WO2021027948A1

WO2021027948A1 - Positioning method and device thereof

Info

Publication number: WO2021027948A1
Application number: PCT/CN2020/109387
Authority: WO
Inventors: 黄甦; 于莹洁; 王艺
Original assignee: 华为技术有限公司
Priority date: 2019-08-15
Filing date: 2020-08-14
Publication date: 2021-02-18
Also published as: CN112399554A

Abstract

Provided by embodiments of the present application are a positioning method and device thereof, which may be applied to a scenario in which a positioning server determines the position of a terminal. The method comprises the following steps: the positioning server receiving multiple sets of angle measurement results from multiple network devices, each set of angle measurement results comprising angle information and quality information; determining, according to the angle information and quality information comprised in each set of angle measurement results, the weight of each set of angle measurement results for a position to be selected, so as to determine the position of the terminal. Using the embodiments of the present application, the robustness of angle estimation may be improved by calculating the weight of each set of angle measurement results for the position to be selected, thereby improving positioning accuracy.

Description

Positioning method and device

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201910755263.6, and the application name is "positioning method and device" on August 15, 2019, the entire content of which is incorporated into this application by reference.

Technical field

The embodiments of the present application relate to the field of communication technology, and specifically relate to a positioning method and device.

Background technique

New angular positioning method based air interface (new radio, NR) system (or referred to as a fifth generation (5 ^th -generation, 5G) communication system) is introduced, which is a terminal transmitting a sounding reference signal (sounding reference signal, SRS) , The serving cell base station and neighboring cell base stations receive SRS. When the receiving antenna of the base station has an array form, the transmission direction of the SRS can be estimated according to the phase difference between multiple antenna elements, and then the direction of the terminal can be determined. The phase difference between multiple antenna elements will be caused by the wave path difference. It can be seen that the principle of the angle-based positioning method is that the base station obtains the phase difference of the SRS between different antenna elements, and reversely estimates the direction of the SRS wave, and then determines the direction of the terminal.

In the above method, the angle is measured based on the wireless signal, and there is a certain error. The angle error will be further transformed into a positioning error, thereby affecting the accuracy of the terminal positioning.

Summary of the invention

The embodiments of the present application provide a positioning method and a device thereof, which can improve the robustness of angle estimation, thereby improving the accuracy of positioning.

The first aspect of the embodiments of the present application provides a positioning method, including:

The positioning server receives the angle measurement result from the network device, the angle measurement result includes angle information and quality information; the position of the terminal is determined according to the angle information and quality information.

The number of network devices is multiple, and each network device feeds back a set of angle measurement results to the positioning server, and then the positioning server receives multiple sets of angle measurement results, and each set of angle measurement results includes angle information and quality information.

In the first aspect, the positioning server determines the position of the terminal according to the angle measurement results reported by each network device, which can improve the robustness of the angle estimation, thereby improving the accuracy of positioning.

In a possible implementation, the above-mentioned angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array, and the orientation of the receiving antenna array includes the elevation angle and the direction angle of the receiving antenna array. Specifically, the aforementioned angle information includes the angle between the orientation of the receiving antenna array of the i-th network device and the orientation of the terminal relative to the receiving antenna array of the i-th network device, and the i-th network device is any positioning network. It is understandable that in this manner, the receiving antenna array of the i-th network device is a uniform linear array (ULA).

In a possible implementation, when the angle information includes the angle between the orientation of the receiving antenna array and the orientation of the terminal relative to the receiving antenna array, the quality information may include the variance of the angle error or the variance of the angle cosine error. That is, when the receiving antenna array is ULA, the quality information may include the variance of the angle error or the variance of the angle cosine error.

In a possible implementation manner, when the angle information includes the angle between the orientation of the receiving antenna array and the orientation of the terminal relative to the receiving antenna array, the quality information may include the equivalent signal-to-noise ratio of the antenna element and the receiving antenna. The number of antenna elements of the array and the element spacing of the receiving antenna array. That is, when the receiving antenna array is ULA, the quality information may include the equivalent signal-to-noise ratio of the antenna element, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array.

In the case where the receiving antenna array of the i-th network device is ULA, the angle information and quality information are reported so that the positioning server can determine the weight of the angle measurement result of the i-th network device for the location to be selected according to the angle information and quality information.

In a possible implementation, the above-mentioned angle information includes the direction information of the receiving antenna array of the network device and the direction information of the terminal, and the direction information of the receiving antenna array includes the horizontal direction angle and downtilt angle of the receiving antenna array, and the direction information of the terminal. Including the pitch angle and direction angle of the terminal. Specifically, the aforementioned angle information includes the direction information of the receiving antenna array of the i-th network device and the direction information of the terminal, and the i-th network device is any positioning network. It is understandable that in this manner, the receiving antenna array of the i-th network device is a uniform planar array (UPA).

Wherein, the direction information of the terminal is based on the first coordinate system or the second coordinate system, and the second coordinate system is obtained by rotating the first coordinate system according to the direction information of the receiving antenna array. It can be understood that the first coordinate system is an absolute coordinate system, and the second coordinate system is a relative coordinate system relative to the absolute coordinate system.

In a possible implementation manner, in the case that the angle information includes the direction information of the receiving antenna array and the direction information of the terminal, the quality information may include the cross-covariance matrix of the angle error or the error cross-covariance matrix of the angle trigonometric function transformation. . That is, when the receiving antenna array is UPA, the quality information may include the cross-covariance matrix of the angle error or the error cross-covariance matrix of the angle trigonometric function transformation.

In a possible implementation manner, when the angle information includes the direction information of the receiving antenna array and the direction information of the terminal, the quality information may include the equivalent signal-to-noise ratio of the antenna element and the vertical dimension of the receiving antenna array. The number of antenna elements, the number of antenna elements in the horizontal dimension, the element spacing in the vertical dimension and the element spacing in the horizontal dimension. That is, when the receiving antenna array is UPA, the quality information can include the equivalent signal-to-noise ratio of the antenna elements, the number of antenna elements in the vertical dimension of the receiving antenna array, the number of antenna elements in the horizontal dimension, and the number of antenna elements in the vertical dimension. The distance between the elements in the dimension and the distance between the elements in the horizontal dimension.

In the case where the receiving antenna array of the i-th network device is UPA, the angle information and quality information are reported so that the positioning server can determine the weight of the angle measurement result of the i-th network device against the location to be selected according to the angle information and quality information.

In a possible implementation, when I network devices report a group of angle measurement results separately, the positioning server receives I group of angle measurement results, and each group of angle measurement results includes angle information and quality information, and I is greater than A positive integer of 1. The positioning server determines the weight of each group of angle measurement results for the location to be selected according to each group of angle measurement results, and determines the location of the terminal according to the weight of each group of angle measurement results for the location to be selected. In this way, when multiple network devices report the angle measurement results, the positioning server can use the redundant angle measurement results to reduce the angle error, thereby improving the robustness of the angle estimation, and thus the accuracy of positioning.

In a possible implementation manner, the positioning server sends a request message to the network device, and the request message is used to request the angle measurement result, so that the network device feeds back the angle measurement result to the positioning server.

In a possible implementation manner, the positioning server sends configuration information of the uplink positioning reference signal to the terminal. The configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning reference signal to the network device so that the network device can refer to the uplink positioning reference The signal is measured and the angle measurement result is obtained.

The second aspect of the embodiments of the present application provides a positioning method, including:

The network equipment receives the uplink positioning reference signal from the terminal; performs measurement according to the uplink positioning reference signal to obtain the angle measurement result, which includes angle information and quality information; and sends the angle measurement result to the positioning server.

In the second aspect, the network device reports the angle measurement result to the positioning server, so that the positioning server can determine the position of the terminal according to the angle measurement result.

In a possible implementation, the above-mentioned angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array, and the orientation of the receiving antenna array includes the elevation angle and the direction angle of the receiving antenna array. It is understandable that in this manner, the receiving antenna array of the network device is ULA.

In a possible implementation, when the angle information includes the angle between the orientation of the receiving antenna array and the orientation of the terminal relative to the receiving antenna array, the quality information may include the variance of the angle error or the variance of the angle cosine error.

In a possible implementation manner, when the angle information includes the angle between the orientation of the receiving antenna array and the orientation of the terminal relative to the receiving antenna array, the quality information may include the equivalent signal-to-noise ratio of the antenna element and the receiving antenna. The number of antenna elements of the array and the element spacing of the receiving antenna array.

In a possible implementation, the above-mentioned angle information includes the direction information of the receiving antenna array of the network device and the direction information of the terminal, and the direction information of the receiving antenna array includes the horizontal direction angle and downtilt angle of the receiving antenna array, and the direction information of the terminal. Including the pitch angle and direction angle of the terminal. It is understandable that in this manner, the receiving antenna array of the network device is UPA.

In a possible implementation manner, the direction information of the terminal is based on the first coordinate system or based on the second coordinate system, and the second coordinate system is obtained by rotating the first coordinate system according to the direction information of the receiving antenna array. It can be understood that the first coordinate system is an absolute coordinate system, and the second coordinate system is a relative coordinate system relative to the absolute coordinate system.

In a possible implementation manner, in the case that the angle information includes the direction information of the receiving antenna array and the direction information of the terminal, the quality information may include the cross-covariance matrix of the angle error or the error cross-covariance matrix of the angle trigonometric function transformation. .

In a possible implementation manner, when the angle information includes the direction information of the receiving antenna array and the direction information of the terminal, the quality information may include the equivalent signal-to-noise ratio of the antenna element and the vertical dimension of the receiving antenna array. The number of antenna elements, the number of antenna elements in the horizontal dimension, the distance between the elements in the vertical dimension, and the distance between the elements in the horizontal dimension.

In a possible implementation manner, the network device sends the configuration information of the uplink positioning reference signal to the terminal, and the configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning reference signal to the network device so that the network device can follow the uplink positioning reference The signal is measured and the angle measurement result is obtained.

The third aspect of the embodiments of the present application provides a positioning method, including:

The terminal receives the configuration information of the uplink positioning reference signal, and sends the uplink positioning reference signal to the network device according to the configuration information of the uplink positioning reference signal.

In the third aspect, the terminal sends an uplink positioning reference signal to the network device so that the network device can obtain the angle measurement result and feed back the angle measurement result to the positioning server, so that the positioning server can determine the position of the terminal based on the angle measurement result.

Wherein, the configuration information of the uplink positioning reference signal may come from a network device or from a positioning server.

The fourth aspect of the embodiments of the present application provides a positioning device. The positioning device may be a positioning server, a device in the positioning server, or a device that can be matched and used with the positioning server. In one design, the device may include modules corresponding to the methods/operations/steps/actions described in the first aspect. The modules may be hardware circuits, software, or hardware circuits combined with software. In one design, the device may include a transceiver module and a processing module.

Exemplarily, the transceiver module is used to receive the angle measurement result from the network device, the angle measurement result includes angle information and quality information; the processing module is used to determine the position of the terminal according to the angle information and quality information.

A fifth aspect of the embodiments of the present application provides a positioning device, which includes a processor, configured to implement the method described in the first aspect. The device may also include a memory for storing instructions and data. The memory is coupled with the processor, and when the processor executes the instructions stored in the memory, the device can implement the method described in the first aspect. The device may also include a transceiver, which is used for the device to communicate with other devices. Illustratively, the transceiver may be a communication interface, circuit, bus, module, etc., and other devices may be network devices, terminals, and the like.

In a possible design, the device includes: a memory for storing program instructions; a transceiver for receiving an angle measurement result from a network device, the angle measurement result including angle information and quality information; and a processor for storing Angle information and quality information determine the location of the terminal.

A sixth aspect of the embodiments of the present application provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method provided in the first aspect.

The seventh aspect of the embodiments of the present application provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the method provided in the first aspect.

An eighth aspect of the embodiments of the present application provides a chip system. The chip system includes at least one processor and an interface, and may also include a memory, configured to implement the method provided in the first aspect. The chip system can be composed of chips, or can include chips and other discrete devices.

A ninth aspect of the embodiments of the present application provides a positioning device. The positioning device may be a network device, a device in a network device, or a device that can be matched and used with the network device. In one design, the device may include a module corresponding to the method/operation/step/action described in the second aspect. The module may be a hardware circuit, software, or hardware circuit combined with software. In one design, the device may include a transceiver module and a processing module.

Exemplarily, the transceiver module is used to receive the uplink positioning reference signal from the terminal; the processing module is used to measure according to the uplink positioning reference signal to obtain the angle measurement result, the angle measurement result includes angle information and quality information; the transceiver module also uses Yu sends the angle measurement result to the positioning server.

A tenth aspect of the embodiments of the present application provides a positioning device, which includes a processor, configured to implement the method described in the second aspect. The device may also include a memory for storing instructions and data. The memory is coupled with the processor, and when the processor executes the instructions stored in the memory, the device can implement the method described in the second aspect. The device may also include a transceiver, which is used for the device to communicate with other devices. Illustratively, the transceiver may be a communication interface, circuit, bus, module, etc., and other devices may be positioning servers, terminals, and the like.

In a possible design, the device includes: a memory for storing program instructions; a transceiver for receiving uplink positioning reference signals from the terminal; a processor for performing measurements based on the uplink positioning reference signals to obtain angle measurement results , The angle measurement result includes angle information and quality information; the transceiver is also used to send the angle measurement result to the positioning server.

The eleventh aspect of the embodiments of the present application provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method provided in the second aspect.

A twelfth aspect of the embodiments of the present application provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the method provided in the second aspect.

A thirteenth aspect of the embodiments of the present application provides a chip system. The chip system includes at least one processor and an interface, and may also include a memory, for implementing the method provided in the above second aspect. The chip system can be composed of chips, or can include chips and other discrete devices.

A fourteenth aspect of the embodiments of the present application provides a positioning system, which includes a positioning server and multiple network devices;

The network equipment is used to receive the uplink positioning reference signal, perform measurement according to the uplink positioning reference signal, obtain the angle measurement result, and send the angle measurement result to the positioning server. The angle measurement result includes angle information and quality information;

The positioning server is used to determine the position of the terminal according to the angle information and the quality information.

Description of the drawings

Figure 1a is a schematic diagram of a network architecture applying an embodiment of the present application;

Figure 1b is a schematic diagram of another network architecture to which an embodiment of the present application is applied;

Figure 2 is a schematic diagram of the relationship between the antenna array and the included angle;

Figure 3 is a schematic diagram of the direction angle and the pitch angle in the space angle;

Figure 4 is a schematic diagram of a two-dimensional antenna array;

Figure 5a is a schematic diagram of the direction angle and the pitch angle in an absolute coordinate system;

Figure 5b is a schematic diagram of a direction angle and a pitch angle in a relative coordinate system;

FIG. 6 is a schematic flowchart of a positioning method provided by an embodiment of this application;

FIG. 7 is a schematic diagram of the orientation of the receiving antenna array provided by an embodiment of the application;

FIG. 8 is a schematic diagram of direction information of a receiving antenna array provided by an embodiment of this application;

FIG. 9 is a schematic structural diagram of a device provided by an embodiment of this application;

FIG. 10 is a schematic structural diagram of a terminal provided by an embodiment of this application;

FIG. 11 is a schematic structural diagram of another device provided by an embodiment of this application.

detailed description

The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Wherein, in the description of the embodiments of the present application, unless otherwise specified, "/" indicates that the associated objects before and after are in an "or" relationship, for example, A/B may indicate A or B. In the description of this application, unless otherwise specified, "plurality" means two or more than two. "The following at least one item (a)" or similar expressions refers to any combination of these items, including any combination of a single item (a) or plural items (a). For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple. In addition, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish technical features that have substantially the same or similar functions and functions. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and order of execution, and words such as "first" and "second" do not limit the difference.

Please refer to Fig. 1a, which is a schematic diagram of a network architecture to which an embodiment of the present application is applied. The schematic diagram of the network architecture takes an example of a terminal accessing a 5G core network through a next generation radio access network (NG-RAN). The number of terminals can be one or more.

Among them, NG-RAN may include one or more next generation-evolved Node B (ng-eNB) and one or more next generation-Node B (gNB or gNodeB). The ng-eNB is a long term evolution (LTE) base station that accesses the 5G core network. The interface between the terminal and the ng-eNB is the LTE-Uu interface. The LTE-Uu interface is used to realize the communication between the terminal and the ng-eNB. Communication. The gNB is a 5G base station that accesses the 5G core network, and the interface between the terminal and the gNB is an NR-Uu interface, and the communication between the terminal and the gNB is realized through the NR-Uu interface. The interface between the ng-eNB and the gNB is an Xn interface, and the communication between the ng-eNB and the gNB can be realized through the Xn interface. NG-RAN accesses the 5G core network through the NG-C interface with the access management function.

The access management function is a kind of network element in the 5G core network, which can be an access and mobility management function (AMF), which is mainly responsible for terminal access and mobility management. AMF can also be called access management network element or mobility management function.

The location management function (LMF) is a kind of network element in the 5G core network. It is a device or component used to provide a positioning function for a terminal, and can implement functions such as a positioning center. The interface between AMF and LMF is NLs.

Figure 1a shows two types of network elements in the 5G core network. In practical applications, the 5G core network also includes other network elements, which are not listed here.

Please refer to FIG. 1b, which is a schematic diagram of another network architecture to which an embodiment of the present application is applied. The schematic diagram of the network architecture uses an example of a terminal accessing a 5G core network through NG-RAN. The difference between the network architecture shown in FIG. 1b and the network architecture shown in FIG. 1a is that the gNB in FIG. 1b includes a location management component (location management component, LMC), and the LMC can implement part of the functions of the LMF. It can be understood that the LMC can be integrated on the gNB to carry part of the functions of the LMF. Since the gNB can implement part of the functions of the LMF, the gNB may not need to establish a connection with the LMF through the AMF as shown in FIG. 1a, so that the signaling delay can be reduced.

In the embodiments of the present application, the LMF or the LMC integrated in the gNB are collectively referred to as the positioning server, that is, the positioning server may be the LMF in the 5G core network or the LMC integrated on the gNB. The name of the positioning server is used as an example and does not constitute a limitation to the embodiment of the present application. For example, LMF or LMC may be referred to as a positioning management network element, a positioning management device, or a positioning management device.

In the embodiments of the present application, the network device may be any device with wireless transceiver function. Including but not limited to: gNB or ng-eNB in Figure 1a and Figure 1b, transceiver point (transmission receiving point/transmission reception point, TRP), transmission measurement function (transmission measurement function, TMF) 3GPP subsequent evolution base station, WiFi system In the access node, wireless relay node, wireless backhaul node, etc. The base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, or a balloon station, etc. Multiple base stations can support networks of the same technology mentioned above, or networks of different technologies mentioned above. The base station can contain one or more co-site or non-co-site TRPs. The network device may also be a wireless controller, a centralized unit (CU), and/or a distributed unit (DU) in a cloud radio access network (cloud radio access network, CRAN) scenario. The network device can also be a server, a wearable device, or a vehicle-mounted device. The following description takes the network device as a base station as an example. The multiple network devices may be base stations of the same type, or base stations of different types. The base station can communicate with the terminal or the relay station can communicate with the terminal. The terminal can communicate with multiple base stations of different technologies. For example, the terminal can communicate with an ng-eNB, can also communicate with supporting gNB, and can also support dual connectivity with ng-eNB and gNB.

In the embodiment of this application, the terminal is a device with wireless transceiver function, which can be deployed on land, including indoor or outdoor, handheld, wearable, or vehicle-mounted; it can also be deployed on the water (such as a ship); it can also be deployed on In the air (such as airplanes, balloons, satellites, etc.). The terminal may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with wireless transceiver function, virtual reality (VR) terminal equipment, augmented reality (AR) terminal equipment, industrial control (industrial control) Wireless terminals in control), vehicle-mounted terminal equipment, wireless terminals in self-driving, wireless terminals in remote medical, wireless terminals in smart grid, transportation safety (transportation safety) ), wireless terminals in smart cities, wireless terminals in smart homes, wearable terminal devices, and so on. The embodiment of this application does not limit the application scenario. Terminals can sometimes be referred to as terminal equipment, user equipment (UE), access terminal equipment, vehicle-mounted terminal, industrial control terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal equipment, mobile Equipment, UE terminal equipment, terminal equipment, wireless communication equipment, UE agent or UE device, etc. The terminal can also be fixed or mobile.

The network architecture and business scenarios described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. Those of ordinary skill in the art will know that with the network With the evolution of architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems.

For the current angle-based positioning method, refer to the schematic diagram of the relationship between the antenna array and the included angle shown in FIG. 2. In Figure 2, it is assumed that the element spacing of the antenna array of the base station is dλ, where λ is the carrier wavelength, and the angle between the direction of the SRS received by the base station from the terminal and the antenna array is

The wave path difference between adjacent antenna elements is kλ, where

Therefore, the signal arrival time difference between adjacent antenna elements

Where c is the speed of light, f _c is the carrier frequency.

The radio frequency signal can be expressed as

Among them, x ^BB (t) is the baseband signal. On this basis, the time delay of the RF signal

It is equivalent to introducing extra phase, as shown in the following formula.

among them,

Means similar to,

Approximately x ^BB (t). Because of delay

The influence on the baseband signal is negligible. Therefore, the base station can determine the signal phase difference between different antenna elements as

The current angle-based positioning method, the principle of which is that the base station obtains the phase difference of the SRS between different antenna elements and reversely estimates the angle between the direction of the SRS and the antenna array

Then determine the direction of the terminal. This method has angular errors, which will be further transformed into positioning errors, thereby affecting the accuracy of terminal positioning.

In view of this, the embodiments of the present application provide a positioning method and device. The positioning server determines the position of the terminal according to the angle information and quality information, which can improve the robustness of the angle estimation and thereby improve the accuracy of positioning.

The names or terms involved in the embodiments of the present application will be introduced below.

1. Direction angle and pitch angle

The 3rd generation partnership project (3GPP) defines the direction angle (AoA) and the pitch angle (ZoA) in the spatial angle, please refer to the schematic diagram of the direction angle and the pitch angle in the spatial angle shown in Figure 3 . The direction angle is defined as the angle between the projection of the direction of the terminal on the horizontal plane and the geographical true north direction, with counterclockwise rotation as positive, as shown by φ in Figure 3. The pitch angle is defined as the angle between the direction of the terminal and the direction of the dome, as shown by θ in Figure 3.

The bold solid line in Figure 3 indicates the direction of the terminal. The direction of the terminal can also be described as the direction of the terminal, the direction in which the terminal is located, the direction of the SRS sent by the terminal, the direction in which the base station receives the SRS, the direction in which the terminal transmits waves, or the direction in which the base station receives waves. Wait.

The relationship between the antenna array and the included angle shown in Figure 2 is the relationship between the one-dimensional antenna array and the included angle. If the antenna array is a two-dimensional antenna array, it is assumed that the two-dimensional antenna array is located in the geographic north direction and the dome direction. In the determined plane, the distance between antenna elements in the horizontal dimension is d ₁ λ, and the distance between antenna elements in the vertical dimension is d ₂ λ, as shown in Fig. 4 Dimensional antenna array. Based on the direction angle and pitch angle shown in Figure 3, the relationship between d ₁ and d ₂ in Figure 4 can be obtained as follows:

K ₁ and k ₂ can be obtained by measurement, and θ and φ can be obtained by inverse solution according to the above two formulas.

If the antenna array of the base station is not shown in FIG. 4 and has other orientations, in order to obtain θ and φ, it is necessary to consider the rotation between the orientation of the antenna array of the base station and the orientation of the antenna array shown in FIG. 4.

2. Absolute coordinate system and relative coordinate system

The absolute coordinate system refers to the coordinate system established relative to the geographic true north direction, the geographic true west direction, and the dome direction. The geographic true north direction can be the positive direction of the x axis, and the geographic west direction can be the positive direction of the y axis. The dome direction can be the positive direction of the z-axis, as shown in Figure 5a. The coordinate system shown in Figure 3 is the absolute coordinate system. In the absolute coordinate system, there are singular points at θ=0 and θ=π. The so-called singular points are because when θ=0 and θ=π, φ is undefined. In order to eliminate the singularity, a method of rotating the absolute coordinate system is proposed, while adapting to the antenna rotation.

The coordinate system obtained by rotating the absolute coordinate system can be called a relative coordinate system. Rotating the absolute coordinate system may include: the absolute coordinate system is rotated by φ ₀ along the z axis as a whole, and the absolute coordinate system is tilted θ ₀ as a whole. Exemplarily, rotate the absolute coordinate system according to φ ₀ =0 and θ ₀ =π/2 to obtain a relative coordinate system, the z-axis after the rotation is the x-axis of the absolute coordinate system, and the y-axis after the rotation is the absolute coordinate system The x-axis after rotation is the -z-axis of the absolute coordinate system (that is, the negative direction of the z-axis).

In the absolute coordinate system, θ is defined as the angle between the direction of the terminal and the z-axis, and φ is defined as the angle between the projection of the direction of the terminal on the x0y plane and the x-axis, as shown in Figure 5a. In the relative coordinate system, θ is defined as the angle between the direction of the terminal and the x-axis of the absolute coordinate system (that is, the z-axis after rotation), and φ is defined as the projection of the direction of the terminal on the y0z plane and the absolute coordinate -z The angle between the axes (that is, the x-axis after rotation) is shown in Figure 5b. In Figures 5a and 5b, the bold solid line indicates the direction of the terminal.

3. Cramer-Rao lower bound and Fisher information matrix

The Cramer-Rao lower bound refers to the power of the error between the unbiased estimate of a parameter that meets certain conditions and the true value of the parameter.

The calculation formula of Cramer-Rao lower bound is as follows:

Where |s| ² is the received signal power, N is the number of antennas of the one-dimensional antenna array, θ is the angle between the direction of the terminal and the horizontal normal direction of the antenna array, and σ ² is the noise power. This formula gives the power of the error between the estimated angle between the direction of the terminal and the horizontal normal direction of the antenna array and the true value of the angle under a one-dimensional antenna array.

The Fisher information matrix is a covariance matrix that can be used to calculate the maximum likelihood estimator.

According to the calculation formula of Fisher information matrix and Cramer-Rao lower bound, the joint equivalent Fisher information matrix of the direction angle and elevation angle of the uniform planar antenna array can be obtained as:

Where |g| ² is the channel gain of the receiving antenna; M is the number of antenna elements in the vertical dimension of the antenna array; d _V is the distance between the antenna elements in the vertical dimension normalized by the antenna wavelength, for example, d _V = 0.5 means that the distance between the antenna elements in the vertical dimension is 0.5 times the antenna wavelength; N is the number of antenna elements in the horizontal dimension; d _H is the antenna element normalized by the antenna wavelength in the horizontal dimension Array element spacing, for example, d _H =0.5 means that the antenna element spacing in the horizontal dimension is 0.5 times the antenna wavelength; σ ² is the noise power of the receiving antenna; θ and φ are the true elevation and direction angles of the terminal.

If the antenna array is dual-polarized, that is, there are two antenna elements with different polarization directions at the same location, the channel gains of the two polarization directions can be combined into |g| ² .

Is a 2*2 matrix, the inverse of the matrix corresponds to

Right direction

The cross-covariance matrix of unbiased estimates, namely

among them,

with

For unbiased estimation of θ and φ, () ^T is the matrix transpose, E is the estimated value

The expectation, ≥ 0 means that the matrix is positive semi-definite. It is generally believed that an optimal unbiased estimator can make the equal sign true, that is, the cross-covariance matrix of the optimal estimator is equal to the inverse of the equivalent Fischer information matrix, namely

When N=1, the uniform planar antenna array degenerates into a uniform linear antenna array. Based on the uniform linear antenna array, only the equivalent Fisher information matrix of the direction angle and the elevation angle can be estimated. At this time, the joint equivalent of the direction angle and the elevation angle is Fisher. The upper left corner element of the information matrix, namely

In addition, if the angle transformation is considered, then the formula (1) can be changed to

If the angle transformation is considered, then formula (2) can be changed to

Based on the network architecture shown in FIG. 1a or FIG. 1b, the positioning method provided in the embodiment of the present application will be described in detail below. It should be noted that, during the introduction, the name of the information interacted between the network device and the positioning server, and the name of the information interacted between the terminal and the network device are used as examples, and do not constitute a limitation to the embodiment of the present application.

Please refer to FIG. 6, which is a schematic flow chart of the positioning method provided in this embodiment of the application. The flow may include but is not limited to the following steps:

Step 600: Determine the uplink positioning reference signal and network equipment.

Wherein, the uplink positioning reference signal may be an SRS, a preamble carried on a physical random access channel (PRACH), or other uplink signals that can be sent by the terminal.

The network device refers to a base station that can perform measurement based on the uplink positioning reference signal, obtain an angle measurement result, and report the angle measurement result to the positioning server, which may be referred to as a positioning network device in the embodiment of the present application. The positioning network device can be the serving base station of the terminal or the neighboring cell base station. A serving base station is a base station that provides services for the terminal, and can also be described as a serving cell base station or a base station in a serving cell. The neighboring cell base station is the base station in the cell adjacent to the serving cell, and the number of neighboring cell base stations can be multiple. It can be understood that the positioning network device may include a serving base station of the terminal and one or more neighboring cell base stations, or the positioning network device may include multiple neighboring cell base stations.

In a possible implementation manner, if the positioning server is the LMF in FIG. 1a, the LMF may negotiate with the serving base station of the terminal to determine the uplink positioning reference signal and multiple positioning network devices. Determining the uplink positioning reference signal is to determine which uplink positioning reference signal the positioning network device performs measurement according to, for example, the measurement is performed according to SRS. The determined multiple positioning network devices are selected from the serving base station and the neighboring cell base stations as the positioning network device. The multiple positioning network devices may or may not include the serving base station.

After determining the uplink positioning reference signal and multiple positioning network devices, the serving base station can determine the configuration information of the uplink positioning reference signal, and send the configuration information of the uplink positioning reference signal to multiple positioning network devices, so that multiple network devices can know that it is receiving In the case of the uplink positioning reference signal, it is necessary to perform measurement based on the uplink positioning reference signal to obtain the angle measurement result. The serving base station can directly send the configuration information of the uplink positioning reference signal to multiple positioning network devices. The serving base station may also send the configuration information of the uplink positioning reference signal to multiple positioning network devices via the LMF.

Optionally, when the LMF needs to determine the location of the terminal, it sends a request message to the serving base station of the terminal, where the request message is used to request the position of the angle measurement result of the network device. Upon receiving the request message, the serving base station may negotiate with the LMF to determine the uplink positioning reference signal and multiple positioning network devices.

Optionally, after the LMF and the serving base station determine the uplink positioning reference signal and multiple positioning network devices, the LMF sends a request message to the determined multiple positioning network devices, and the request message is used to request the angle measurement result of the positioning network device. After receiving the request message, the positioning network device may perform measurement according to the uplink positioning reference signal sent by the terminal to obtain an angle measurement result.

It should be noted that when the positioning server is the LMF, the interaction process between the LMF and the positioning network device is omitted from the AMF. In actual applications, the LMF uses the AMF and the positioning network device to realize the communication between the LMF and the positioning network device .

In a possible implementation, if the positioning server is the LMC in Figure 1b, then the base station integrating the LMC can be the serving base station of the terminal or the neighboring cell base station, which can be used as a positioning network device or Not as a positioning network device.

If the base station integrated with the LMC is the serving base station of the terminal, the serving base station can determine the uplink positioning reference signal and multiple positioning network devices, and the multiple positioning network devices may or may not include the serving base station. After determining the uplink positioning reference signal and multiple positioning network devices, the serving base station configures the configuration information of the uplink positioning reference signal, and sends the configuration information of the uplink positioning reference signal to multiple positioning network devices, so that multiple network devices know that it is receiving In the case of the uplink positioning reference signal, it is necessary to perform measurement based on the uplink positioning reference signal to obtain the angle measurement result.

Optionally, the base station integrated with the LMC is the serving base station of the terminal, and the serving base station may send a request message to multiple positioning network devices when the position of the terminal needs to be determined. The request message is used to request the angle measurement result of the positioning network device ; It is also possible not to send request messages to multiple positioning network devices. When multiple positioning network devices receive the configuration information of the uplink positioning reference signal, they need to report the angle measurement result to the serving base station by default.

If the base station with integrated LMC is a neighboring cell base station, then the base station with integrated LMC negotiates with the serving base station of the terminal to determine the uplink positioning reference signal and multiple positioning network devices. The multiple positioning network devices may include or not include integrated LMC base stations. The base station of LMC. After determining the uplink positioning reference signal and multiple positioning network devices, the serving base station can determine the configuration information of the uplink positioning reference signal, and send the configuration information of the uplink positioning reference signal to multiple positioning network devices, so that multiple network devices can know that it is receiving In the case of the uplink positioning reference signal, it is necessary to perform measurement based on the uplink positioning reference signal to obtain the angle measurement result. The serving base station can directly send the configuration information of the uplink positioning reference signal to multiple positioning network devices. The serving base station may also send the configuration information of the uplink positioning reference signal to multiple positioning network devices via the base station integrated with the LMC.

Optionally, the base station integrated with the LMC sends a request message to the serving base station of the terminal when the location of the terminal needs to be determined, and upon receiving the request message, the serving base station negotiates with the base station integrated with the LMC to determine the uplink positioning reference signal And multiple positioning network devices.

Optionally, after the base station integrated with the LMC and the serving base station determine the uplink positioning reference signal and multiple positioning network devices, the base station integrated with the LMC sends a request message to the determined multiple positioning network devices.

Step 601: The positioning server sends configuration information of the uplink positioning reference signal to the terminal. Correspondingly, the terminal receives the configuration information of the uplink positioning reference signal from the positioning server.

In the case that the serving base station sends the configuration information of the uplink positioning reference signal to multiple positioning network devices via the positioning server, the positioning server may not only send the configuration information of the uplink positioning reference signal to the multiple positioning network devices, but also send uplink to the terminal Positioning reference signal configuration information.

Step 602: The network device sends configuration information of the uplink positioning reference signal to the terminal. Correspondingly, the terminal receives the configuration information of the uplink positioning reference signal from the network device.

In the case where multiple positioning network devices include a serving base station, the serving base station may directly send configuration information of the uplink positioning reference signal to the terminal.

Optionally, in the case where multiple positioning network devices obtain the configuration information of the uplink positioning reference signal, the positioning network device may also send the configuration information of the uplink positioning reference signal to the terminal.

It should be noted that step 601 and step 602 can be executed alternatively or both.

Step 603: The terminal sends an uplink positioning reference signal to the network device. Correspondingly, the network device receives the uplink positioning reference signal from the terminal.

For the terminal, the received configuration information of the uplink positioning reference signal may come from a positioning server, may also come from a serving base station, may also come from a positioning network device, and may also come from a positioning server and a serving base station. The terminal does not care about which device the configuration information of the uplink positioning reference signal comes from, as long as it receives the configuration information of the uplink positioning reference signal, it sends the uplink positioning reference signal to the network device.

In a possible implementation, the terminal does not need to know which base stations are the positioning network equipment. The terminal can send the uplink positioning reference signal to both the serving base station and the neighboring cell base station. The positioning network equipment receives the configuration information of the uplink positioning reference signal and the uplink In the case of the positioning reference signal, measurement can be performed based on the uplink positioning reference signal to obtain the angle measurement result.

In a possible implementation manner, the terminal needs to know which base stations are positioning network devices, so that the terminal can send uplink positioning reference signals to these positioning network devices. Optionally, the configuration information of the uplink positioning reference signal may carry identification information of the positioning network equipment, so that the terminal can learn which base stations are the positioning network equipment. Optionally, the serving base station informs the terminal through other messages which base stations are positioning network devices. Optionally, the positioning server informs the terminal through other messages which base stations are positioning network devices. Among them, other messages refer to messages other than the configuration information of the uplink positioning reference signal.

The configuration information of the uplink positioning reference signal may indicate the type of the uplink positioning reference signal (for example, indicating that the uplink positioning reference signal is SRS), the time-frequency resource for transmitting the uplink positioning reference signal, and the antenna port for transmitting the uplink positioning reference signal. The terminal sends the uplink positioning reference signal to the network device according to the configuration information of the uplink positioning reference signal.

Step 604: The network device performs measurement according to the uplink positioning reference signal to obtain an angle measurement result.

When receiving the configuration information of the uplink positioning reference signal and the uplink positioning reference signal from the terminal, the network device performs measurement according to the uplink positioning reference signal to obtain an angle measurement result. For example, the uplink positioning reference signal is an SRS, and when the network device receives the configuration information of the SRS and the SRS sent by the terminal, it measures according to the received SRS to obtain the angle measurement result. The number of network devices is multiple, and each network device can perform measurement according to the uplink positioning reference signal to obtain a set of angle measurement results. The set of angle measurement results includes a set of angle information and a set of quality information.

In a first possible implementation manner, the angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array.

Wherein, the orientation of the receiving antenna array includes the elevation angle (θ _ref ) and the direction angle (φ _ref ) of the receiving antenna array. It is understandable that in this manner, the receiving antenna array of the network device is a uniform linear array (ULA), and the orientation of the ULA includes the elevation angle (θ _ref ) and the direction angle (φ _ref ) of the ULA, as shown in Figure 7 , The direction angle and pitch angle are based on the absolute coordinate system. In Figure 7, the small black dots represent a column of antenna elements in a uniform linear array, which can be expressed as (sinθ _ref cosφ _ref , sinθ _ref sinφ _ref , cosθ _ref ) in a three-dimensional space. The vector from the first antenna element to the nth antenna element in the array element can be expressed as ((n-1)dsinθ _ref cosθ _ref ,(n-1)dsinθ _ref sinφ _ref ,(n-1)dλcosθ _ref ), where d is the element spacing between two adjacent antenna elements, and λ is the carrier wavelength.

The angle between the direction of the terminal and the receiving antenna array is the angle between the direction of the terminal and the direction of the receiving antenna array. If the uplink positioning reference signal is SRS, that is, the direction of the SRS received by the network device is relative to the receiving antenna array. The angle of the direction. This can be expressed as an angle θ _'0.

When the receiving antenna array of the network device is ULA, there are several ways of quality information:

Method 1: The quality information includes the variance of the angle error, which can be expressed as

Exemplarily, the network device can be obtained according to the above formula (2)

The above formula (2) represents the upper left element of the joint equivalent Fisher information matrix of the direction angle and the pitch angle. The relationship between this element and the variance is: this element * variance = 1, then the network device obtains the value according to the formula (2)

Can be expressed as

Method 2: The quality information includes the variance of the angle cosine error, which can be expressed as

It can be understood that the variance of the angle cosine error is obtained by considering the angle transformation. Exemplarily, the network device can be obtained according to the above formula (4)

The above formula (4) is obtained by considering the angle transformation on the basis of formula (2), then the network equipment obtains according to formula (4)

Can be expressed as

In formula (5) and formula (6), γ is the equivalent signal-to-noise ratio of the antenna element. When the receiving antenna array is single-polarized, γ corresponds to the signal-to-noise ratio on each antenna element. When the receiving antenna array In the case of dual polarization, two polarization directions will be placed in the same position. At this time, γ corresponds to the sum of the signal-to-noise ratio of the antenna elements in the two polarization directions at the same position; M is the number of antenna elements in the receiving antenna array ; D _V represents the element spacing of the receiving antenna array, which is the element spacing normalized to the antenna wavelength, for example, d _V =0.5 means that the element spacing is 0.5 times the antenna wavelength.

Mode three, the quality information includes the equivalent signal-to-noise ratio of the antenna element, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array. Among them, the equivalent signal-to-noise ratio of the antenna element can be a linear value, for example, it can be expressed as γ; it can also be a logarithmic value, for example, it can be expressed as

The number of antenna elements of the receiving antenna array can be expressed as M; the element spacing of the receiving antenna array can be expressed as d _V , which is the element spacing normalized by the antenna wavelength, for example, d _V =0.5 means that the element spacing is 0.5 times the antenna wavelength.

When the receiving antenna array of the network device is a ULA, the network device may report one of the above three types of quality information and angle information as a set of angle measurement results to the positioning server. The above three types of quality information do not constitute a limitation to the embodiment of this application.

In the second possible implementation manner, the angle information includes the direction information of the receiving antenna array of the network device and the direction information of the terminal.

Wherein, the direction information of the receiving antenna array includes the horizontal direction angle (α) and the downtilt angle (β) of the receiving antenna array. It is understandable that in this way, the receiving antenna array of the network device is a uniform planar array (UPA), and the direction information of the UPA includes the horizontal direction angle (α) and the downtilt angle (β) of the UPA, as shown in Figure 8. , The horizontal direction angle and the downward tilt angle are based on the absolute coordinate system. In Figure 8, the gray area represents the panel where the UPA is located, and the arrows other than the arrows in the coordinate system represent the normal direction of the UPA, which is located in the space area formed by the x-axis, -z-axis, and y-axis. In Figure 8, α represents the angle between the projection of the UPA normal direction on the xoy plane and the x axis, β represents the angle between the UPA normal direction and the xoy plane, and the UPA normal direction can be represented by a three-dimensional space vector For (cosαcosβ, sinαcosβ, -sinβ). Generally, the normal direction of a panel includes both positive and negative directions. The normal direction of UPA in Figure 8 is the normal direction of the main radiation of the UPA. The normal direction of the main radiation has a larger energy of the antenna element on this side of the panel. , The normal direction of the other side panel is the normal direction of the backplane radiation. If the receiving antenna array is an omnidirectional antenna array element, the network device can choose a normal direction.

The direction information of the terminal includes the pitch angle and direction angle of the terminal. The direction information of the terminal may be based on the first coordinate system, that is, the absolute coordinate system, and the direction information of the terminal may be expressed as a pitch angle (θ ₀ ) and a direction angle (φ ₀ ). The direction information of the terminal can also be based on the second coordinate system, that is, the relative coordinate system. The second coordinate system is obtained by rotating according to the direction information of the UPA. The direction information of the terminal can be expressed as a pitch angle (θ' ₀ ) and a direction angle ( φ _'0).

Θ ₀ and φ ₀ in a first coordinate system, the relationship between the _{₀ θ '0} and φ' in the second coordinate system is:

_{_{θ '0 = arccos (cosβcosθ 0}} + sinβcos (φ 0 -α) sinθ 0)

_{_{φ '0 = angle (cosβsinθ 0}} cos (φ 0 -α) -sinβcosθ 0) + j (sin (φ 0 -α) sinθ 0)

Among them angle() is the argument of the plural number.

When the receiving antenna array of the network device is UPA, the quality information exists in the following ways:

Method 1: The quality information includes the cross-covariance matrix of the angle error, which can be expressed as ∑ ₁ , and the matrix size of ∑ ₁ is 2*2. ∑ ₁ represents the angle estimate

And true value

The cross-correlation of errors between

Exemplarily, the network device can obtain ∑ ₁ according to the above formula (1), namely

Manner 2: The quality information includes the error cross-covariance matrix of the angle trigonometric function transformation, which can be expressed as Σ ₂ , and the matrix size of Σ ₂ is 2*2. ∑ ₂ represents the angle estimator of the trigonometric function transformation

The cross-correlation of the error with the true value, namely

If the diagonal matrix [Sigma _2, the quality of the information may comprise two diagonal matrix elements of the main diagonal, i.e. E (cosθ _'0 -cosθ' _real) ^2, and _{_{E (sinθ '0 sinφ' 0}} -sinθ ' _True sinφ' _true ) ² .

Exemplarily, the network device can obtain ∑ ₂ according to the above formula (3), namely

Optionally, the quality information can include

with

That is, the main object element of formula (8).

In formula (7) and formula (8), γ is the equivalent signal-to-noise ratio of the antenna element; M is the number of antenna elements of the receiving antenna array in the vertical dimension; d _V represents the array of the receiving antenna array in the vertical dimension. The element spacing is the element spacing normalized by the antenna wavelength. For example, d _V =0.5 means that the element spacing in the vertical dimension is 0.5 times the antenna wavelength; N is the number of antenna elements of the receiving antenna array in the vertical dimension; d _H represents the element spacing of the receiving antenna array in the horizontal dimension, which is the element spacing normalized to the antenna wavelength, for example, d _H =0.5 means that the element spacing in the horizontal dimension is 0.5 times the antenna wavelength.

Mode 3: The quality information includes the equivalent signal-to-noise ratio of the antenna elements, the number of antenna elements in the vertical dimension of the receiving antenna array, the number of antenna elements in the horizontal dimension, the distance between the elements in the vertical dimension and the horizontal Array element spacing in dimension. Among them, the equivalent signal-to-noise ratio of the antenna element can be a linear value, for example, it can be expressed as γ; it can also be a logarithmic value, for example, it can be expressed as

The number of antenna elements in the vertical dimension of the receiving antenna array can be expressed as M; the element spacing in the vertical dimension can be expressed as d _V , which is the element spacing normalized by the antenna wavelength, for example, d _V ＝0.5 means array element The spacing is 0.5 times the antenna wavelength; the number of antenna elements in the horizontal dimension can be expressed as N; the element spacing in the horizontal dimension can be expressed as d _H , which is the normalized array element spacing of the antenna wavelength, for example, d _H = 0.5 means that the distance between the array elements is 0.5 times the antenna wavelength.

When the receiving antenna array of the network device is UPA, the network device may report one of the above three types of quality information and angle information as a set of angle measurement results to the positioning server. The above three types of quality information do not constitute a limitation to the embodiment of this application.

Step 605: The network device sends the angle measurement result to the positioning server. Correspondingly, the positioning server receives the angle measurement result from the network device.

Each network device can send the corresponding angle measurement result to the positioning server according to whether its receiving antenna array is ULA or UPA.

Step 606: The positioning server determines the position of the terminal according to the angle measurement result.

The positioning server receives the angle measurement results from each network device, and then receives multiple sets of angle measurement results, and determines the location of the terminal according to the multiple sets of angle measurement results. The positioning server calculates the weight of each group of angle measurement results for the location to be selected, and according to the weight of each group of angle measurement results, based on the Gaussian distribution probability density function modeling, finally determines the location of the terminal.

Assuming that the positioning network device receives I group of angle measurement results, I is a positive integer greater than 1, the angle measurement result sent by the i-th network device is the i-th group of angle measurement results, and the candidate position of the terminal is expressed as p=(x, y, z), the coordinates of the i-th network device can be expressed as (x _i , y _i , z _i ). These two coordinates are based on a three-dimensional rectangular coordinate system established with an arbitrary reference point as the origin. The x-axis of the coordinate system is the geographic true north direction, the y-axis is the geographic true west direction, and the z-axis is the dome direction. The distance between the location to be selected and the i-th network device can be expressed as r _i , and the pitch angle (θ) and direction angle (φ) of the terminal at the location to be selected are defined as follows:

φ=angle((xx _i )+j(yy _i ))

If the receiving antenna array of the i-th network device is ULA, define

_{_{_{c 'θ = sinθcosφsinθ ref cosφ ref}}} + sinθsinφsinθ ref sinφ ref + cosθcosθ ref

θ'=arccos(c' _θ )

_Wherein, c 'θ is the inner product of two vectors, the two vectors are (sinθcosφ, sinθsinφ, cosθ) and _{_{_{(sinθ ref cosφ ref, sinθ ref}}} sinφ ref, cosθ ref).

When the receiving antenna array is ULA, the quality information included in the i-th angle measurement result is the variance of the angle error

In the case of, the weight w _i (p) of the i-th angle measurement result for the candidate position can be expressed as

In the case that the receiving antenna array is ULA, the quality information included in the i-th group of angle measurement results is the variance of the angle cosine error

When the receiving antenna array is ULA, the quality information included in the i-th angle measurement result is the equivalent signal-to-noise ratio of the antenna element, the number of antenna elements M of the receiving antenna array, and the element spacing d of the receiving antenna array _In the case of _V , the weight w _i (p) of the i-th angle measurement result for the candidate position can be expressed as

or

Equation (9), (10) and (11), θ _'0 is the angle with respect to the orientation of the terminal of ULA, i.e. the angle with respect to the terminal information included in the angle of orientation of the receiving antenna array.

If the receiving antenna array of the i-th network device is UPA, define

θ’=arccos(cosβcosθ+sinβcos(φ-α)sinθ)

φ’=angle((cosβsinθcos(φ-α)-sinβcosθ)+j(sin(φ-α)sinθ)

When the angle information includes the direction information of the terminal, define

_{_{θ '0 = arccos (cosβcosθ 0}} + sinβcos (φ 0 -α) sinθ 0)

_{φ '0 = angle ((cosβsinθ} 0 cos (φ 0 -α) -sinβcosθ 0) + j (sin (φ 0 -α) sinθ 0)

In the case that the receiving antenna array is UPA, for the case where the quality information included in the i-th angle measurement result is the cross-covariance matrix ∑ ₁ , the weight w _i (p) of the i-th angle measurement result for the position to be selected can be expressed for

In the case that the receiving antenna array is UPA, for the case where the quality information included in the i-th angle measurement result is the error cross-covariance matrix ∑ ₂ of the angle trigonometric function transformation, the weight w of the i-th angle measurement result for the candidate position _i (p) can be expressed as

In the case that the receiving antenna array is UPA, the quality information included in the i-th angle measurement result is the equivalent signal-to-noise ratio of the antenna element, the number of antenna elements M of the receiving antenna array in the vertical dimension, and the horizontal dimension antenna array element number N, the array element spacing d _V in the vertical dimension and where the array element spacing d _H in the horizontal dimension, the i-th set of angles measurements weights for selected positions of the weight w _i (p) can be represented by for

or,

∑ ₁ in formulas (12) and (14) can be found in formula (7), and ∑ ₂ in formulas (13) and (14) can be found in formula (8).

The above i may indicate the i-th network device or the index of the network device. The weight of the i-th group of angle measurement results for the location to be selected can also be described as the weight of the i-th network device for the location to be selected, or the weight of the network device with index i for the location to be selected.

The positioning server receives the angle measurement results reported by multiple network devices, so that the equation for determining the position of the terminal is an overdetermined equation, that is, the number of equations is greater than the number of unknowns to be solved. The network equipment may have noise during the measurement process. The embodiment of the application calculates the weight of each group of angle measurement results for the position to be selected. The redundant angle measurement results can be used to reduce the error caused by noise, thereby improving the terminal position estimation. Accuracy. For example, if a certain group of angle measurement results have a larger weight for the candidate location, it can be considered more reliable and has a small error; a certain group of angle measurement results have a small weight for the candidate location, and the error can be considered large.

The positioning server calculates the weight of each group of angle measurement results for the candidate location, and finally determines the location of the terminal based on Gaussian distribution probability density function modeling.

Construct a function based on the Gaussian distribution probability density function:

Among them, f(p) is the prior probability density of the position p to be selected, and one of the values of f(p) is

Among them, ROI represents a region of interest (region of interest), that is, the region of the terminal location. The function of f(p) is to ensure that the coordinates of the position to be selected fall within the area of the terminal position. Because the coordinates of the location to be selected fall outside the range of the region, f(p)=0, so that c(p) will be filtered out in the subsequent optimization.

The positioning server solves the function p=arg max _p c(p) to obtain the position of the terminal. The positioning server can solve the position of the terminal based on algorithms such as gradient method and particle swarm optimization (PSO) algorithm.

It is understandable that, taking the gradient method as an example, the process of determining the position of the terminal by the positioning server is an iterative process. The positioning server may first randomly generate a first coordinate p _{1 of a} location to be selected, which is a three-dimensional vector. In a two-dimensional scene, the value representing the height of the terminal in the three-dimensional vector can be constrained to be a fixed value. Then calculate the weight of each group of angle measurement results against the first coordinate, and calculate the gradient of c(p) at p ₁

And generate the second coordinate

Where k is the preset step length. And so on until

Below a certain threshold, the position of the terminal is determined to be p _N. Taking the particle swarm optimization algorithm as an example, the positioning server determines the terminal position by randomly generating multiple particles, and each particle state corresponds to the coordinates of the location to be selected. By randomly shaking and evolving the particle state, it is possible to find all the particles that are evolving Make c(p) maximize the state to determine the optimal solution.

In the embodiment shown in Figure 6, the positioning server determines the weight of each network device for the location to be selected according to the angle measurement results (including angle information and quality information) reported by each network device. The weight determines the position of the terminal, so that the robustness of the angle estimation can be improved, thereby improving the positioning accuracy of the terminal position.

In the embodiment shown in FIG. 6, the network device reports the angle information and quality information to the positioning server, and the positioning server calculates the weight of each group of angle measurement results for the candidate location. As an optional embodiment, the positioning server may send the location to be selected to the network device, and the network device calculates the weight of the set of angle measurement results for the location to be selected based on the angle information and quality information obtained by the measurement, and reports to the positioning server Weights. When the positioning server receives the weights reported by each network device, it calculates the position of the terminal according to the constructed function c(p).

Corresponding to the methods given in the foregoing method embodiments, the embodiments of the present application also provide corresponding devices, and the devices include corresponding modules for executing the foregoing embodiments. The module can be software, hardware, or a combination of software and hardware.

Figure 9 shows a schematic diagram of a device. The device 800 may be a network device, a terminal, or a positioning server, a chip, a chip system, or a processor that supports the network device to implement the above method, or a chip that supports the terminal to implement the above method. , Chip system, or processor, etc., may also be a chip, chip system, or processor that supports the positioning server to implement the above method. The device can be used to implement the method described in the foregoing method embodiment, and for details, please refer to the description in the foregoing method embodiment.

The device 800 may include one or more processors 801, and the processor 801 may also be referred to as a processing unit, which may implement certain control functions. The processor 801 may be a general-purpose processor or a special-purpose processor. For example, it can be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processor can be used to control communication devices (such as base stations, baseband chips, terminals, terminal chips, DU or CU, etc.), execute software programs, and process Software program data.

In an optional design, the processor 801 may also store instructions and/or data 803, and the instructions and/or data 803 may be executed by the processor, so that the apparatus 800 executes the above method embodiments. Described method.

In another optional design, the processor 801 may include a transceiver unit for implementing receiving and sending functions. For example, the transceiver unit may be a transceiver circuit, or an interface, or an interface circuit. The transceiver circuits, interfaces, or interface circuits used to implement the receiving and sending functions can be separate or integrated. The foregoing transceiver circuit, interface, or interface circuit can be used for code/data reading and writing, or the foregoing transceiver circuit, interface, or interface circuit can be used for signal transmission or transmission.

In yet another possible design, the device 800 may include a circuit, which may implement the sending or receiving or communication functions in the foregoing method embodiments.

Optionally, the device 800 may include one or more memories 802, on which instructions 804 may be stored, and the instructions may be executed on the processor, so that the device 800 executes the foregoing method embodiments. Described method. Optionally, data may also be stored in the memory. Optionally, instructions and/or data may also be stored in the processor. The processor and memory can be provided separately or integrated together. For example, the corresponding relationship described in the foregoing method embodiment may be stored in a memory or in a processor.

Optionally, the device 800 may further include a transceiver 805 and/or an antenna 806. The processor 801 may be referred to as a processing unit, and controls the device 800. The transceiver 805 may be referred to as a transceiver unit, a transceiver, a transceiver circuit, or a transceiver, etc., for implementing the transceiver function.

In a possible design, the device 800 is a positioning server: the processor 801 is used to perform step 606 and step 606 in FIG. 6; the transceiver 805 is used to perform step 601 and step 605 in FIG. 6.

In a possible design, the apparatus 800 is a network device: the processor 801 is used to execute step 604 in FIG. 6; the transceiver 805 is used to execute step 602, step 603, and step 605 in FIG.

In a possible design, the device 800 is a terminal: the transceiver 805 is used to perform step 602 and step 603 in FIG. 6.

The processor and transceiver described in this application can be implemented in integrated circuit (IC), analog IC, radio frequency integrated circuit RFIC, mixed signal IC, application specific integrated circuit (ASIC), printed circuit board ( printed circuit board, PCB), electronic equipment, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), nMetal-oxide-semiconductor (NMOS), and P-type Metal Oxide Semiconductor (Positive Channel Metal Oxide Semiconductor, PMOS), Bipolar Junction Transistor (BJT), Bipolar CMOS (BiCMOS), Silicon Germanium (SiGe), Gallium Arsenide (GaAs), etc.

The device described in the above embodiment may be a positioning server, a network device, or a terminal, but the scope of the device described in this application is not limited to this, and the structure of the device may not be limited by FIG. 9. The device can be a standalone device or can be part of a larger device. For example, the device may be:

(1) Independent integrated circuit IC, or chip, or, chip system or subsystem;

(2) A collection with one or more ICs. Optionally, the IC collection may also include storage components for storing data and/or instructions;

(3) ASIC, such as modem (MSM);

(4) Modules that can be embedded in other equipment;

(5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handhelds, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.;

(6) Others, etc.

Figure 10 provides a schematic structural diagram of a terminal. For ease of description, FIG. 10 only shows the main components of the terminal. As shown in FIG. 10, the terminal 900 includes a processor, a memory, a control circuit, an antenna, and an input and output device. The processor is mainly used to process the communication protocol and communication data, and to control the entire terminal, execute the software program, and process the data of the software program. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used for the conversion of baseband signal and radio frequency signal and the processing of radio frequency signal. The antenna is mainly used to send and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, display screens, and keyboards, are mainly used to receive data input by users and output data to users.

After the terminal is turned on, the processor can read the software program in the storage unit, parse and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor performs baseband processing on the data to be sent, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit processes the baseband signal to obtain a radio frequency signal and sends the radio frequency signal out in the form of electromagnetic waves through the antenna. . When data is sent to the terminal, the radio frequency circuit receives the radio frequency signal through the antenna, the radio frequency signal is further converted into a baseband signal, and the baseband signal is output to the processor, and the processor converts the baseband signal into data and processes the data .

For ease of description, FIG. 10 only shows a memory and a processor. In an actual terminal, there may be multiple processors and memories. The memory may also be referred to as a storage medium or a storage device, etc., which is not limited in the embodiment of the present invention.

As an optional implementation, the processor may include a baseband processor and a central processing unit. The baseband processor is mainly used to process communication protocols and communication data. The central processing unit is mainly used to control the entire terminal and execute software. Programs, which process the data of software programs. The processor in FIG. 10 integrates the functions of the baseband processor and the central processing unit. Those skilled in the art can understand that the baseband processor and the central processing unit may also be independent processors and are interconnected by technologies such as buses. Those skilled in the art can understand that the terminal may include multiple baseband processors to adapt to different network standards, the terminal may include multiple central processors to enhance its processing capabilities, and various components of the terminal may be connected through various buses. The baseband processor can also be expressed as a baseband processing circuit or a baseband processing chip. The central processing unit can also be expressed as a central processing circuit or a central processing chip. The function of processing the communication protocol and communication data can be built in the processor, or can be stored in the storage unit in the form of a software program, and the processor executes the software program to realize the baseband processing function.

In an example, the antenna and the control circuit with the transceiving function can be regarded as the transceiving unit 911 of the terminal 900, and the processor with the processing function can be regarded as the processing unit 912 of the terminal 900. As shown in FIG. 10, the terminal 900 includes a transceiver unit 911 and a processing unit 912. The transceiver unit may also be referred to as a transceiver, a transceiver, a transceiver, and so on. Optionally, the device for implementing the receiving function in the transceiver unit 911 can be regarded as the receiving unit, and the device for implementing the sending function in the transceiver unit 911 as the sending unit, that is, the transceiver unit 911 includes a receiving unit and a sending unit. Exemplarily, the receiving unit may also be called a receiver, a receiver, a receiving circuit, etc., and the sending unit may be called a transmitter, a transmitter, or a transmitting circuit, etc. Optionally, the foregoing receiving unit and sending unit may be an integrated unit or multiple independent units. The above-mentioned receiving unit and sending unit may be in one geographic location, or may be scattered in multiple geographic locations.

As shown in FIG. 11, an embodiment of the present application provides another apparatus 1000. The device may be a positioning server, or a component of the positioning server (for example, an integrated circuit, a chip, etc.). The device may also be a network device, or a component of a network device (for example, an integrated circuit, a chip, etc.). The device may also be a terminal, or a component of the terminal (for example, an integrated circuit, a chip, etc.). The device may also be another communication module for implementing the method in the method embodiment of the present application. The device 1000 may include: a processing module 1002 (processing unit). Optionally, it may also include a transceiver module 1001 (transceiver unit) and a storage module 1003 (storage unit).

In a possible design, one or more modules as shown in FIG. 10 may be implemented by one or more processors, or by one or more processors and memories; or by one or more processors It can be implemented with a transceiver; or implemented by one or more processors, memories, and transceivers, which is not limited in the embodiment of the present application. The processor, memory, and transceiver can be set separately or integrated.

The device has the function of implementing the terminal described in the embodiment of this application. For example, the device includes a module or unit or means corresponding to the terminal to execute the steps described in the embodiment of this application. The function or unit is Means can be implemented through software, or through hardware, or through hardware execution of corresponding software, or through a combination of software and hardware. For details, please refer to the corresponding description in the foregoing corresponding method embodiment.

Or the device has the function of implementing the network device described in the embodiment of this application. For example, the device includes the module or unit or means corresponding to the network device executing the steps involved in the network device described in the embodiment of this application, The functions or units or means (means) can be realized by software, or by hardware, or by hardware executing corresponding software, or by a combination of software and hardware. For details, please refer to the corresponding description in the foregoing corresponding method embodiment.

Optionally, each module in the apparatus 1000 in the embodiment of the present application may be used to execute the method described in FIG. 6 in the embodiment of the present application.

For the case where the device 1000 is a positioning server:

The transceiver module 1001 is used to receive the angle measurement result from the network device, the angle measurement result includes angle information and quality information; the processing module 1002 is used to determine the position of the terminal according to the angle information and the quality information.

Optionally, the angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array; the orientation of the receiving antenna array includes the orientation of the receiving antenna array Pitch angle and direction angle.

Optionally, the quality information includes the variance of the angle error or the variance of the angle cosine error.

Optionally, the quality information includes the equivalent signal-to-noise ratio of the antenna element, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array.

Optionally, the angle information includes direction information of the receiving antenna array of the network device and direction information of the terminal, and the direction information of the receiving antenna array includes the horizontal direction angle and the downtilt angle of the receiving antenna array, The direction information of the terminal includes the pitch angle and the direction angle of the terminal.

Optionally, the direction information of the terminal is based on a first coordinate system or a second coordinate system, and the second coordinate system is obtained by rotating the first coordinate system according to the direction information of the receiving antenna array.

Optionally, the quality information includes the cross-covariance matrix of the angle error or the error cross-covariance matrix of the angle trigonometric function transformation.

Optionally, the quality information includes the signal-to-noise ratio of the antenna element, the number of antenna elements in the vertical dimension of the receiving antenna array, the number of antenna elements in the horizontal dimension, and the element spacing in the vertical dimension. And the element spacing in the horizontal dimension.

Optionally, the number of groups of the angle measurement result is K, the angle measurement result includes I group of angle information and I group of quality information, and I is a positive integer greater than one;

The processing module 1002 is configured to determine the position of the terminal according to the angle information and the quality information, specifically: according to the i-th group of angle information and the i-th group of quality information, determine that the i-th group of angle measurement results are for the position to be selected The weight of i is a positive integer greater than 1 and less than or equal to I; the position of the terminal is determined according to the weight of each group of angle measurement results for the candidate position.

Optionally, the transceiver module 1001 is further configured to send a request message to the network device, where the request message is used to request the angle measurement result.

Optionally, the transceiver module 1001, the transceiver, is also used to send configuration information of an uplink positioning reference signal to the terminal, and the configuration information of the uplink positioning reference signal is used by the terminal to send all the information to the network device. The uplink positioning reference signal.

For the case where the device 1000 is a network device:

The transceiver module 1001 is used to receive uplink positioning reference signals from the terminal;

The processing module 1002 is configured to perform measurement according to the uplink positioning reference signal to obtain an angle measurement result, where the angle measurement result includes angle information and quality information;

The transceiver module 1001 is also used to send the angle measurement result to the positioning server.

Optionally, the quality information includes the equivalent signal-to-noise ratio of the antenna elements, the number of antenna elements in the vertical dimension of the receiving antenna array, the number of antenna elements in the horizontal dimension, and the number of antenna elements in the vertical dimension. Element spacing and the element spacing in the horizontal dimension.

Optionally, the transceiver module 1001 is further configured to send configuration information of the uplink positioning reference signal to the terminal, and the configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning to the network device. Reference signal.

Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is realized by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art can use various methods to implement the described functions for each specific application, but such implementation should not be understood as going beyond the protection scope of the embodiments of the present application.

The technology described in this application can be implemented in various ways. For example, these technologies can be implemented in hardware, software, or a combination of hardware. For hardware implementation, the processing unit used to execute these technologies at a communication device (for example, a base station, a terminal, a network entity, or a chip) can be implemented in one or more general-purpose processors, digital signal processors, DSP), digital signal processing device, application specific integrated circuit (ASIC), programmable logic device, field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor Logic, discrete hardware components, or any combination of the above. The general-purpose processor may be a microprocessor, and optionally, the general-purpose processor may also be any traditional processor, controller, microcontroller, or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration achieve.

It can be understood that the memory in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), and electronic Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of exemplary but not restrictive description, many forms of RAM are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (synchlink DRAM, SLDRAM) ) And direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memories of the systems and methods described herein are intended to include, but are not limited to, these and any other suitable types of memories.

The present application also provides a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, the function of any of the foregoing method embodiments is realized.

This application also provides a computer program product, which, when executed by a computer, realizes the functions of any of the foregoing method embodiments.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. 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. For example, 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.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a 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, a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state disk, SSD)) etc.

A person of ordinary skill in the art can understand that the various digital numbers such as first and second involved in the present application are only for easy distinction for description, and are not used to limit the scope of the embodiments of the present application, but also indicate a sequence.

The corresponding relationships shown in the tables in this application can be configured or pre-defined. The value of the information in each table is only an example and can be configured to other values, which is not limited in this application. When configuring the correspondence between the information and the parameters, it is not necessarily required to configure all the correspondences indicated in the tables. For example, in the table in this application, the corresponding relationship shown in some rows may not be configured. For another example, appropriate deformation adjustments can be made based on the above table, such as splitting, merging and so on. The names of the parameters shown in the titles in the above tables may also be other names that can be understood by the communication device, and the values or expressions of the parameters may also be other values or expressions that can be understood by the communication device. When the above tables are implemented, other data structures can also be used, such as arrays, queues, containers, stacks, linear tables, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables. Wait.

The pre-definition in this application can be understood as definition, pre-definition, storage, pre-storage, pre-negotiation, pre-configuration, curing, or pre-fired.

A person of ordinary skill in the art may be aware that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the above-described system, device, and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A positioning method, characterized by comprising:

The positioning server receives an angle measurement result from the network device, where the angle measurement result includes angle information and quality information;

The positioning server determines the location of the terminal according to the angle information and the quality information.
The method according to claim 1, wherein the angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array; the receiving antenna array The orientation includes the elevation angle and the direction angle of the receiving antenna array.
The method according to claim 2, wherein the quality information includes the variance of the angle error or the variance of the angle cosine error.
The method according to claim 2, wherein the quality information includes the equivalent signal-to-noise ratio of the antenna element, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array.
The method according to claim 1, wherein the angle information includes direction information of a receiving antenna array of the network device and direction information of the terminal, and the direction information of the receiving antenna array includes the receiving antenna The horizontal direction angle and the downtilt angle of the array, and the direction information of the terminal includes the pitch angle and the direction angle of the terminal.
The method according to claim 5, wherein the direction information of the terminal is based on a first coordinate system or a second coordinate system, and the second coordinate system is rotated according to the direction information of the receiving antenna array. The first coordinate system is obtained.
The method according to claim 5, wherein the quality information comprises a cross-covariance matrix of angle errors or a cross-covariance matrix of errors of angle trigonometric function transformation.
The method according to claim 5, wherein the quality information includes the equivalent signal-to-noise ratio of antenna elements, the number of antenna elements of the receiving antenna array in the vertical dimension, and the antenna array in the horizontal dimension. The number of elements, the element spacing in the vertical dimension, and the element spacing in the horizontal dimension.
The method according to any one of claims 1-8, wherein the number of groups of the angle measurement result is I, and the angle measurement result includes I group of angle information and I group of quality information, and I is greater than 1. Positive integer;

The positioning server determining the position of the terminal according to the angle information and the quality information includes:

The positioning server determines the weight of the i-th group of angle measurement results for the position to be selected according to the i-th group of angle information and the i-th group of quality information, where i is a positive integer greater than 1 and less than or equal to 1;

The positioning server determines the position of the terminal according to the weight of each group of angle measurement results for the position to be selected.
The method according to any one of claims 1-8, wherein the method further comprises:

The positioning server sends a request message to the network device, where the request message is used to request the angle measurement result.
The method according to any one of claims 1-8, wherein the method further comprises:

The positioning server sends configuration information of the uplink positioning reference signal to the terminal, where the configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning reference signal to the network device.
A positioning method, characterized by comprising:

The network equipment receives the uplink positioning reference signal from the terminal;

The network device performs measurement according to the uplink positioning reference signal to obtain an angle measurement result, where the angle measurement result includes angle information and quality information;

The network device sends the angle measurement result to the positioning server.
The method according to claim 12, wherein the angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array; the receiving antenna array The orientation includes the elevation angle and the direction angle of the receiving antenna array.
The method according to claim 13, wherein the quality information includes the variance of the angle error or the variance of the angle cosine error.
The method according to claim 13, wherein the quality information includes an equivalent signal-to-noise ratio of the antenna element, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array.
The method according to claim 12, wherein the angle information includes the direction information of the receiving antenna array of the network device and the direction information of the terminal, and the direction information of the receiving antenna array includes the receiving antenna The horizontal direction angle and the downtilt angle of the array, and the direction information of the terminal includes the pitch angle and the direction angle of the terminal.
The method according to claim 16, wherein the direction information of the terminal is based on a first coordinate system or a second coordinate system, and the second coordinate system is rotated according to the direction information of the receiving antenna array. The first coordinate system is obtained.
The method according to claim 16, wherein the quality information comprises a cross-covariance matrix of angle errors or a cross-covariance matrix of errors transformed by an angle trigonometric function.
The method according to claim 16, wherein the quality information includes the equivalent signal-to-noise ratio of antenna elements, the number of antenna elements of the receiving antenna array in the vertical dimension, and the antenna array in the horizontal dimension. The number of elements, the element spacing in the vertical dimension, and the element spacing in the horizontal dimension.
The method according to any one of claims 12-19, wherein the method further comprises:

The network device sends the configuration information of the uplink positioning reference signal to the terminal, and the configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning reference signal to the network device.
A positioning device, characterized by comprising a processor and a transceiver;

The transceiver is configured to receive an angle measurement result from a network device, where the angle measurement result includes angle information and quality information;

The processor is configured to determine the location of the terminal according to the angle information and the quality information.
The apparatus according to claim 11, wherein the angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array; the receiving antenna array The orientation includes the elevation angle and the direction angle of the receiving antenna array.
The device according to claim 12, wherein the quality information comprises the variance of the angle error or the variance of the angle cosine error.
The apparatus according to claim 22, wherein the quality information includes an equivalent signal-to-noise ratio of antenna elements, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array.
The apparatus according to claim 21, wherein the angle information includes the direction information of the receiving antenna array of the network device and the direction information of the terminal, and the direction information of the receiving antenna array includes the receiving antenna The horizontal direction angle and downtilt angle of the array, and the direction information of the terminal includes the pitch angle and the direction angle of the terminal.
The apparatus according to claim 25, wherein the direction information of the terminal is based on a first coordinate system or a second coordinate system, and the second coordinate system is rotated according to the direction information of the receiving antenna array. The first coordinate system is obtained.
The device according to claim 25, wherein the quality information comprises a cross-covariance matrix of angle errors or a cross-covariance matrix of errors transformed by an angle trigonometric function.
The apparatus according to claim 25, wherein the quality information includes the signal-to-noise ratio of the antenna element, the number of antenna elements of the receiving antenna array in the vertical dimension, and the number of antenna elements in the horizontal dimension. , The distance between the elements in the vertical dimension and the distance between the elements in the horizontal dimension.
The device according to any one of claims 21-28, wherein the number of groups of the angle measurement result is K, and the angle measurement result includes I group of angle information and I group of quality information, and I is greater than 1. Positive integer;

The processor is configured to determine the position of the terminal according to the angle information and the quality information, specifically: according to the i-th group of angle information and the i-th group of quality information, determine the result of the i-th group of angle measurement for the position to be selected Weight, i is a positive integer greater than 1 and less than or equal to I; the location of the terminal is determined according to the weight of each group of angle measurement results for the candidate location.
The device according to any one of claims 21-28, wherein:

The transceiver is also used to send a request message to the network device, where the request message is used to request the angle measurement result.
The device according to any one of claims 21-28, wherein:

The transceiver is further configured to send configuration information of an uplink positioning reference signal to the terminal, where the configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning reference signal to the network device.
A positioning device, characterized by comprising a processor and a transceiver;

The transceiver is used to receive uplink positioning reference signals from the terminal;

The processor is configured to perform measurement according to the uplink positioning reference signal to obtain an angle measurement result, where the angle measurement result includes angle information and quality information;

The transceiver is also used to send the angle measurement result to the positioning server.
The apparatus according to claim 32, wherein the angle information includes the angle between the orientation of the receiving antenna array of the network device and the orientation of the terminal relative to the receiving antenna array; the receiving antenna array The orientation includes the elevation angle and the direction angle of the receiving antenna array.
The apparatus according to claim 33, wherein the quality information comprises a variance of an angle error or a variance of an angle cosine error.
The apparatus according to claim 33, wherein the quality information comprises an equivalent signal-to-noise ratio of antenna elements, the number of antenna elements of the receiving antenna array, and the element spacing of the receiving antenna array.
The apparatus according to claim 32, wherein the angle information includes direction information of a receiving antenna array of the network device and direction information of the terminal, and the direction information of the receiving antenna array includes the receiving antenna The horizontal direction angle and downtilt angle of the array, and the direction information of the terminal includes the pitch angle and the direction angle of the terminal.
The device according to claim 36, wherein the direction information of the terminal is based on a first coordinate system or a second coordinate system, and the second coordinate system is rotated according to the direction information of the receiving antenna array. The first coordinate system is obtained.
The device according to claim 36, wherein the quality information comprises a cross-covariance matrix of angle errors or a cross-covariance matrix of errors of angle trigonometric function transformation.
The apparatus according to claim 36, wherein the quality information includes an equivalent signal-to-noise ratio of antenna elements, the number of antenna elements of the receiving antenna array in the vertical dimension, and the antenna array in the horizontal dimension. The number of elements, the distance between the elements in the vertical dimension and the distance between the elements in the horizontal dimension.
The device according to any one of claims 32-39, wherein:

The transceiver is further configured to send configuration information of the uplink positioning reference signal to the terminal, where the configuration information of the uplink positioning reference signal is used by the terminal to send the uplink positioning reference signal to the network device.
A chip system, characterized in that the chip system includes at least one processor and an interface;

The interface is used to input an angle measurement result to the processor, the angle measurement result including angle information and quality information;

The processor is configured to determine the location of the terminal according to the angle information and the quality information.
A chip system, characterized in that the chip system includes at least one processor and an interface;

The interface is used to input an uplink positioning reference signal to the processor;

The processor is configured to perform measurement according to the uplink positioning reference signal to obtain an angle measurement result, where the angle measurement result includes angle information and quality information;

The interface is also used to output the angle measurement result.
A positioning system, characterized in that the positioning system includes a network device and a positioning server;

The network device is configured to receive an uplink positioning reference signal, perform measurement based on the uplink positioning reference signal, obtain an angle measurement result, and send the angle measurement result to the positioning server, the angle measurement result including angle information and quality information;

The positioning server is configured to determine the position of the terminal according to the angle information and the quality information.
A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the computer executes the method according to any one of claims 1 to 20.