vehicle control system.
  • the process of obtaining vehicle positioning information in the above steps S1 to S5 is implemented by using a 5G base station to perform high-precision positioning.
  • it may also be replaced by, for example, adding the position of the transmitting base station to the signal transmitted by the 5G base station Information, according to the distance between the vehicle and the location of the 5G base station to obtain accurate vehicle positioning information of the vehicle.
  • the 5G base station is used for high-precision positioning. Since the 5G base station can achieve centimeter-level positioning, the vehicle can be positioned to the nearest gas station/charging station in the nearest gas station/charging station. Thereby, it can greatly facilitate the vehicle owner, and can optimize the user experience of refueling/charging.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Paper (AREA)
  • Quinoline Compounds (AREA)

Abstract

本发明涉及基于5G的定位方法及其定位系统。该方法包括：广播步骤，5G基站从卫星获取5G基站的定位信息，基于所述定位信息得到校准信息，5G基站向外广播所述校准信息；初始定位步骤，用户终端从卫星获取用户终端的初始定位信息；监听步骤，用户终端实时接入最近的5G基站，监听并获取该最近的5G基站广播的校准信息；以及校准步骤，用户终端根据所述监听步骤获取的所述校准信息，对所述初始定位步骤获取的所述初始定位信息进行校准，获得定位结果信息。如上所述，根据本发明，能够利用5G基站实现厘米级别精度的定位，而且不需要另外设置CROS基站以及数据中心，由此能够降低精准定位的成本。

Description

基于5G的定位方法以及基于5G的定位系统 技术领域
本发明涉及通信技术，具体地涉及一种基于5G的高精度定位方法以及基于5G的高精度定位系统。
背景技术
图1是表示现有技术的定位方法的示意图。
如图1所示，现有的精准定位解决方案是通过额外安装许多CORS基站来做校准进行辅助从而达到厘米级别的定位。如图1所示，其定位流程如下：作为准备步骤，预先CROS基站实时从卫星出获取定位信息。
步骤S1：终端10从卫星20获取定位；
步骤S2：终端10将定位信息发送至数据中心30；
步骤S3：数据中心30根据定位信息及CROS基站分布信息寻找出距离最近的CROS基站1，并向CROS基站1发送请求；
步骤S4：CROS基站1收到请求后，返回经过处理过的实时校准信息(包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据)到数据中心30；
步骤S5：数据中心30将数据进行处理获得校准信息并返回至终端10；
步骤S6：终端10根据校准信息校准定位。
在上述的现有技术方案中，存在以下问题：
(1)需要额外搭建CORS基站及数据中心，造成资源浪费；
(2)现有终端均采用访问的方式连接，每次访问，均需要完成一次计算和传输。随着终端的大量增多，对数据中心要求越来越高，数据中心的处理能力有限，只能为有限的终端进行精准定位，并且基站数量的增多也对数据中心的处理能力提出了挑战；
(3)由于造价昂贵，现有的这些精准定位服务只面向行业客户，应用范围窄，精准定位没有全面推广。
公开于本发明背景部分的信息仅仅旨在增加对本发明的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域一般技术人员所 公知的现有技术。
发明内容
鉴于上述问题，本发明旨在提出一种能够降低定位成本并且实现高精度定位的基于5G的定位方法以及基于5G的定位系统。
本发明的一方面的基于5G的定位方法，其特征在于，该方法利用5G基站、卫星和用户终端实现，该方法包括下述步骤：
广播步骤，5G基站从卫星获取5G基站的定位信息，基于所述定位信息得到校准信息，5G基站向外广播所述校准信息；
初始定位步骤，用户终端从卫星获取用户终端的初始定位信息；
监听步骤，用户终端实时接入最近的5G基站，监听并获取该最近的5G基站广播的校准信息；以及
校准步骤，用户终端根据所述监听步骤获取的所述校准信息，对所述初始定位步骤获取的所述初始定位信息进行校准，获得定位结果信息。
可选地，所述校准信息包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据。
可选地，在所述广播步骤中，5G基站将从卫星获取的所述述定位信息以及5G基站自身的定位信息的差异作为所述校准信息。
本发明的基于5G的定位方法的定位系统，其特征在于，包括：
卫星，用于提供定位服务；
5G基站，用于从实时从所述卫星得定位信息并基于所述定位信息得到校准信息，并且将所述校准信息向外广播；
用户终端，用于从所述卫星获取该用户终端的初始定位信息，并且用于获取所述5G基站广播的校准信息，根据所述校准信息，对所述初始定位信息进行校准，获得定位结果信息。
可选地，所述校准信息包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据。
可选地，所述5G基站将从卫星获取的所述定位信息以及5G基站自身的定位信息的差异作为所述校准信息。
本发明的基于5G定位的车辆加油/充电方法，其特征在于，包括下述步骤：
第一定位步骤，车辆控制系统基于5G定位获得车辆位置信息；
第一导航位置获得步骤，车辆控制系统将车辆定位信息发送到定位服务器，定位服务器根据所述车辆定位信息将最近的加油站/充电站的位置发送给车辆控制系统；
第一导航步骤，车辆控制系统根据导航定位到最近的加油站/充电站的位置；
第二导定位步骤，车辆控制系统基于5G定位获得最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩的位置信息；
第二导航步骤，车辆控制系统根据所述加油端口/充电桩的位置信息将车辆导航到该最近的加油端口/充电桩，并实现车辆和加油终端/充电桩的匹配；
加油/充电步骤，车辆在该最近的加油端口/充电桩实现加油/充电。
可选地，在所述第一定位步骤中包括：
5G基站从卫星获取定位信息，5G基站将获取的定位信息与自身存储的位置信息进行比较，将两者的差异作为校准信息并向外光比；
车辆控制系统从卫星获取初始定位信息；
车辆控制系统监听最接近的基站的5G基站广播的校准信息；
车辆控制系统根据获取的校准信息对初始定位信息进行校准，获得车辆定位信息。
可选地，在所述第二定位步骤包括：
5G基站从卫星获取定位信息，基于所述定位信息得到校准信息，5G基站向外广播校准信息；
车辆控制系统从卫星获取初始定位信息；
车辆控制系统实时接入最近的5G基站，监听并获取该最近的5G基站广播的校准信息；
车辆控制系统根据所述校准信息，对所述初始定位信息进行校准，获得的车辆定位信息；
车辆控制系统将车辆定位信息发送到5G基站；
5G基站将与车辆位置最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩的加油端口/充电桩定位信息发送到车辆控制系统。
本发明的计算机可读介质，其上存储有计算机程序，该计算机程序被处理 器执行时实现上述的基于5G的定位方法。
本发明的计算机设备，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现上述的基于5G的定位方法。
如上所述，根据本发明的高精度定位方法以及系统，能够利用5G基站实现厘米级别精度的定位，而且不需要另外设置CROS基站以及数据中心，由此能够在降低精准定位的成本的同时，实现提高定位精准度。
通过纳入本文的附图以及随后与附图一起用于说明本发明的某些原理的具体实施方式，本发明的方法和装置所具有的其它特征和优点将更为具体地变得清楚或得以阐明。
附图说明
图1是表示现有技术的定位方法的示意图。
图2是表示4G通信的基站以及5G通信的基站的分布状况的示意图。
图3是表示本发明第一实施方式的基于5G的定位系统的构造的示意图。
具体实施方式
下面介绍的是本发明的多个实施例中的一些，旨在提供对本发明的基本了解。并不旨在确认本发明的关键或决定性的要素或限定所要保护的范围。
首先，对于5G通信进行简单说明。
5G就是第五代通信技术，主要特点是波长为毫米级、超宽带、超高速度、超低延时。移动通信如果用了高频段，那么它最大的问题，就是传输距离大幅缩短，覆盖能力大幅减弱。因此，在5G通信中，为了覆盖同一个区域，需要设置的5G基站数量将大大超过4G通信的基站数量。
图2是表示4G通信的基站以及5G通信的基站的分布状况的示意图。如图2所示，在5G通信中，与4G通信相比，基站分布超密集。在以下说明的发明中就是利用了5G通信的基站分布超密集的特点。
图3是表示本发明第一实施方式的基于5G的定位系统的构造的示意图。
如图3所示，本发明第一实施方式的基于5G的定位系统包括：卫星100、5G基站200以及用户终端300。在图3中仅示例了3个基站，这里对5G基站的数目并不限定。
其中，卫星100用于提供定位服务，例如提供用户终端300的初始定位信息，初始定位信息的定位精准在米级。
5G基站200用于广播定位校准信息包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据等信息。
用户终端100用于根据初始定位及校准信息进行计算，获取最终定位结果。
接着，说明利用本发明第一实施方式的基于5G的定位系统实现的定位方法的具体过程。
利用本发明第一实施方式的基于5G的定位系统实现的定位方法包括下述步骤：
步骤S100：5G基站200实时从卫星100获取定位信息，5G基站200将获取的定位信息进行处理向外广播校准信息(包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据等信息)，这里作为一个示例，所谓校准信息是指，5G基站200本身存储有自身的精准定位信息，5G基站200从卫星100获取卫星的定位信息，将自身的精准定位信息与从卫星获得的定位信息的差异作为校准信息；
步骤S200：用户终端300从卫星100获取初始定位信息；
步骤S300：用户终端300实时接入最近的5G基站200，监听并获取该最近的5G基站200广播的校准信息；
步骤S400：用户终端300从该最近的实时接入的5G基站200获取校准信息，利用该校准信息对初始定位信息进行校准，获得精准的定位结果信息，这是因为5G基站分布密集，在一个5G基站覆盖相对的较小的区域，在该较小的区域中，5G基站200的校准信息就能够用于位于该相同区域中的用户终端300的校准，因为两者的距离较近，精度几乎相同。
根据本发明的高精度定位方法以及系统，利用5G相比于4G的超密集组网特，复用5G基站能够替代CORS基站，节省CORS基站造价成本。而且，无需再建立特定的数据中心来收集各辅助基站的信息来进行处理。同时，校准信息不再由终端向CORS基站进行访问请求而获取，而是由5G基站代为进行处理并向外广播校准信息，终端通过监听获取。从而使能处理的终端数量不再依赖于数据中心的处理能力。进一步，由于复用5G基站，因此能够降低精准定位的成本， 而且可以不再仅限于针对行业客户，能够扩大应用范围。
接着，对于将本发明的高精度定位方法以及系统应用于加油或充电收费方法及系统的一个实施例进行说明。
本发明一实施例的基于5G定位的加油或充电收费方法包括：
步骤S1：车主通过车辆控制系统发出加油/充电需求；
步骤S2：5G基站从卫星获取定位信息，5G基站将获取的定位信息进行处理向外广播校准信息(包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据等信息)；
步骤S3：车辆控制系统从卫星获取初始定位信息；
步骤S4：车辆控制系统监听最接近的基站的5G基站广播的校准信息；
步骤S5：车辆控制系统根据获取的校准信息对初始定位信息进行校准获得精准的车辆定位信息，即车辆控制系统根据车辆与5G基站所在的位置的距离得到精准的车辆定位信息；
步骤S6：车辆控制系统将该车辆定位信息发送到定位服务器；
步骤S7：定位服务器根据所述车辆定位信息将最近的加油站/充电站的位置发送给车辆控制系统；
步骤S9：车辆控制系统根据导航定位到最近的加油站/充电站；
步骤S10:车辆与最近的加油站/充电站通过5G基站实现自动匹配，例如，将车辆定位到最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩，车辆控制系统提示车主加油端号/充电桩号；
步骤S11：车辆达到相应的加油端号/充电桩号的情况下，实现车辆和加油终端/充电桩的匹配；
步骤S12：油枪/充电桩自动打开，车主可自助加油/充电；
步骤S13：加油/充电结束后，车主在加油端/充电桩上确认加油/充电信息；
步骤S14：加油站向后台系统上送加油/充电费用、位置、商户号等交易请求信息，后台系统根据交易请求信息完成交易。
其中，在步骤S10中，车辆与最近的加油站/充电站通过5G基站实现自动匹配可以利用5G基站进行高精度定位而实现。例如可以包括如下步骤：
5G基站从卫星获取定位信息，基于所述定位信息得到校准信息，5G基站向外广 播校准信息；
用户终端从卫星获取初始定位信息；
车辆控制系统实时接入最近的5G基站，监听并获取该最近的5G基站广播的校准信息；车辆控制系统根据所述校准信息，对所述初始定位信息进行校准，获得的车辆定位信息；
车辆控制系统将车辆定位信息发送到5G基站；以及
5G基站将与车辆位置最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩的加油端口/充电桩定位信息发送到车辆控制系统。
另外，作为一变形例，上述步骤S1～S5中获得车辆定位信息的过程是利用5G基站进行高精度定位而实现的，当然，也可以取而代之为例如：5G基站发射的信号中增加发射基站位置的信息，根据车辆与5G基站所在的位置的距离得到车辆的精确的车辆定位信息。
如上所述，利用5G基站进行高精度定位，由于5G基站能够实现厘米级的定位，因此，能够将车辆定位到最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩，由此，能够极大方便车主，能够优化加油/充电的用户感受。
以上例子主要说明了本发明的基于5G的高精度定位方法以及基于5G的高精度定位系统。尽管只对其中一些本发明的具体实施方式进行了描述，但是本领域普通技术人员应当了解，本发明可以在不偏离其主旨与范围内以许多其他的形式实施。因此，所展示的例子与实施方式被视为示意性的而非限制性的，在不脱离如所附各权利要求所定义的本发明精神及范围的情况下，本发明可能涵盖各种的修改与替换。

Claims (11)

  1. 一种基于5G的定位方法，其特征在于，该方法利用5G基站、卫星和用户终端实现，该方法包括下述步骤：
    广播步骤，5G基站从卫星获取5G基站的定位信息，基于所述定位信息得到校准信息，5G基站向外广播所述校准信息；
    初始定位步骤，用户终端从卫星获取用户终端的初始定位信息；
    监听步骤，用户终端实时接入最近的5G基站，监听并获取该最近的5G基站广播的校准信息；以及
    校准步骤，用户终端根据所述监听步骤获取的所述校准信息，对所述初始定位步骤获取的所述初始定位信息进行校准，获得定位结果信息。
  2. 如权利要求1所述的基于5G的定位方法，其特征在于，
    所述校准信息包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历以及站四周的气象数据。
  3. 如权利要求1所述的基于5G的定位方法，其特征在于，
    在所述广播步骤中，5G基站将从卫星获取的所述述定位信息以及5G基站自身的定位信息的差异作为所述校准信息。
  4. 一种基于5G的定位方法的定位系统，其特征在于，包括：
    卫星，用于提供定位服务；
    5G基站，用于从实时从所述卫星得定位信息并基于所述定位信息得到校准信息，并且将所述校准信息向外广播；以及
    用户终端，用于从所述卫星获取该用户终端的初始定位信息，并且用于获取所述5G基站广播的校准信息，根据所述校准信息，对所述初始定位信息进行校准，获得定位结果信息。
  5. 如权利要求4所述的基于5G的定位方法的定位系统，其特征在于，
    所述校准信息包括伪距和相位信息、站坐标、站移动速率矢量、GPS星历、站四周的气象数据。
  6. 如权利要求4所述的基于5G的定位方法的定位系统，其特征在于， 所述5G基站将从卫星获取的所述定位信息以及5G基站自身的定位信息的差异作为所述校准信息。
  7. 一种基于5G定位的车辆加油/充电方法，其特征在于，包括下述步骤：
    第一定位步骤，车辆控制系统基于5G定位获得车辆位置信息；
    第一导航位置获得步骤，车辆控制系统将车辆定位信息发送到定位服务器，定位服务器根据所述车辆定位信息将最近的加油站/充电站的位置发送给车辆控制系统；
    第一导航步骤，车辆控制系统根据导航定位到最近的加油站/充电站的位置；
    第二导定位步骤，车辆控制系统基于5G定位获得最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩的位置信息；
    第二导航步骤，车辆控制系统根据所述加油端口/充电桩的位置信息将车辆导航到该最近的加油端口/充电桩，并实现车辆和加油终端/充电桩的匹配；以及
    加油/充电步骤，车辆在该最近的加油端口/充电桩实现加油/充电。
  8. 如权利要求7所述的基于5G定位的车辆加油/充电方法，其特征在于，
    在所述第一定位步骤中包括：
    5G基站从卫星获取定位信息，5G基站将获取的定位信息与自身存储的位置信息进行比较，将两者的差异作为校准信息并向外光比；
    车辆控制系统从卫星获取初始定位信息；
    车辆控制系统监听最接近的基站的5G基站广播的校准信息；以及
    车辆控制系统根据获取的校准信息对初始定位信息进行校准，获得车辆定位信息。
  9. 如权利要求7所述的基于5G定位的车辆加油/充电方法，其特征在于，
    在所述第二定位步骤包括：
    5G基站从卫星获取定位信息，基于所述定位信息得到校准信息，5G基站向外广播校准信息；
    车辆控制系统从卫星获取初始定位信息；
    车辆控制系统监听并获取最近基站的5G基站广播的校准信息；
    车辆控制系统根据所述校准信息，对所述初始定位信息进行校准，获得的车辆定位信息；
    车辆控制系统将车辆定位信息发送到5G基站；以及
    5G基站将与车辆位置最近的加油站/充电站中的空余的并且是最近的加油端口/充电桩的加油端口/充电桩定位信息发送到车辆控制系统。
  10. 一种计算机可读介质，其上存储有计算机程序，其特征在于，
    该计算机程序被处理器执行时实现权利要求1～3中任意一项所述的基于5G的定位方法。
  11. 一种计算机设备，包括存储器、处理器以及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1～3中任意一项所述的基于5G的定位方法。
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