WO2020259055A1 - 无线定位方法、定位装置和网络设备 - Google Patents

无线定位方法、定位装置和网络设备 Download PDF

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Publication number
WO2020259055A1
WO2020259055A1 PCT/CN2020/086963 CN2020086963W WO2020259055A1 WO 2020259055 A1 WO2020259055 A1 WO 2020259055A1 CN 2020086963 W CN2020086963 W CN 2020086963W WO 2020259055 A1 WO2020259055 A1 WO 2020259055A1
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Prior art keywords
fingerprint
multipath
network device
terminal
positioning
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PCT/CN2020/086963
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English (en)
French (fr)
Inventor
刘沁心
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华为技术有限公司
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Priority to EP20832798.1A priority Critical patent/EP3958593A4/en
Publication of WO2020259055A1 publication Critical patent/WO2020259055A1/zh

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    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • 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
    • G01S5/0273—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 using multipath or indirect path propagation signals in position determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/0202—Channel estimation
    • H04L25/0212—Channel estimation of impulse response
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/0202—Channel estimation
    • H04L25/0224—Channel estimation using sounding signals
    • 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
    • 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
    • G01S5/0018—Transmission from mobile station to base 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
    • G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/0001—Arrangements for dividing the transmission path
    • H04L5/0014—Three-dimensional division
    • H04L5/0023—Time-frequency-space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/0091—Signaling for the administration of the divided path
    • H04L5/0092—Indication of how the channel is divided
    • 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

Definitions

  • This application relates to the field of wireless positioning, in particular to wireless positioning methods, positioning devices and network equipment.
  • the location of each terminal and wireless signal characteristics are collected in advance, and the above-mentioned data collected from a large number of terminals is used as a feature library (also Called fingerprint library).
  • the measurement report reported by the terminal is used to extract the TOAs of multiple cells, and the extracted wireless signal features are matched with the wireless signal features in the feature library (such as the TOAs of multiple cells) to determine the terminal’s position.
  • the multiple cells include a serving cell and neighboring cells of the serving cell.
  • Positioning according to the above method requires the wireless signal characteristics of multiple cells. However, for areas with few network devices in peripheral areas (for example, rural areas), it may be difficult for the terminal to obtain the wireless signal characteristics of multiple cells, which makes it difficult to locate the terminal according to the above method.
  • the present application provides a wireless positioning method, a positioning device and a network device, which can realize single-site positioning, can be applied to areas where network devices are less distributed, and have better applicability.
  • a wireless positioning method provided by the first aspect of the present application includes: a first network device receives a channel sounding reference signal SRS and a cell identity sent by a terminal; determines the channel state information CSI of the uplink channel according to the SRS, and then determines the channel state information CSI according to the uplink channel
  • the first multipath fingerprint, the first multipath fingerprint includes multiple arrival time TOA and multiple arrival azimuth angles AOA, and the first multipath fingerprint and the cell identifier are sent to the positioning device; the positioning device receives the first network device After the first multipath fingerprint is sent, the first multipath fingerprint is matched with the multipath fingerprint in the preset fingerprint library; the location of the terminal is determined according to the matching result.
  • the multipath component from the terminal to the first network device has a one-to-one correspondence with the TOA
  • the multipath component from the terminal to the first network device has a one-to-one correspondence with the AOA of.
  • the first network device determines the CSI of the uplink channel according to the SRS sent by the terminal, can determine multiple TOAs and multiple AOAs according to the CSI of the uplink channel, and then uses multiple TOAs and multiple AOAs as the first multipath fingerprint.
  • the first network device may also determine the RSRP according to the SRS sent by the terminal, and use the RSRP, multiple TOAs, and multiple AOAs as the first multipath fingerprint.
  • the first multipath fingerprint can also include the CSI of the uplink channel, the signal subspace of the CSI, the PDP of the uplink channel, RSS, Doppler shift, and polarization parameters. One or more.
  • the uplink channel is the uplink channel from the terminal to the first network device. Since terminals at different locations in the cell have different multipath fingerprints, single-site positioning can be realized based on the multipath fingerprints between a network device and a terminal, which can be applied to areas with less network devices and has better applicability .
  • the method further includes: the positioning apparatus receives a beam identification sent by the first network device; determining a beam fingerprint set corresponding to the beam identification in the cell fingerprint set; The first multipath fingerprint is matched with the multipath fingerprints in the beam fingerprint set.
  • the beam fingerprint set is smaller than the cell fingerprint set, the amount of matching operations can be reduced and the positioning speed can be improved.
  • the positioning device determines a similar multipath fingerprint according to the first multipath fingerprint, and the similar A multipath fingerprint is a multipath fingerprint similar to the first multipath fingerprint; the position of the reflector is calculated according to the first multipath fingerprint and the similar multipath fingerprint; the position of the terminal is calculated according to the position of the reflector .
  • the terminal position can be calculated from the multipath fingerprint, thereby improving the robustness of the positioning.
  • the positioning device determines similar multipath fingerprints according to a minimum mean square error estimation algorithm.
  • the positioning device determines similar multipath fingerprints according to a minimum distance measurement algorithm.
  • the positioning device determines similar multipath fingerprints according to a maximum likelihood estimation algorithm.
  • the positioning device determines similar multipath fingerprints according to a Bayesian estimation algorithm.
  • the positioning device determines similar multipath fingerprints according to the K-proximity algorithm.
  • the positioning device determines similar multipath fingerprints according to a support vector machine classification algorithm.
  • the positioning device determines similar multipath fingerprints according to a random forest classification algorithm.
  • the positioning device determines similar multipath fingerprints according to a neural network algorithm.
  • the above method further includes: the first network device determines the moment when the terminal disconnects the wireless link from the first network device, uses the moment as the first moment, and obtains the identity of the terminal; A moment and the terminal's identity are sent to the positioning device; the second network device receives the uplink pilot signal sent by the terminal, determines the channel state information of the uplink channel according to the uplink pilot signal, and then determines the PDP according to the channel state information of the uplink channel, The PDP is used as the second multipath fingerprint, and the second network device determines the time when the terminal establishes a wireless link with the second network device, uses this time as the second time, and obtains the terminal's identity; then, the second multipath fingerprint, The second time and the identification of the terminal are sent to the positioning device; the positioning device determines the time interval between the first time and the second time according to the identification of the terminal; when the first time and When the time interval between the second moments is less than or equal to the preset time length, matching the first multipath fingerprint and the
  • the second network device and the first network device are different-standard network devices. According to this implementation, matching positioning can be performed according to the multipath fingerprint combination. Since the multipath fingerprint combination includes more wireless signal characteristics, the method can improve the positioning accuracy.
  • the second network device can also determine the received signal strength RSS and multiple TOAs based on the channel state information of the uplink channel, and then use PDP, RSS, and multiple TOAs as the second multipath fingerprint, and the TOA of the multiple TOAs and the terminal
  • the multipath components of the second network device have a one-to-one correspondence.
  • the second multipath fingerprint may also include one or more of uplink channel CSI, CSI signal subspace, Doppler shift, and polarization parameters. Among them, the signal subspace of the CSI, Doppler frequency shift, and polarization parameters are all determined by the second network device according to the CSI of the uplink channel.
  • the uplink channel refers to the uplink channel from the terminal to the second network device.
  • a wireless positioning method provided by the second aspect of the present application includes: a network device receives a channel sounding reference signal and a cell identifier sent by a terminal; the network device determines channel state information of an uplink channel according to the channel sounding reference signal; The network device determines a first multipath fingerprint according to the channel state information of the uplink channel.
  • the first multipath fingerprint includes multiple time of arrival TOAs and multiple azimuths of arrival AOA; the network device combines the first multipath fingerprint and The cell identifier is sent to the positioning device.
  • the network equipment determines the channel state information of the uplink channel according to the channel sounding reference signal sent by the terminal, and can determine multiple TOAs and multiple AOAs according to the channel state information of the uplink channel, and then regard multiple TOAs and multiple AOAs as the first A multipath fingerprint.
  • the network device may also determine the RSRP according to the channel sounding reference signal, and use the aforementioned RSRP, multiple TOAs, and multiple AOAs as the first multipath fingerprint.
  • the first multipath fingerprint can also include the CSI of the uplink channel, the signal subspace of the CSI, the PDP of the uplink channel, RSS, Doppler shift, and polarization parameters. One or more. Since terminals at different locations in the cell have different multipath fingerprints, single-site positioning can be realized based on the multipath fingerprints between a network device and a terminal, which can be applied to areas with less network devices and has better applicability .
  • the method further includes: the network device receives a beam identifier sent by the terminal, and sends the beam identifier to the positioning device.
  • a wireless positioning method provided by the third aspect of the present application includes: a positioning device receives a multipath fingerprint sent by a network device, the multipath fingerprint includes CSI of an uplink channel, a signal subspace of the CSI, and a signal subspace of the uplink channel. At least one of the channel covariance matrix or the PDP of the uplink channel; the multipath fingerprint is matched with a preset multipath fingerprint, and the location of the terminal is determined according to the matching result. According to this implementation, since the multipath fingerprints corresponding to the terminals at different locations in the cell are different, single-station positioning can be realized based on the multipath fingerprints.
  • the multiple reflections of the signal by obstacles have little effect on the characteristics of the wireless signal. Therefore, in indoor scenes, matching and positioning based on the multipath fingerprints formed by the above wireless signal characteristics has good positioning accuracy.
  • a wireless positioning method provided by the fourth aspect of the present application includes: a network device receives an uplink pilot signal sent by a terminal; the network device determines a multipath fingerprint according to the uplink pilot signal, and the multipath fingerprint includes an uplink channel At least one of the CSI of the CSI, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the PDP of the uplink channel; the network device sends the multipath fingerprint to the positioning device.
  • the network device can acquire at least one of the CSI of the uplink channel, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the PDP of the uplink channel as a multipath fingerprint.
  • the fifth aspect of the present application provides a positioning device, which has the function of the positioning device in the first aspect.
  • This function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • the sixth aspect of the present application provides a network device, which has the function of implementing the network device in the second aspect.
  • This function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • the seventh aspect of the present application provides a positioning device, which has the function of the positioning device in the third aspect.
  • This function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software package includes one or more modules corresponding to the above-mentioned functions.
  • the eighth aspect of the present application provides a network device, which has the function of implementing the network device in the fourth aspect.
  • This function can be realized by hardware, or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • a ninth aspect of the present application provides a computer-readable storage medium having instructions stored in the computer-readable storage medium, which when run on a computer, cause the computer to execute the methods described in the above aspects.
  • the tenth aspect of the present application provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the methods described in the above aspects.
  • Figure 1 is a schematic diagram of an application scenario of the wireless positioning method in this application.
  • FIG. 2 is a schematic diagram of a structure of the positioning device in an embodiment of the application
  • Figure 3 is a signaling interaction diagram of the wireless positioning method in the embodiment of the application.
  • Figure 4 is another signaling interaction diagram of the wireless positioning method in an embodiment of the application.
  • FIG. 5 is another structural diagram of the positioning device in the embodiment of the application.
  • FIG. 6 is another schematic diagram of the structure of the network device in the embodiment of the application.
  • This application provides a wireless positioning method, which can obtain multiple wireless signal characteristics between a terminal and a network device as a multipath fingerprint, and perform single-site positioning according to the multipath fingerprint.
  • the fingerprint can be the channel state information (channel state information, CSI) of the uplink channel, power delay profile (PDP), received signal strength (RSS), time of arrival (TOA), arrival Any one of azimuth (angle of arrival, AOA), signal subspace, Doppler shift or polarization parameter, etc., or a combination of two or more wireless signal characteristics.
  • the network device can measure a cell to obtain multiple wireless signal features as fingerprints, for example, multiple TOAs, multiple AOAs, or multiple sub-channels in the CSI of the uplink channel. Multiple groups of elements corresponding to the carrier.
  • fingerprints may also include other wireless signal characteristics, such as reference signal receiving power (RSRP) or received signal code power (RSCP).
  • RSRP reference signal receiving power
  • RSCP received signal code power
  • LTE Long Term Evolution
  • WCDMA wideband code division multiple access
  • CSI can be represented by channel impulse response (CIR).
  • CFR channel frequency response
  • the CSI in this application refers to the CSI of the uplink channel, and may also be referred to as the channel matrix of the uplink channel.
  • the channel matrix of the uplink channel can be denoted as H, which is used to represent the state of the channel between a terminal antenna and the antenna array of the network device.
  • H of the uplink channel a group of elements corresponds to a subcarrier, and a group of elements can represent the amplitude attenuation and phase offset of the subcarrier.
  • the causes of signal attenuation include path loss, reflection, and scattering.
  • RSS refers to the average value of all signal power within a symbol (symbol) received through the antenna port of the terminal.
  • TOA is determined based on the time of two communications between the transmitting node and the receiving node.
  • AOA is the direction of arrival of the transmitted signal.
  • AOA can be determined by the receiving node (such as a network device).
  • the transmitted signal refers to the signal sent by the transmitting node.
  • TOA and AOA can be combined as wireless signal features.
  • the signal subspace refers to a collection of multiple feature vectors of CSI.
  • the antenna array is composed of M ⁇ N array elements, where M is the number of array elements in the vertical direction, and N is the number of array elements in the horizontal direction.
  • H is a matrix of M ⁇ N ⁇ L, and L represents the number of sampling points.
  • R hh E ⁇ HH H ⁇
  • E is the eigenvector.
  • Perform feature decomposition of R hh to obtain multiple eigenvalues ⁇ and multiple eigenvectors E, and the eigenvectors and eigenvalues have a one-to-one correspondence.
  • the vector is the signal subspace.
  • the largest n eigenvalues are the first n eigenvalues in the sequence arranged in descending order of eigenvalues, n is a positive integer less than the total number of eigenvalues, and the total number of eigenvalues is the number of all eigenvalues obtained by decomposing R hh .
  • the preset threshold can be set according to actual conditions, such as 90%, 95% or 99%, and the specific value is not limited here.
  • the wireless positioning method provided in this application can be applied to a positioning system, which includes a terminal, a network device, and a positioning device.
  • the positioning system can locate the terminal in a line of sight (LoS) environment or a non-line of sight (nLoS) environment.
  • LoS line of sight
  • nLoS non-line of sight
  • the terminal 10 transmits a pilot signal. Due to the reflection or blocking of obstacles (such as a building), the pilot signal reaches the network device 20 through multiple transmission paths, and the network device 20 responds to the pilot signal
  • the CSI of the uplink channel between the terminal 10 and the network device 20 is determined.
  • the network device 20 determines the multipath fingerprint according to the CSI of the uplink channel, and sends the multipath fingerprint to the positioning device 30.
  • the positioning device 30 can determine the location of the terminal 10 based on the multipath fingerprint. It can be understood that the three transmission paths shown in FIG. 1 are schematic descriptions, and should not be regarded as a limitation of multipath in this application.
  • the terminal 10 is also called terminal equipment or user equipment.
  • the terminal 10 may be a personal computer, a mobile phone, a tablet computer, a smart wearable device (such as a smart watch, smart glasses, etc.), or a personal digital assistant (personal digital assistant, PDA), etc.
  • the terminal 10 and the network device 20 are connected through a wireless link.
  • the network device 20 may be a 2G base station, a 3G base station, a 4G base station, a 5G base station, or an evolved base station after 5G.
  • GSM base stations for example, GSM base stations, CDMA base stations, UMTS base stations, LTE base stations, Wi-Fi access nodes, and worldwide interoperability for microwave access (WiMAX) access nodes.
  • WiMAX worldwide interoperability for microwave access
  • the network device 20 and the positioning device 30 may be connected through a wired link or a wireless link.
  • the positioning device 30 may be implemented by a server, such as a location server.
  • FIG. 2 is a schematic diagram of a structure of the server 200 in an embodiment of the present application.
  • the server 200 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 222 and a memory 232, and one or more storage application programs 242 or The storage medium 230 of the data 244 (for example, one or a storage device with a large amount of storage).
  • the memory 232 and the storage medium 230 may be short-term storage or permanent storage.
  • the program stored in the storage medium 230 may include one or more modules (not shown in FIG. 2), and each module may include a series of instruction operations on the server.
  • the central processing unit 222 may be configured to communicate with the storage medium 230 and execute a series of instruction operations in the storage medium 230 on the server 200.
  • the server 200 may also include one or more power supplies 226, one or more wired or wireless network interfaces 250, one or more input and output interfaces 258, and/or one or more operating systems 241, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
  • operating systems 241 such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
  • the steps performed by the positioning device in the following embodiments may be based on the server structure shown in FIG. 2.
  • an embodiment of the wireless positioning method provided by the present application includes:
  • Step 301 The first network device receives the channel sounding reference signal (SRS) and the cell identity sent by the terminal.
  • SRS channel sounding reference signal
  • the terminal sends the SRS and the cell identity at different times, and the first network device receives the SRS and the cell identity respectively.
  • the cell identifier is used to identify the cell where the terminal is located, and the cell where the terminal is located is also called a serving cell.
  • Step 302 The first network device determines the CSI of the uplink channel according to the SRS.
  • Step 303 The first network device determines the first multipath fingerprint according to the CSI of the uplink channel.
  • the first multipath fingerprint may include multiple TOAs and multiple AOAs.
  • There are multiple transmission paths for the signal from the terminal to the network device and the multipath component refers to any one of the multiple transmission paths.
  • the multipath component from the terminal to the first network device has a one-to-one correspondence with TOA
  • the multipath component from the terminal to the first network device has a one-to-one correspondence with AOA, that is, the multipath component from the terminal to the first network device.
  • a maximum likelihood (ML) algorithm or a subspace algorithm is used to calculate the CSI to obtain a combination of TOA and AOA.
  • the subspace algorithm can be, but is not limited to, multiple signal classification (MUSIC), rotation vector invariance technology (estimation of signal parameters via rotational invariance techniques, ESPRIT), root-finding multiple signal classification algorithm (Fast root-MUSIC ).
  • MUSIC multiple signal classification
  • ESPRIT rotation vector invariance technology
  • ESPRIT root-finding multiple signal classification algorithm
  • the first multipath fingerprint may also include RSRP, uplink channel CSI, CSI signal subspace, uplink channel PDP, RSS, Doppler shift, extreme One or more of the parameters.
  • RSRP uplink channel CSI
  • CSI signal subspace uplink channel PDP
  • RSS Doppler shift
  • the uplink channel in this embodiment refers to the uplink channel from the terminal to the first network device.
  • Determining the PDP of the uplink channel according to the CSI may include: selecting elements corresponding to one antenna pair from the CSI, calculating one PDP according to the elements corresponding to one antenna pair, and using the calculated multiple PDPs as wireless signals for positioning feature.
  • the antenna pair includes a transmitting antenna and a receiving antenna.
  • Determining the RSS according to the CSI may include: selecting elements corresponding to one antenna pair from the CSI, calculating one RSS according to the elements corresponding to one antenna pair, and using the calculated multiple RSS as wireless signal features for positioning.
  • the method for determining the Doppler frequency shift and polarization parameters according to the CSI can refer to the prior art.
  • Step 304 The positioning apparatus receives the first multipath fingerprint and the cell identifier sent by the first network device.
  • the first network device After the first network device determines the first multipath fingerprint according to the channel state information of the uplink channel, the first network device sends the first multipath fingerprint and the cell identifier to the positioning device.
  • Step 305 The positioning device searches a preset fingerprint library for a cell fingerprint set corresponding to the cell identifier.
  • the positioning device searches for the presence of a cell identity in the preset fingerprint library. If there is a cell identity, it is determined that there is a cell fingerprint set corresponding to the serving cell in the preset fingerprint database. If there is no cell identity, it is determined to be in the preset fingerprint database. There is no cell fingerprint set corresponding to the serving cell.
  • Step 306 When there is a cell fingerprint set in the preset fingerprint library, the positioning device matches the first multipath fingerprint with the multipath fingerprints in the cell fingerprint set, and determines the location of the terminal according to the matching result.
  • the location corresponding to the first multipath fingerprint is the location of the terminal.
  • search for the multipath fingerprint similar to the first multipath fingerprint in the cell fingerprint set and use the position corresponding to the multipath fingerprint with the highest similarity as The location of the terminal.
  • the positioning device determines the similar multipath fingerprint according to the first multipath fingerprint; calculates the position of the reflector according to the first multipath fingerprint and the similar multipath fingerprint;
  • the reflector position calculates the position of the terminal.
  • the reflector refers to an object that reflects signals between the terminal and the network device, and the distance between the position of the reflector and the position of the terminal is less than a preset distance. If the distance between the position of the reflector and the terminal position is less than the preset distance, it indicates that the reflector is near the terminal. If the distance between the position of the reflector and the terminal position is greater than or equal to the preset distance, it indicates that the reflector is not near the terminal.
  • the similar multipath fingerprint is a multipath fingerprint similar to the first multipath fingerprint, and specifically may be the multipath fingerprint with the highest similarity to the first multipath fingerprint in the preset fingerprint library.
  • the positioning device determines the similar multi-path fingerprints according to the first multi-path fingerprints in the following ways:
  • the positioning device determines the similar multipath fingerprints according to a minimum mean squared error (MMSE) estimation algorithm.
  • MMSE minimum mean squared error
  • the positioning device determines similar multipath fingerprints according to a minimum distance measurement (MDM) algorithm.
  • MDM minimum distance measurement
  • the positioning device determines similar multipath fingerprints according to a maximum likelihood estimation algorithm.
  • the positioning device determines similar multipath fingerprints according to a Bayesian estimation algorithm.
  • the positioning device determines similar multipath fingerprints according to the K-proximity algorithm.
  • the positioning device determines similar multi-path fingerprints according to a support vector machine (SVM) classification algorithm.
  • SVM support vector machine
  • the positioning device determines similar multipath fingerprints according to a random forest classification algorithm.
  • the positioning device determines similar multipath fingerprints according to a neural network algorithm.
  • the first network device may also send a terminal identification to the positioning apparatus, and the terminal identification and the first multipath fingerprint may be set in one message or set in different messages.
  • the positioning apparatus can send the location of the terminal to the terminal through the first network device according to the terminal identifier sent by the first network device.
  • the multipath fingerprints of the terminals at different locations in the cell are different, single-site positioning can be achieved based on the multipath fingerprints between a network device and the terminal, which can be applied to areas with few network devices and has more Good applicability.
  • the multipath fingerprint includes multiple wireless signal features, it has good positioning accuracy when fingerprint matching and positioning.
  • the terminal position can still be calculated based on multiple TOAs and multiple AOAs of a cell, which has good robustness.
  • the above method further includes: the network device receives the beam identification sent by the terminal, and sends the beam identification to the positioning device;
  • the positioning device matching the first multipath fingerprint with the multipath fingerprints in the cell fingerprint set includes: the positioning device determines the beam fingerprint set corresponding to the beam identification in the cell fingerprint set; Multipath fingerprints are matched.
  • the terminal may send the beam identifier to the network device.
  • the beam identification and cell identification can be sent at the same time or separately.
  • the network equipment After receiving the beam identification sent by the terminal, the network equipment sends the beam identification to the positioning device.
  • the positioning device receives the beam identification sent by the first network device, determines the beam fingerprint set corresponding to the beam identification in the cell fingerprint set; matches the first multipath fingerprint with the multipath fingerprint in the beam fingerprint set, and determines the terminal according to the matching result s position.
  • the amount of calculation can be reduced during the fingerprint matching process and the matching speed can be improved.
  • the above method further includes:
  • the first network device determines the first moment and obtains the terminal's identity, and sends the first moment and the terminal's identity to the positioning device; the second network device receives the uplink pilot signal sent by the terminal, and determines the second multipath based on the uplink pilot signal Fingerprint; determine the second moment and obtain the terminal's identity; send the second multipath fingerprint, the second moment and the terminal's identity to the positioning device; the positioning device determines the difference between the first moment and the second moment according to the terminal's identity Time interval; when the time interval between the first time and the second time is less than or equal to the preset duration, the positioning device combines the first multipath fingerprint and the second multipath fingerprint with the multipath fingerprints in the preset fingerprint library Perform matching and determine the location of the terminal based on the matching result.
  • the first moment is the moment when the terminal disconnects the wireless link from the first network device.
  • the second moment is the moment when the terminal establishes a wireless link with the second network device.
  • the second network device and the first network device are different-standard network devices. It should be noted that the identification of the first moment and the terminal may be set in one message, or may be set in two messages at different moments. In the same way, the second multi-path fingerprint, the second time and the terminal identification may be set in one message, or may be set in multiple messages at different times.
  • the second network device determining the second multipath fingerprint according to the uplink pilot signal may specifically be: the second network device determines the CSI of the uplink channel according to the uplink pilot signal; and determining the second multipath fingerprint according to the CSI of the uplink channel.
  • the second multipath fingerprint may include PDP.
  • the second multipath fingerprint may also include one or more of RSS, multiple TOA, CSI, CSI signal subspaces, PDP of the uplink channel, Doppler shift, and polarization parameters.
  • the uplink channel in this embodiment refers to the uplink channel from the terminal to the second network device.
  • the positioning apparatus respectively receives the first time and the terminal's identification sent by the first network device, and the second multipath fingerprint, the second time and the terminal's identification sent by the second network device, the first time and the terminal's identification can be determined according to the terminal's identification.
  • the second moment corresponds to the same terminal.
  • the positioning device After determining the time interval between the first time and the second time, the positioning device compares the time interval with the preset time; when the time interval between the first time and the second time is less than or equal to the preset time, it indicates After the terminal disconnects the wireless link from the first network device, the terminal immediately establishes a wireless link with the second network device. During this period, the location of the default terminal remains unchanged, and the first multipath fingerprint and the second multipath fingerprint are multipath fingerprints from the same location. In this way, the first multipath fingerprint and the second multipath fingerprint are matched with the combination of the multipath fingerprints in the preset fingerprint library; the location of the terminal is determined according to the matching result. Since the combination of multipath fingerprints includes more wireless signal characteristics, matching and positioning based on the combination of multipath fingerprints has better positioning accuracy.
  • the second network device may also send the cell identity corresponding to the second network device to the positioning device, and the positioning device may determine the cell fingerprint set corresponding to the second network device according to the cell identity corresponding to the second network device, and The cell fingerprint set corresponding to one network device and the cell fingerprint set corresponding to the second network device determine the fingerprint set used for matching, thereby reducing the fingerprint matching range and improving the positioning speed.
  • the terminal may send an SRS to an LTE base station, and the LTE base station determines the first multipath fingerprint according to the SRS.
  • the LTE base station After the terminal disconnects the wireless link from the LTE base station, the LTE base station sends the time T1 when the wireless link is disconnected and the terminal identifier to the positioning device, and the terminal sends an uplink pilot signal to the GSM base station.
  • the GSM base station obtains the second multipath fingerprint according to the uplink pilot signal, determines the time T2 when the wireless link is established and obtains the identification of the terminal, and sends the second multipath fingerprint, T2 and the terminal identification to the positioning device.
  • the positioning device uses the first multipath fingerprint and the second multipath fingerprint as a combination of multipath fingerprints, and combines the aforementioned multipath fingerprints with the multipath fingerprints in the preset fingerprint library The combination is matched, and the location of the terminal is determined according to the matching result.
  • the specific value of the preset duration can be set according to actual conditions, such as 0.5 second, 1 second, 2 seconds, etc., which are not limited here.
  • the time interval between the first moment and the second moment is greater than the preset duration, it indicates that after the terminal disconnects the wireless link from the first network device, it does not immediately establish a wireless link with the second network device within the preset time window At this time, it is considered that the location of the terminal may have changed, and it is determined that the first multipath fingerprint and the second multipath fingerprint are probably not multipath fingerprints from the same location.
  • the preset duration is the duration of the preset time window. In this way, the positioning device does not perform the step of matching the first multi-path fingerprint and the second multi-path fingerprint with the multi-path fingerprint combination in the preset fingerprint library, and can compare the second multi-path fingerprint with the multi-path fingerprint combination in the preset fingerprint library. The fingerprint is matched, and then the location of the terminal is determined according to the matching result.
  • a network device obtains two different types of measurement reports, and then uses the multipath fingerprints carried by the different types of measurement reports as a combination of multipath fingerprints. Methods are introduced.
  • the above method further includes: the terminal sends a first measurement report to the first network device, the first measurement report carries the first multipath fingerprint and the first measurement time; the terminal sends the first measurement report to the first network device The second measurement report, the second measurement report carries the second multipath fingerprint and the second measurement time; when the time interval between the first measurement time and the second measurement time is less than the preset duration, the first network device combines the first multipath fingerprint and The second multipath fingerprint combination is the multipath fingerprint combination to be processed, and the multipath fingerprint combination to be processed is sent to the positioning device; the positioning device matches the multipath fingerprint combination to be processed with the multipath fingerprint combination in the preset fingerprint library, according to The matching result determines the location of the terminal.
  • the first network device is a 5G base station under a non-standalone (NSA) architecture.
  • the first measurement report is a measurement report of the LTE system
  • the second measurement report is a 5G measurement report
  • the first measurement time is the time when the first measurement report is generated
  • the second measurement time is the time when the second measurement report is generated.
  • the first multipath fingerprint includes one cell-level RSRP or multiple beam-level RSRP
  • the second multipath fingerprint includes multiple beam-level RSRP.
  • the default terminal location is the same at the first measurement time and the second measurement time, and the first multipath fingerprint and the second multipath fingerprint are from the same location Multipath fingerprints.
  • the specific value of the preset duration can be set according to actual conditions, such as 0.5 second, 1 second, 2 seconds, etc., which are not limited here.
  • the multi-path fingerprint combination includes more wireless signal characteristics, so that matching and positioning based on the multi-path fingerprint combination has better positioning accuracy.
  • the first network device When the time interval between the first time and the second time is greater than the preset time length, it indicates that the position of the terminal at the first measurement time and the second measurement time may have changed, and the first multipath fingerprint and the second multipath fingerprint can be judged accordingly.
  • the path fingerprint is probably not a multipath fingerprint from the same location. In this way, the first network device does not perform the step of combining the first multi-path fingerprint and the second multi-path fingerprint into a multi-path fingerprint combination to be processed, so as to avoid wrong positioning.
  • the multipath fingerprints including TOA and AOA have been introduced above.
  • Using the multipath fingerprints for wireless positioning in outdoor scenes has good positioning accuracy.
  • the signal will undergo multiple reflections, such as 2, 3 or more reflections, and the TOA and AOA will have a large error. Therefore, the above-mentioned multipath fingerprint is not suitable for indoor scenes.
  • This application provides another multi-path fingerprint, according to which the terminal can be positioned well in an indoor scene.
  • another embodiment of the wireless positioning method provided in this application includes:
  • Step 401 The network device receives the uplink pilot signal sent by the terminal.
  • Step 402 The network device determines a multipath fingerprint according to the uplink pilot signal.
  • the multipath fingerprint includes at least one of the CSI of the uplink channel, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the PDP of the uplink channel.
  • the uplink channel is the uplink channel from the terminal to the network device.
  • the network device determines the CSI of the uplink channel according to the uplink pilot signal, and determines the signal subspace of the CSI according to the CSI of the uplink channel; or, the network device determines the channel covariance matrix of the uplink channel according to the CSI of the uplink channel; or, the network device Determine the PDP of the uplink channel according to the CSI of the uplink channel.
  • the network device determines the CSI of the row channel, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the PDP of the uplink channel.
  • Step 403 The network device sends the multipath fingerprint to the positioning device.
  • Step 404 The positioning device matches the multi-path fingerprint with the preset multi-path fingerprint, and determines the location of the terminal according to the matching result.
  • the positioning device After the positioning device receives the multipath fingerprint sent by the network device, it matches the received multipath fingerprint with the preset multipath fingerprint, and determines the location of the terminal according to the matching result.
  • a terminal can send uplink pilot signals to multiple network devices, each network device can determine a signal subspace according to the uplink pilot signal sent by the terminal, and multiple network devices send the signal subspace to the positioning device.
  • the positioning apparatus may receive signal subspaces sent by multiple network devices, and then match the signal subspaces sent by multiple network devices with a preset signal subspace combination, and determine the location of the terminal according to the matching result.
  • the multiple reflections of obstacles on the signal have little impact on the CSI of the uplink channel, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the PDP of the uplink channel. Therefore, it is formed according to the above wireless signal characteristics in indoor scenarios.
  • the multi-path fingerprint matching positioning has good positioning accuracy.
  • the wireless positioning method of this application has been introduced above, and the positioning device of this application will be introduced below.
  • the present application provides a positioning device, which can realize the function of the positioning device in the embodiment of FIG. 3 or an alternative embodiment.
  • an embodiment of the positioning device provided by the present application includes:
  • the receiving module 501 is configured to receive a first multipath fingerprint and a cell identifier sent by a first network device.
  • the first multipath fingerprint includes multiple time of arrival TOAs and multiple azimuths of arrival AOA, and multiple TOAs and multiple AOAs are the first A network device determines based on the channel state information of the uplink channel from the terminal to the first network device, and the cell identity corresponds to the cell where the terminal is located;
  • the positioning module 502 is used to search for the cell fingerprint set corresponding to the cell identifier in the preset fingerprint library; if the cell fingerprint set exists in the preset fingerprint library, compare the first multipath fingerprint with the multipath in the cell fingerprint set The fingerprint is matched, and the location of the terminal is determined according to the matching result.
  • the receiving module 501 is further configured to receive the beam identifier sent by the first network device;
  • the positioning module 502 is specifically configured to determine the beam fingerprint set corresponding to the beam identifier in the cell fingerprint set; match the first multipath fingerprint with the multipath fingerprint in the beam fingerprint set.
  • the positioning module 502 is also used to determine a similar multipath fingerprint according to the first multipath fingerprint when there is no cell fingerprint set in the preset fingerprint library, and the similar multipath fingerprint is a multipath fingerprint similar to the first multipath fingerprint ; Calculate the position of the reflector according to the first multipath fingerprint and the similar multipath fingerprint; calculate the position of the terminal according to the position of the reflector.
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to the minimum mean square error MMSE estimation algorithm; or,
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to the minimum distance measurement MDM algorithm; or,
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to the maximum likelihood estimation algorithm; or,
  • the positioning device 502 is specifically configured to determine similar multipath fingerprints according to the Bayesian estimation algorithm; or,
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to the K-proximity algorithm; or,
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to the support vector machine classification SVM algorithm; or,
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to the random forest classification algorithm; or,
  • the positioning module 502 is specifically configured to determine similar multipath fingerprints according to a neural network algorithm.
  • the receiving module 501 is further configured to receive the first time and the terminal identifier sent by the first network device, where the first time is the time when the first network device disconnects the wireless link from the terminal;
  • the receiving module 501 is also configured to receive a second multipath fingerprint, a second moment, and an identification of the terminal sent by the second network device.
  • the second multipath fingerprint includes PDP, which is the second network device according to the terminal to the second network device. If the channel state information of the uplink channel is determined, the second time is the time when the second network device establishes a wireless link with the terminal, and the second network device and the first network device are different-standard network devices;
  • the positioning module 502 is further configured to determine the time interval between the first time and the second time according to the terminal identifier; when the time interval between the first time and the second time is less than or equal to the preset time length, the first multipath The fingerprint and the second multipath fingerprint are matched with a combination of multipath fingerprints in the preset fingerprint library; the location of the terminal is determined according to the matching result.
  • This application also provides a network device, which can implement the function of the first network device in the embodiment of FIG. 3 or an optional embodiment.
  • a network device which can implement the function of the first network device in the embodiment of FIG. 3 or an optional embodiment.
  • an embodiment of the network device provided by this application includes:
  • the receiving module 601 is configured to receive the channel sounding reference signal and the cell identity sent by the terminal;
  • the determining module 602 is configured to determine the channel state information of the uplink channel according to the channel sounding reference signal
  • the determining module 602 is also used for the channel state information of the uplink channel to determine the first multipath fingerprint, the first multipath fingerprint including multiple arrival times TOA and multiple arrival azimuth angles AOA;
  • the sending module 603 is configured to send the first multipath fingerprint and the cell identifier to the positioning device.
  • the receiving module 601 is also used to receive the beam identifier sent by the terminal;
  • the sending module 603 is also used to send the beam identifier to the positioning device.
  • the present application provides a positioning device, which can realize the function of the positioning device in the embodiment shown in FIG. 4 or an optional embodiment.
  • An embodiment of the positioning device includes:
  • the receiving module is used to receive the multipath fingerprint sent by the network device.
  • the multipath fingerprint includes at least one of the channel state information of the uplink channel, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the power delay distribution PDP of the uplink channel Species
  • the positioning module is used to match the multipath fingerprint with the preset multipath fingerprint, and determine the location of the terminal according to the matching result.
  • connection relationship between the receiving module and the positioning module is similar to the connection relationship between the receiving module 501 and the positioning module 502 in the network device shown in FIG. 5.
  • This application also provides a network device, which can implement the functions of the network device in the embodiment shown in FIG. 4 or an optional embodiment.
  • An embodiment of the network device includes:
  • the receiving module is used to receive the uplink pilot signal sent by the terminal;
  • the determining module is used to determine the multipath fingerprint according to the uplink pilot signal.
  • the multipath fingerprint includes at least one of the channel state information of the uplink channel, the signal subspace of the CSI, the channel covariance matrix of the uplink channel, or the power delay distribution of the uplink channel.
  • the sending module is used to send the multipath fingerprint to the positioning device.
  • connection relationship between the receiving module, the determining module, and the sending module is similar to the connection relationship between the receiving module 601, the determining module 602, and the sending module 603 in the network device shown in FIG. 6.
  • This application provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute a method as in any one of the above embodiments.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.
  • the computer instructions may be transmitted from a website, computer, server, or data center. Transmission to another website, computer, server or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • wired such as coaxial cable, optical fiber, digital subscriber line (DSL)
  • wireless such as infrared, wireless, microwave, etc.
  • the computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or data center integrated with one or more available media.
  • the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

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Abstract

一种无线定位方法包括：接收第一网络设备发送的第一多径指纹，第一多径指纹包括多个TOA和多个AOA；将第一多径指纹与预设指纹库中的多径指纹进行匹配；根据匹配结果确定终端的位置。由此可以根据一个小区的多径指纹可以对终端的位置进行定位，由此实现了单站定位，并且具有良好的定位精度。本申请还提供定位装置和网络设备，能够实现上述无线定位方法。

Description

无线定位方法、定位装置和网络设备
本申请要求于2019年06月28日提交中国专利局、申请号为201910579737.6、申请名称为“无线定位方法、定位装置和网络设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无线定位领域，尤其涉及无线定位方法、定位装置和网络设备。
背景技术
近年来，随着无线通讯技术的快速发展和越来越多地理化应用在市场上的出现，人们对室内外场景下准确可靠的定位需求不断增加。
目前有一种无线指纹定位技术大致如下：对于服务小区的终端，预先采集每个终端的位置以及无线信号特征(例如多个小区的TOA)，将从大量终端采集得到的上述数据作为特征库(也称为指纹库)。当需要对终端进行定位时，利用终端上报的测量报告提取多个小区的TOA，将提取的无线信号特征与特征库中的无线信号特征(如多个小区的TOA)进行匹配，从而确定终端的位置。多个小区包括服务小区以及服务小区的相邻小区。
按照以上方法进行定位需要多个小区的无线信号特征。但是，对于边缘地区(例如农村)的网络设备分布少的地区，终端可能难以获取多个小区的无线信号特征，这样就难以按照以上方法对终端进行定位。
发明内容
本申请提供无线定位方法，定位装置和网络设备，能够实现单站定位，能够适用于网络设备分布少的地区，具有更好的适用性。
本申请的第一方面提供的一种无线定位方法包括：第一网络设备接收终端发送的信道探测参考信号SRS和小区标识；根据SRS确定上行信道的信道状态信息CSI，然后根据上行信道的CSI确定第一多径指纹，第一多径指纹包括多个到达时间TOA和多个到达方位角AOA，将所述第一多径指纹和所述小区标识发送给定位装置；定位装置接收第一网络设备发送的第一多径指纹之后，将所述第一多径指纹与预设指纹库中的多径指纹进行匹配；根据匹配结果确定所述终端的位置。其中，从所述终端到所述第一网络设备的多径分量与所述TOA是一一对应的，从所述终端到所述第一网络设备的多径分量与所述AOA是一一对应的。
依此实施，第一网络设备根据终端发送的SRS确定上行信道的CSI，根据上行信道的CSI可以确定多个TOA和多个AOA，然后将多个TOA和多个AOA作为第一多径指纹。或者，第一网络设备还可以根据终端发送的SRS确定RSRP，将RSRP、多个TOA和多个AOA作为第一多径指纹。除了RSRP、多个TOA和多个AOA之外，第一多径指纹还可以包括上行信道的CSI，CSI的信号子空间，上行信道的PDP，RSS，多普勒频移，极化参数中的一种或多种。该上行信道是从终端到第一网络设备的上行信道。由于在小区内不同位置的终端具有不同的多径指纹，因此根据一个网络设备和终端之间的多径指纹可以实现单站定位，能够适用 于网络设备分布少的地区，具有更好的适用性。
在一种可能的实现方式中，所述方法还包括：所述定位装置接收所述第一网络设备发送的波束标识；在所述小区指纹集合中确定与所述波束标识对应的波束指纹集合；将所述第一多径指纹与所述波束指纹集合中的多径指纹进行匹配。依此实施，由于波束指纹集合小于小区指纹集合，因此能够减少匹配运算量，提高定位速度。
在另一种可能的实现方式中，在所述预设指纹库中不存在所述小区指纹集合的情况下，所述定位装置根据所述第一多径指纹确定相似多径指纹，所述相似多径指纹是与所述第一多径指纹相似的多径指纹；根据所述第一多径指纹和所述相似多径指纹计算反射体位置；根据所述反射体位置计算所述终端的位置。依此实施，在难以匹配定位的情况下，能够根据多径指纹计算出终端位置，由此能够提高定位的鲁棒性。
在另一种可能的实现方式中，所述定位装置根据最小均方差估计算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据最小距离测量算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据最大似然估计算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据贝叶斯估计算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据K-邻近算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据支持向量机分类算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据随机森林分类算法确定相似多径指纹。
在另一种可能的实现方式中，所述定位装置根据神经网络算法确定相似多径指纹。
在另一种可能的实现方式中，上述方法还包括：第一网络设备确定终端与第一网络设备断开无线链路的时刻，将该时刻作为第一时刻，以及获取终端的标识；将第一时刻和所述终端的标识发送给定位装置；第二网络设备接收终端发送的上行导频信号，根据上行导频信号确定上行信道的信道状态信息，然后根据上行信道的信道状态信息确定PDP，将PDP作为第二多径指纹，以及第二网络设备确定终端与第二网络设备建立无线链路的时刻，将该时刻作为第二时刻，以及获取终端的标识；然后将第二多径指纹、第二时刻和所述终端的标识发送给定位装置；所述定位装置根据所述终端的标识，确定所述第一时刻和所述第二时刻之间的时间间隔；当所述第一时刻和所述第二时刻之间的时间间隔小于或等于预设时长时，将所述第一多径指纹和所述第二多径指纹，与预设指纹库中的多径指纹组合进行匹配；根据匹配结果确定所述终端的位置。所述第二网络设备和所述第一网络设备为异制式网络设备。依此实施，能够根据多径指纹组合进行匹配定位，由于多径指纹组合包括更多无线信号特征，因此该方法能够提高定位精度。另外，第二网络设备还可以根据上行信道的信道状态信息确定接收信号强度RSS和多个TOA，然后将PDP，RSS和多个TOA作为第二多径指纹，多个TOA中的TOA与终端到第二网络设备的多径分量一一对应。除了RSS，PDP和多个TOA以外，第二多径指纹还可以包括上行信道的CSI，CSI的信号子空间，多普勒频移，极化参数中的一种或多种。其中，CSI的信号子空间，多普勒频移，极化参数都是第二网络设备根据上行信道的CSI确定的。该上行信道是指从终端到第二网络设备的上 行信道。
本申请的第二方面提供的一种无线定位方法包括：网络设备接收终端发送的信道探测参考信号和小区标识；所述网络设备根据所述信道探测参考信号确定上行信道的信道状态信息；所述网络设备根据上行信道的信道状态信息确定第一多径指纹，所述第一多径指纹包括多个到达时间TOA和多个到达方位角AOA；所述网络设备将所述第一多径指纹和所述小区标识发送给定位装置。依此实施，网络设备根据终端发送的信道探测参考信号确定上行信道的信道状态信息，根据上行信道的信道状态信息可以确定多个TOA和多个AOA，然后将多个TOA和多个AOA作为第一多径指纹。或者，网络设备还可以根据信道探测参考信号确定RSRP，将上述RSRP，多个TOA和多个AOA作为第一多径指纹。除了RSRP、多个TOA和多个AOA之外，第一多径指纹还可以包括上行信道的CSI，CSI的信号子空间，上行信道的PDP，RSS，多普勒频移，极化参数中的一种或多种。由于在小区内不同位置的终端具有不同的多径指纹，因此根据一个网络设备和终端之间的多径指纹可以实现单站定位，能够适用于网络设备分布少的地区，具有更好的适用性。
在一种可能的实现方式中，所述方法还包括：所述网络设备接收终端发送的波束标识，将所述波束标识发送给所述定位装置。
本申请的第三方面提供的一种无线定位方法包括：定位装置接收网络设备发送的多径指纹，所述多径指纹包括上行信道的CSI，所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的PDP中的至少一种；将所述多径指纹与预设的多径指纹进行匹配，根据匹配结果确定所述终端的位置。依此实施，由于小区内不同位置的终端对应的多径指纹不同，因此根据多径指纹可以实现单站定位。并且，对于上行信道的CSI，所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的PDP，障碍物对信号的多次反射对上述无线信号特征的影响较小，因此在室内场景下根据上述无线信号特征形成的多径指纹进行匹配定位具有良好的定位精度。
本申请的第四方面提供的一种无线定位方法包括：网络设备接收终端发送的上行导频信号；所述网络设备根据所述上行导频信号确定多径指纹，所述多径指纹包括上行信道的CSI、所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的PDP中的至少一种；所述网络设备将所述多径指纹发送给定位装置。依此实施，网络设备可以获取上行信道的CSI、CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的PDP中的至少一种作为多径指纹。
本申请的第五方面提供一种定位装置，该定位装置具有实现第一方面中定位装置的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。
本申请的第六方面提供一种网络设备，该网络设备具有实现第二方面中网络设备的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。
本申请的第七方面提供一种定位装置，该定位装置具有实现第三方面中定位装置的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包 括一个或多个与上述功能相对应的模块。
本申请的第八方面提供一种网络设备，该网络设备具有实现第四方面中网络设备的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块。
本申请的第九方面提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行以上各方面所述的方法。
本申请的第十方面提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行以上各方面所述的方法。
附图说明
图1为本申请中无线定位方法的应用场景的一个示意图；
图2为本申请的实施例中定位装置的一个结构示意图；
图3为本申请的实施例中无线定位方法的一个信令交互图；
图4为本申请的实施例中无线定位方法的另一个信令交互图；
图5为本申请的实施例中定位装置的另一个结构示意图；
图6为本申请的实施例中网络设备的另一个结构示意图。
具体实施方式
本申请提供一种无线定位方法，能够获取一个终端和一个网络设备之间的多个无线信号特征作为多径指纹，根据多径指纹进行单站定位。
下面首先对本申请中的技术名词进行介绍：
指纹与地理位置一一对应。指纹可以是上行信道的信道状态信息(channel state information，CSI)，功率延迟分布(power delay profile，PDP)，接收信号强度(received signal strength，RSS)，到达时间(time of arrival，TOA)，到达方位角(angle of arrival，AOA)，信号子空间，多普勒频移或极化参数等中的任意一种或者两种以上无线信号特征的组合。需要说明的是，对于一种无线信号特征时，网络设备可以对一个小区进行测量获取多个无线信号特征作为指纹，例如，多个TOA、多个AOA或者在上行信道的CSI中分别与多个子载波对应的多组元素。另外，指纹还可以包括其他无线信号特征，例如参考信号接收功率(reference signal receiving power，RSRP)或接收信号码功率(received signal code power，RSCP)。在不同的通信制式中，同一用途的无线信号特征会采用不同的名词描述。例如，在长期演进(Long Term Evolution，LTE)系统和宽带码分多址(wideband code division multiple access，WCDMA)中，用于表示无线信号接收强度的无线信号特征分别为RSRP和RSCP。
在时域中，CSI可以通过信道脉冲响应(channel impulse response，CIR)表示。在频域中，CSI可以通过信道频率响应(channel frequency response，CFR)表示。在本申请中的CSI是指上行信道的CSI，也可以称为上行信道的信道矩阵。在本申请中，该上行信道的信道矩阵可记为H，H用于表示一个终端天线到网络设备的天线阵列之间信道的状 态。在该上行信道的信道矩阵H中，一组元素对应一个子载波，一组元素可以表示子载波的振幅衰减和相位偏移。信号衰减的原因包括路径损耗，反射，散射等。
RSS是指通过终端的天线端口接收，在一个符号(symbol)内的所有信号功率的平均值。
TOA是根据发射节点和接收节点之间两次通信的时刻来确定的。
AOA是发射信号的到达方向。AOA可以由接收节点(如网络设备)确定。发射信号是指发射节点发送的信号。
需要说明的是，TOA和AOA可以组合作为无线信号特征。
信号子空间是指CSI的多个特征矢量的集合。具体的，天线阵列由M×N阵元组成，M为垂直方向上的阵元数量，N为水平方向上的阵元数量。H为M×N×L的矩阵，L表示采样点数。根据CSI获取信道协方差矩阵R hh，R hh＝E{HH H}，E为特征矢量。将R hh进行特征分解得到多个特征值Λ和多个特征矢量E，特征矢量与特征值是一一对应的。从分解得到的多个特征值中选取最大的n个特征值，若最大的n个特征值之和与全部特征值之和的比例大于预设阈值，则确定最大的n个特征值对应的特征矢量为信号子空间。最大的n个特征值是按照特征值从大到小排列的序列中的前n个特征值，n为小于特征值总数的正整数，特征值总数是对R hh分解得到全部特征值的数量。预设阈值可以根据实际情况设置，例如90％，95％或99％，具体取值在此不作限定。
本申请提供的无线定位方法可以应用于定位系统，定位系统包括终端、网络设备和定位装置。定位系统可以对视距(line of sight，LoS)环境或非视距(non line of sight，nLoS)环境中的终端进行定位。
如图1所示的应用场景中，终端10发射导频信号，由于障碍物(如大楼)的反射或阻挡，该导频信号通过多个传输路径到达网络设备20，网络设备20根据导频信号确定终端10和网络设备20之间的上行信道的CSI，网络设备20根据上行信道的CSI确定多径指纹，将多径指纹发送给定位装置30。定位装置30可以根据多径指纹确定终端10的位置。可以理解的是，图1所示的3条传输路径为示意性描述，并不应视为本申请对多径的限定。以上对通过多个传输路径传输导频信号的描述是为了更加清楚地描述多径效应，不应视为本申请对导频信号、上行信道或多径的限定。终端10发射的其他信号(如数据)也可以通过上述多个传输路径传输至网络设备20。
终端10也称为终端设备或用户设备。终端10可以是个人电脑、手机，平板电脑，智能可穿戴设备(如智能手表，智能眼镜等)或个人数字助理(personal digital assistant，PDA)等。终端10与网络设备20通过无线链路连接。
网络设备20可以是2G基站，3G基站，4G基站，5G基站或者5G以后的演进型基站。例如GSM基站，CDMA基站，UMTS基站，LTE基站，Wi-Fi的接入节点，全球互通微波访问(worldwide interoperability for microwave access，WiMAX)的接入节点。
网络设备20和定位装置30可以通过有线链路或无线链路进行连接。
定位装置30可以通过服务器实现，例如位置服务器。图2是本申请实施例中服务器200的一种结构示意图。参阅图2，该服务器200可因配置或性能不同而产生比较大的差异，可以包括一个或一个以上中央处理器(central processing units，CPU)222和存储器232， 一个或一个以上存储应用程序242或数据244的存储介质230(例如一个或一个以上海量存储设备)。其中，存储器232和存储介质230可以是短暂存储或持久存储。存储在存储介质230的程序可以包括一个或一个以上模块(图2未标出)，每个模块可以包括对服务器中的一系列指令操作。更进一步地，中央处理器222可以设置为与存储介质230通信，在服务器200上执行存储介质230中的一系列指令操作。
服务器200还可以包括一个或一个以上电源226，一个或一个以上有线或无线网络接口250，一个或一个以上输入输出接口258，和/或，一个或一个以上操作系统241，例如Windows Server TM，Mac OS XTM，Unix TM,Linux TM，FreeBSD TM等等。
本申请中，以下实施例中由定位装置所执行的步骤可以基于该图2所示的服务器结构。
参阅图3，本申请提供的无线定位方法的一个实施例包括：
步骤301、第一网络设备接收终端发送的信道探测参考信号(sounding reference signal，SRS)和小区标识。
本实施例中，终端在不同时刻发送SRS和小区标识，第一网络设备分别接收SRS和小区标识。小区标识用于标识终端所在小区，终端所在小区也称为服务小区。
步骤302、第一网络设备根据SRS确定上行信道的CSI。
步骤303、第一网络设备根据上行信道的CSI确定第一多径指纹。
第一多径指纹可以包括多个TOA和多个AOA。信号从终端到网络设备有多条传输路径，多径分量是指多条传输路径中的任意一条传输路径。从终端到第一网络设备的多径分量与TOA是一一对应的，从终端到第一网络设备的多径分量与AOA是一一对应的，即从终端到第一网络设备的多径分量对应一组TOA和AOA。可选的，使用最大似然(maximum likelihood，ML)算法或子空间类算法对CSI进行运算，得到TOA和AOA的组合。子空间类算法可以是但不限于多重信号分类算法(multiple signal classification，MUSIC)，旋转矢量不变技术(estimation of signal parameters via rotational invariance techniques，ESPRIT)，求根多重信号分类算法(Fast root-MUSIC)。
需要说明的是，除了多个TOA和多个AOA以外，第一多径指纹还可以包括RSRP，上行信道的CSI，CSI的信号子空间，上行信道的PDP，RSS，多普勒频移，极化参数中的一种或多种。一般来说，多径指纹包括的无线信号特征的种类越多，定位的精度越高。
其中，CSI的信号子空间，上行信道的PDP，RSS，多普勒频移，极化参数都可以根据CSI确定的。本实施例中的上行信道是指从终端到第一网络设备的上行信道。
根据CSI确定CSI的信号子空间的方法可参阅前文中信号子空间的相关记载。
根据CSI确定上行信道的PDP可以包括：从CSI中分别选取对应于一个天线对的元素，根据对应于一个天线对的元素计算得到一个PDP，将计算得到的多个PDP作为用于定位的无线信号特征。天线对包括一个发射天线和一个接收天线。
根据CSI确定RSS可以包括：从CSI中分别选取对应于一个天线对的元素，根据对应于一个天线对的元素计算得到一个RSS，将计算得到的多个RSS作为用于定位的无线信号特征。
另外，根据CSI确定多普勒频移和极化参数的方法可参阅现有技术。
步骤304、定位装置接收第一网络设备发送的第一多径指纹和小区标识。
第一网络设备根据上行信道的信道状态信息确定第一多径指纹后，第一网络设备将第一多径指纹和小区标识发送给定位装置。
步骤305、定位装置在预设指纹库中查找与小区标识对应的小区指纹集合。
定位装置在预设指纹库中查找是否存在小区标识，若存在小区标识，则确定在预设指纹库中存在服务小区对应的小区指纹集合，若不存在小区标识，则确定在预设指纹库中不存在服务小区对应的小区指纹集合。
步骤306、在预设指纹库中存在小区指纹集合的情况下，定位装置将第一多径指纹与小区指纹集合中的多径指纹进行匹配，根据匹配结果确定终端的位置。
在预设指纹库中存在小区指纹集合的情况下，当小区指纹集合中存在与第一多径指纹相同的多径指纹时，确定第一多径指纹对应的位置为终端的位置。当小区指纹集合中不存在与第一多径指纹相同的多径指纹时，在小区指纹集合中查找与第一多径指纹相似的多径指纹，将相似度最高的多径指纹对应的位置作为终端的位置。
可选的，在预设指纹库中不存在小区指纹集合的情况下，定位装置根据第一多径指纹确定相似多径指纹；根据第一多径指纹和相似多径指纹计算反射体位置；根据反射体位置计算终端的位置。其中，反射体是指在终端到网络设备之间反射信号的物体，反射体位置与终端位置之间的距离小于预设距离。若反射体位置与终端位置之间的距离小于预设距离，则表明反射体在终端附近。若反射体位置与终端位置之间的距离大于或等于预设距离，则表明反射体不在终端附近。相似多径指纹是与第一多径指纹相似的多径指纹，具体可以是在预设指纹库中与第一多径指纹相似度最高的多径指纹。
定位装置根据第一多径指纹确定相似多径指纹具体可以通过以下方式实现：
可选的，定位装置根据最小均方差(minimum mean squared error，MMSE)估计算法确定相似多径指纹。
可选的，定位装置根据最小距离测量(minimum distance measure，MDM)算法确定相似多径指纹。
可选的，定位装置根据最大似然估计算法确定相似多径指纹。
可选的，定位装置根据贝叶斯估计算法确定相似多径指纹。
可选的，定位装置根据K-邻近算法确定相似多径指纹。
可选的，定位装置根据支持向量机(support vector machine,SVM)分类算法确定相似多径指纹。
可选的，定位装置根据随机森林分类算法确定相似多径指纹。
可选的，定位装置根据神经网络算法确定相似多径指纹。
需要说明的是，第一网络设备还可以向定位装置发送终端标识，终端标识和第一多径指纹可以设置在一个消息中，或者设置在不同的消息中。定位装置根据第一网络设备发送的终端标识，可以将终端的位置通过第一网络设备发送给终端。
本实施例中，由于小区内不同位置的终端对应的多径指纹不同，因此根据一个网络设备和终端之间的多径指纹可以实现单站定位，能够适用于网络设备分布少的地区，具有更 好的适用性。
其次，由于多径指纹包括多个无线信号特征，因此在指纹匹配定位时具有良好的定位精度。
再次，在预设指纹库不包括小区标识对应的小区指纹集合的情况下，仍然能够根据一个小区的多个TOA和多个AOA计算出终端位置，由此具有良好的鲁棒性。
在一个可选实施例中，
上述方法还包括：网络设备接收终端发送的波束标识，将波束标识发送给定位装置；
定位装置将第一多径指纹与小区指纹集合中的多径指纹进行匹配包括：定位装置在小区指纹集合中确定与波束标识对应的波束指纹集合；将第一多径指纹与波束指纹集合中的多径指纹进行匹配。
本实施例中，在5G或者5G以后的通信系统中，终端可以向网络设备发送波束标识。波束标识和小区标识可以同时发送，或者分开发送。网络设备接收终端发送的波束标识后，将波束标识发送给定位装置。定位装置接收第一网络设备发送的波束标识，在小区指纹集合中确定与波束标识对应的波束指纹集合；将第一多径指纹与波束指纹集合中的多径指纹进行匹配，根据匹配结果确定终端的位置。
由于波束指纹集合比小区指纹集合更小，因此能够在指纹匹配过程时减少运算量，提高匹配速度。
在以上的无线定位方法中，使用一个小区的多个无线信号特征作为多径指纹。在本申请后文介绍的无线定位方法中，使用多个小区的多个无线信号特征作为多径指纹。下面进行详细介绍：
在另一个可选实施例中，上述方法还包括：
第一网络设备确定第一时刻以及获取终端的标识，将第一时刻和终端的标识发送给定位装置；第二网络设备接收终端发送的上行导频信号，根据上行导频信号确定第二多径指纹；确定第二时刻，以及获取终端的标识；将第二多径指纹、第二时刻和终端的标识发送给定位装置；定位装置根据终端的标识，确定第一时刻和第二时刻之间的时间间隔；当第一时刻和第二时刻之间的时间间隔小于或等于预设时长时，定位装置将第一多径指纹和第二多径指纹，与预设指纹库中的多径指纹组合进行匹配，根据匹配结果确定终端的位置。
本实施例中，第一时刻是终端与第一网络设备断开无线链路的时刻。第二时刻是终端与第二网络设备建立无线链路的时刻。第二网络设备和第一网络设备为异制式网络设备。需要说明的是，第一时刻和终端的标识可以是设置一个消息中，也可以是设置在不同时刻的两个消息中。同理，第二多径指纹、第二时刻和终端的标识可以是设置一个消息中，也可以是分别设置在不同时刻的多个消息中。
第二网络设备根据上行导频信号确定第二多径指纹具体可以为：第二网络设备根据上行导频信号确定上行信道的CSI；根据上行信道的CSI确定第二多径指纹。第二多径指纹可以包括PDP。除了PDP以外，第二多径指纹还可以包括RSS，多个TOA，CSI，CSI的信号子空间，上行信道的PDP，多普勒频移，极化参数中的一种或多种。本实施例中的上行信道是指从终端到第二网络设备的上行信道。
定位装置分别接收第一网络设备发送的第一时刻、终端的标识，以及第二网络设备发送的第二多径指纹、第二时刻和终端的标识之后，根据终端的标识可以确定第一时刻和第二时刻对应于同一个终端。
定位装置确定第一时刻和第二时刻之间的时间间隔之后，将该时间间隔与预设时长进行比较；当第一时刻和第二时刻之间的时间间隔小于或等于预设时长时，表明终端与第一网络设备断开无线链路之后，该终端与第二网络设备立即建立了无线链路。在此期间默认终端的位置不变，第一多径指纹和第二多径指纹是来自同一位置的多径指纹。这样，将第一多径指纹和第二多径指纹与预设指纹库中的多径指纹组合进行匹配；根据匹配结果确定终端的位置。由于多径指纹组合包括更多无线信号特征，因此根据多径指纹组合进行匹配定位具有更好的定位精度。
需要说明的是，第二网络设备还可以向定位装置发送第二网络设备对应的小区标识，定位装置可以根据第二网络设备对应的小区标识，确定第二网络设备对应的小区指纹集合，根据第一网络设备对应的小区指纹集合和第二网络设备对应的小区指纹集合确定用于匹配的指纹集合，从而缩小指纹匹配范围，提高定位速度。
例如，终端可以向LTE基站发送SRS，LTE基站根据SRS确定第一多径指纹。在终端与LTE基站断开无线链路后，LTE基站将断开无线链路的时刻T1和终端标识发送给定位装置，以及终端向GSM基站发送上行导频信号。GSM基站根据上行导频信号获取第二多径指纹，以及确定建立无线链路的时刻T2和获取终端的标识，将第二多径指纹、T2和终端标识发送给定位装置。当T1和T2的时间间隔小于或等于1秒时，定位装置将第一多径指纹和第二多径指纹作为多径指纹组合，将上述多径指纹组合和预设指纹库中的多径指纹组合进行匹配，根据匹配结果确定终端的位置。预设时长的具体取值可以根据实际情况设置，例如0.5秒，1秒，2秒等，在此不作限定。
当第一时刻和第二时刻之间的时间间隔大于预设时长时，表明终端与第一网络设备断开无线链路之后，没有在预设时间窗口内与第二网络设备立即建立无线链路，此时认为终端的位置可能发生了变化，由此判断第一多径指纹和第二多径指纹很可能不是来自同一位置的多径指纹。预设时长为预设时间窗口的时长。这样，定位装置不执行将第一多径指纹和第二多径指纹与预设指纹库中的多径指纹组合进行匹配的步骤，可以将第二多径指纹与预设指纹库中的多径指纹进行匹配，然后根据匹配结果确定终端的位置。
以上对异制式网络设备的场景下的无线定位方法进行了描述，下面对一个网络设备获取两种不同类型的测量报告，然后将不同类型的测量报告携带的多径指纹作为多径指纹组合的方法进行介绍。
在另一个可选实施例中，上述方法还包括：终端向第一网络设备发送第一测量报告，第一测量报告携带第一多径指纹和第一测量时刻；终端向第一网络设备发送第二测量报告，第二测量报告携带第二多径指纹和第二测量时刻；当第一测量时刻和第二测量时刻的时间间隔小于预设时长时，第一网络设备将第一多径指纹和第二多径指纹组合为待处理多径指纹组合，将待处理多径指纹组合发送给定位装置；定位装置将待处理多径指纹组合与预设指纹库中的多径指纹组合进行匹配，根据匹配结果确定终端的位置。
本实施例中，第一网络设备为在非独立组网(non-standalone，NSA)架构下的5G基站。第一测量报告为LTE系统的测量报告，第二测量报告为5G的测量报告，第一测量时刻是生成第一测量报告的时刻，第二测量时刻是生成第二测量报告的时刻。第一多径指纹包括一个小区级的RSRP或多个波束级的RSRP，第二多径指纹包括多个波束级的RSRP。
当第一测量时刻和第二测量时刻的时间间隔小于预设时长时，默认终端在第一测量时刻和第二测量时刻的位置相同，第一多径指纹和第二多径指纹是来自同一位置的多径指纹。预设时长的具体取值可以根据实际情况设置，例如0.5秒，1秒，2秒等，在此不作限定。与第一多径指纹或第二多径指纹相比，多径指纹组合包括更多无线信号特征，这样根据多径指纹组合进行匹配定位具有更好的定位精度。
当第一时刻和第二时刻之间的时间间隔大于预设时长时，表明终端在第一测量时刻和第二测量时刻的位置可能发生了变化，由此判断第一多径指纹和第二多径指纹很可能不是来自同一位置的多径指纹。这样，第一网络设备不执行将第一多径指纹和第二多径指纹组合为待处理多径指纹组合的步骤，以避免错误定位。
以上对包括TOA和AOA的多径指纹进行了介绍，利用该多径指纹在室外场景下进行无线定位具有良好的定位精度。但是，在室内场景下信号会经过多次反射，例如2次，3次或4次以上反射，TOA和AOA会误差很大，因此上述多径指纹不适用于室内场景。本申请提供了另一种多径指纹，根据该多径指纹能够在室内场景下对终端进行良好的定位。
参阅图4，本申请提供的无线定位方法的另一个实施例包括：
步骤401、网络设备接收终端发送的上行导频信号。
步骤402、网络设备根据上行导频信号确定多径指纹。
其中，多径指纹包括上行信道的CSI、CSI的信号子空间、上行信道的信道协方差矩阵或上行信道的PDP中的至少一种。该上行信道是从终端到网络设备的上行信道。
具体的，网络设备根据上行导频信号确定上行信道的CSI，根据上行信道的CSI确定CSI的信号子空间；或者，网络设备根据上行信道的CSI确定上行信道的信道协方差矩阵；或者，网络设备根据上行信道的CSI确定上行信道的PDP。以上确定行信道的CSI、CSI的信号子空间、上行信道的信道协方差矩阵或上行信道的PDP的方法可参阅图3所示实施例中的相关记载。
步骤403、网络设备将多径指纹发送给定位装置。
步骤404、定位装置将多径指纹与预设的多径指纹进行匹配，根据匹配结果确定终端的位置。
定位装置接收网络设备发送的多径指纹后，将接收的多径指纹与预设的多径指纹进行匹配，根据匹配结果确定终端的位置。
例如，一个终端可以向多个网络设备发送上行导频信号，每个网络设备根据该终端发送的上行导频信号能够确定一个信号子空间，多个网络设备将信号子空间发送给定位装置。定位装置可以接收多个网络设备发送的信号子空间，然后将多个网络设备发送的信号子空间与预设的信号子空间组合进行匹配，根据匹配结果确定终端的位置。
本实施例中，由于小区内不同位置的终端对应的多径指纹不同，因此根据多径指纹可 以实现单站定位。
其次，障碍物对信号的多次反射对上行信道的CSI、CSI的信号子空间、上行信道的信道协方差矩阵或上行信道的PDP的影响较小，因此在室内场景下根据上述无线信号特征形成的多径指纹进行匹配定位具有良好的定位精度。
以上对本申请的无线定位方法进行了介绍，下面对本申请的定位装置进行介绍。本申请提供一种定位装置，该定位装置能够实现图3实施例或可选实施例中的定位装置的功能。
参阅图5，本申请提供的定位装置的一个实施例包括：
接收模块501，用于接收第一网络设备发送的第一多径指纹和小区标识，第一多径指纹包括多个到达时间TOA和多个到达方位角AOA，多个TOA和多个AOA是第一网络设备根据从终端到第一网络设备的上行信道的信道状态信息确定的，小区标识对应于终端所在的小区；
定位模块502，用于在预设指纹库中查找与小区标识对应的小区指纹集合；在预设指纹库中存在小区指纹集合的情况下，将第一多径指纹与小区指纹集合中的多径指纹进行匹配，根据匹配结果确定终端的位置。
在一个可选实施例中，
接收模块501，还用于接收第一网络设备发送的波束标识；
定位模块502，具体用于在小区指纹集合中确定与波束标识对应的波束指纹集合；将第一多径指纹与波束指纹集合中的多径指纹进行匹配。
在另一个可选实施例中，
定位模块502，还用于在预设指纹库中不存在小区指纹集合的情况下，根据第一多径指纹确定相似多径指纹，相似多径指纹是与第一多径指纹相似的多径指纹；根据第一多径指纹和相似多径指纹计算反射体位置；根据反射体位置计算终端的位置。
在另一个可选实施例中，
定位模块502，具体用于根据最小均方差MMSE估计算法确定相似多径指纹；或者，
定位模块502，具体用于根据最小距离测量MDM算法确定相似多径指纹；或者，
定位模块502，具体用于根据最大似然估计算法确定相似多径指纹；或者，
定位装置502，具体用于根据贝叶斯估计算法确定相似多径指纹；或者，
定位模块502，具体用于根据K-邻近算法确定相似多径指纹；或者，
定位模块502，具体用于根据支持向量机分类SVM算法确定相似多径指纹；或者，
定位模块502，具体用于根据随机森林分类算法确定相似多径指纹；或者，
定位模块502，具体用于根据神经网络算法确定相似多径指纹。
在另一个可选实施例中，
接收模块501，还用于接收第一网络设备发送的第一时刻和终端的标识，第一时刻为第一网络设备与终端断开无线链路的时刻；
接收模块501，还用于接收第二网络设备发送的第二多径指纹、第二时刻和终端的标识，第二多径指纹包括PDP，PDP是第二网络设备根据从终端到第二网络设备的上行信道的信道状态信息确定的，第二时刻为第二网络设备与终端建立无线链路的时刻，第二网络设 备和第一网络设备为异制式网络设备；
定位模块502，还用于根据终端标识确定第一时刻和第二时刻之间的时间间隔；当第一时刻和第二时刻之间的时间间隔小于或等于预设时长时，将第一多径指纹和第二多径指纹，与预设指纹库中的多径指纹组合进行匹配；根据匹配结果确定终端的位置。
本申请还提供一种网络设备，该网络设备能够实现图3实施例或可选实施例中第一网络设备的功能。参阅图6，本申请提供的网络设备的一个实施例包括：
接收模块601，用于接收终端发送的信道探测参考信号和小区标识；
确定模块602，用于根据信道探测参考信号确定上行信道的信道状态信息；
确定模块602，还用于上行信道的信道状态信息确定第一多径指纹，第一多径指纹包括多个到达时间TOA和多个到达方位角AOA；
发送模块603，用于将第一多径指纹和小区标识发送给定位装置。
在一个可选实施例中，
接收模块601，还用于接收终端发送的波束标识；
发送模块603，还用于将波束标识发送给定位装置。
本申请提供一种定位装置，该定位装置能够实现图4所示实施例或可选实施例中定位装置的功能。定位装置的一个实施例包括：
接收模块，用于接收网络设备发送的多径指纹，多径指纹包括上行信道的信道状态信息、CSI的信号子空间、上行信道的信道协方差矩阵或上行信道的功率延迟分布PDP中的至少一种；
定位模块，用于将多径指纹与预设的多径指纹进行匹配，根据匹配结果确定终端的位置。
本实施例中，接收模块和定位模块的连接关系与图5所示的网络设备中接收模块501和定位模块502的连接关系相似。
本申请还提供一种网络设备，该网络设备能够实现图4所示实施例或可选实施例中网络设备的功能。该网络设备的一个实施例包括：
接收模块，用于接收终端发送的上行导频信号；
确定模块，用于根据上行导频信号确定多径指纹，多径指纹包括上行信道的信道状态信息、CSI的信号子空间、上行信道的信道协方差矩阵或上行信道的功率延迟分布PDP中的至少一种；
发送模块，用于将多径指纹发送给定位装置。
本实施例中，接收模块、确定模块和发送模块的连接关系和图6所示的网络设备中接收模块601、确定模块602和发送模块603的连接关系相似。
本申请提供一种计算机可读存储介质，包括指令，当其在计算机上运行时，使得计算机执行如以上实施例中任意一个实施例的方法。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。
所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机 程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如软盘、硬盘、磁带)、光介质(例如DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例的技术方案的范围。

Claims (17)

  1. 一种无线定位方法，其特征在于，包括：
    定位装置接收第一网络设备发送的第一多径指纹和小区标识，所述第一多径指纹包括多个到达时间TOA和多个到达方位角AOA，所述多个TOA和多个AOA都是所述第一网络设备根据从终端到所述第一网络设备的上行信道的信道状态信息确定的，所述小区标识对应于所述终端所在的小区；
    所述定位装置在预设指纹库中查找与所述小区标识对应的小区指纹集合；
    在所述预设指纹库中存在所述小区指纹集合的情况下，所述定位装置将所述第一多径指纹与所述小区指纹集合中的多径指纹进行匹配，根据匹配结果确定所述终端的位置。
  2. 根据权利要求1所述的方法，其特征在于，
    所述方法还包括：所述定位装置接收所述第一网络设备发送的波束标识；
    所述定位装置将所述第一多径指纹与所述小区指纹集合中的多径指纹进行匹配包括：所述定位装置在所述小区指纹集合中确定与所述波束标识对应的波束指纹集合；将所述第一多径指纹与所述波束指纹集合中的多径指纹进行匹配。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在所述预设指纹库中不存在所述小区指纹集合的情况下，所述定位装置根据所述第一多径指纹确定相似多径指纹，所述相似多径指纹是与所述第一多径指纹相似的多径指纹；根据所述第一多径指纹和所述相似多径指纹计算反射体位置；根据所述反射体位置计算所述终端的位置。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述方法还包括：
    所述定位装置接收所述第一网络设备发送的第一时刻和所述终端的标识，所述第一时刻为所述第一网络设备与所述终端断开无线链路的时刻；
    所述定位装置接收第二网络设备发送的第二多径指纹、第二时刻和所述终端的标识，所述第二多径指纹包括功率延迟分布PDP，所述PDP是所述第二网络设备根据从所述终端到所述第二网络设备的上行信道的信道状态信息确定的，所述第二时刻为所述第二网络设备与所述终端建立无线链路的时刻，所述第二网络设备和所述第一网络设备为异制式网络设备；
    所述定位装置根据所述终端的标识，确定所述第一时刻和所述第二时刻之间的时间间隔；
    当所述第一时刻和所述第二时刻之间的时间间隔小于或等于预设时长时，所述定位装置将所述第一多径指纹和所述第二多径指纹，与预设指纹库中的多径指纹组合进行匹配；根据匹配结果确定所述终端的位置。
  5. 一种无线定位方法，其特征在于，包括：
    网络设备接收终端发送的信道探测参考信号SRS和小区标识；
    所述网络设备根据所述SRS确定上行信道的信道状态信息；
    所述网络设备根据上行信道的信道状态信息确定第一多径指纹，所述第一多径指纹包括多个到达时间TOA和多个到达方位角AOA；
    所述网络设备将所述第一多径指纹和所述小区标识发送给定位装置。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    所述网络设备接收所述终端发送的波束标识，将所述波束标识发送给所述定位装置。
  7. 一种无线定位方法，其特征在于，包括：
    定位装置接收网络设备发送的多径指纹，所述多径指纹包括上行信道的信道状态信息CSI，所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的功率延迟分布PDP中的至少一种；
    所述定位装置将所述多径指纹与预设的多径指纹进行匹配，根据匹配结果确定所述终端的位置。
  8. 一种无线定位方法，其特征在于，包括：
    网络设备接收终端发送的上行导频信号；
    所述网络设备根据所述上行导频信号确定多径指纹，所述多径指纹包括上行信道的信道状态信息CSI、所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的功率延迟分布PDP中的至少一种；
    所述网络设备将所述多径指纹发送给定位装置。
  9. 一种定位装置，其特征在于，包括：
    接收模块，用于接收第一网络设备发送的第一多径指纹和小区标识，所述第一多径指纹包括多个到达时间TOA和多个到达方位角AOA，所述多个TOA和多个AOA是所述第一网络设备根据从终端到所述第一网络设备的上行信道的信道状态信息确定的，所述小区标识对应于所述终端所在的小区；
    定位模块，用于在预设指纹库中查找与所述小区标识对应的小区指纹集合；在所述预设指纹库中存在所述小区指纹集合的情况下，将所述第一多径指纹与所述小区指纹集合中的多径指纹进行匹配，根据匹配结果确定所述终端的位置。
  10. 根据权利要求9所述的定位装置，其特征在于，
    所述接收模块，还用于接收所述第一网络设备发送的波束标识；
    所述定位模块，具体用于在所述小区指纹集合中确定与所述波束标识对应的波束指纹集合；将所述第一多径指纹与所述波束指纹集合中的多径指纹进行匹配。
  11. 根据权利要求9所述的定位装置，其特征在于，
    所述定位模块，还用于在预设指纹库中不存在所述小区指纹集合的情况下，根据所述第一多径指纹确定相似多径指纹，所述相似多径指纹是与所述第一多径指纹相似的多径指纹；根据所述第一多径指纹和所述相似多径指纹计算反射体位置；根据所述反射体位置计算所述终端的位置。
  12. 根据权利要求9至11中任一项所述的定位装置，其特征在于，
    所述接收模块，还用于接收所述第一网络设备发送的第一时刻和所述终端的标识，所述第一时刻为所述第一网络设备与所述终端断开无线链路的时刻；
    所述接收模块，还用于接收第二网络设备发送的第二多径指纹、第二时刻和所述终端的标识，所述第二多径指纹包括功率延迟分布PDP，所述PDP是所述第二网络设备根据从 所述终端到所述第二网络设备的上行信道的信道状态信息确定的，所述第二时刻为所述第二网络设备与所述终端建立无线链路的时刻，所述第二网络设备和所述第一网络设备为异制式网络设备；
    所述定位模块，还用于根据所述终端标识确定所述第一时刻和所述第二时刻之间的时间间隔；当所述第一时刻和所述第二时刻之间的时间间隔小于或等于预设时长时，将所述第一多径指纹和所述第二多径指纹，与预设指纹库中的多径指纹组合进行匹配；根据匹配结果确定所述终端的位置。
  13. 一种网络设备，其特征在于，包括：
    接收模块，用于接收终端发送的信道探测参考信号SRS和小区标识；
    确定模块，用于根据所述SRS确定上行信道的信道状态信息CSI；
    所述确定模块，还用于上行信道的CSI确定第一多径指纹，所述第一多径指纹包括多个到达时间TOA和多个到达方位角AOA；
    发送模块，用于将所述第一多径指纹和所述小区标识发送给定位装置。
  14. 根据权利要求13所述的网络设备，其特征在于，
    所述接收模块，还用于接收所述终端发送的波束标识；
    所述发送模块，还用于将所述波束标识发送给所述定位装置。
  15. 一种定位装置，其特征在于，包括：
    接收模块，用于接收网络设备发送的多径指纹，所述多径指纹包括上行信道的信道状态信息CSI，所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的功率延迟分布PDP中的至少一种；
    定位模块，用于将所述多径指纹与预设的多径指纹进行匹配，根据匹配结果确定所述终端的位置。
  16. 一种网络设备，其特征在于，包括：
    接收模块，用于接收终端发送的上行导频信号；
    确定模块，用于根据所述上行导频信号确定多径指纹，所述多径指纹包括上行信道的信道状态信息、所述CSI的信号子空间、所述上行信道的信道协方差矩阵或所述上行信道的功率延迟分布PDP中的至少一种；
    发送模块，用于将所述多径指纹发送给定位装置。
  17. 一种计算机存储介质，所述计算机存储介质存储有指令，当指令在计算机上运行时，使得计算机执行如权利要求1至8中任一项所述的方法。
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