WO2022116857A1

WO2022116857A1 - Positioning method and apparatus, electronic device and computer readable storage medium

Info

Publication number: WO2022116857A1
Application number: PCT/CN2021/131889
Authority: WO
Inventors: 张振宇; 达人; 任斌; 李刚; 方荣一; 秦娟; 孙韶辉
Original assignee: 大唐移动通信设备有限公司
Priority date: 2020-12-04
Filing date: 2021-11-19
Publication date: 2022-06-09
Also published as: CN114598987A

Abstract

The present application provides a positioning method and apparatus, an electronic device and a computer readable storage medium. The positioning method comprises: receiving a positioning measurement value sent by a positioning reference information receiver in a communication system, the positioning reference information receiver being a user equipment (UE) to be positioned or at least two base stations; obtaining a three-dimensional measurement distance between each base station and said UE on the basis of the positioning measurement value; and obtaining horizontal coordinates of said UE on the basis of each three-dimensional measurement distance, the three-dimensional coordinates of each base station and the height of said UE. According to the solution, the three-dimensional measurement distances between a plurality of base stations and said UE are obtained, and the horizontal coordinates of said UE are obtained on the basis of the plurality of three-dimensional measurement distances, the three-dimensional coordinates of the plurality of base stations and the height of said UE. Because of the addition of known information, i.e., the height of said UE, the solution improves the precision of two-dimensional positioning on the premise of ensuring the positioning performance compared with the prior art.

Description

Positioning method, apparatus, electronic device, and computer-readable storage medium

technical field

The present application relates to the field of communication technologies, and in particular, the present application relates to a positioning method, an apparatus, an electronic device, and a computer-readable storage medium.

Background technique

In a communication system, an existing user equipment positioning method includes: a two-dimensional positioning method in which two-dimensional TDOA (Time difference of Arrival, time difference of arrival) measurement values are used as input, and two-dimensional positioning information of the user equipment is output, and a three-dimensional TDOA A three-dimensional positioning method in which the measured value is used as an input, and the three-dimensional positioning information of the user equipment is output.

In many scenarios, the height of the user equipment (UE) (that is, the Z-axis coordinate in the three-dimensional coordinates) is known and fixed. For example, the height of an intelligent robot is 1.5 meters and is fixed. When positioning a user equipment that is known and fixed, people are more interested in its two-dimensional positioning, that is, they want to obtain its horizontal coordinates.

However, if the two-dimensional positioning method in the prior art is used to obtain the horizontal coordinates of the UE, it is necessary to obtain the corresponding two-dimensional TDOA measurement values from the three-dimensional TDOA measurement values, and then perform two-dimensional positioning to obtain the horizontal coordinates, which will reduce the positioning performance. . If the three-dimensional positioning method in the prior art is used to obtain the horizontal coordinates of the UE, it is necessary to convert the corresponding horizontal coordinates from the output three-dimensional positioning information, which may cause the obtained two-dimensional positioning information to be inaccurate.

SUMMARY OF THE INVENTION

The purpose of this application is to solve at least one of the above-mentioned technical defects, and the technical solutions provided by the embodiments of this application are as follows:

In a first aspect, an embodiment of the present application provides a positioning method, including:

receiving a positioning measurement value sent by a receiver of positioning reference information in the communication system, where the receiver of the positioning reference information is a user equipment (UE) to be positioned or at least two base stations;

Based on the positioning measurement value, obtain the three-dimensional measurement distance between each base station and the UE to be positioned;

Based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, the horizontal coordinates of the UE to be positioned are acquired.

In an optional embodiment of the present application, the positioning measurements include at least one of a time of arrival (TOA) measurement, a time difference of arrival (TDOA) measurement, a carrier phase measurement, and a differential carrier phase measurement.

In an optional embodiment of the present application, obtaining the horizontal coordinates of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, including:

Based on the corresponding error relationship between the three-dimensional calculated distance between each base station and the UE to be located and each three-dimensional measured distance, a corresponding first measurement equation is obtained, wherein each three-dimensional calculated distance is determined by the three-dimensional coordinates of the corresponding base station and the three-dimensional measured distance of the UE to be located. The coordinates are obtained by coordinate operation;

Based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, the horizontal coordinates of the UE to be positioned are obtained by calculating the first measurement equation.

In an optional embodiment of the present application, based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, the horizontal coordinates of the UE to be positioned are obtained by calculating the first measurement equation, including:

The first measurement equation is solved based on each 3D measurement distance, the height of the UE to be positioned, and the first measurement error value corresponding to each 3D measurement distance, and the first estimated horizontal coordinate of the UE to be positioned is obtained, where the first measurement error value is a preset value value;

Obtain a second measurement error value corresponding to each three-dimensional measurement distance based on the first estimated horizontal coordinate, the height of the UE to be positioned, and the three-dimensional coordinates of each base station;

Solve the first measurement equation again based on each three-dimensional measurement distance, the height of the UE to be positioned, and the second measurement error value corresponding to each three-dimensional measurement distance, to obtain the second estimated horizontal coordinate of the UE to be positioned;

The horizontal coordinates of the UE to be positioned are acquired based on the second estimated horizontal coordinates.

In an optional embodiment of the present application, acquiring the horizontal coordinates of the UE to be positioned based on the second estimated horizontal coordinates includes:

The second estimated horizontal coordinate is used as the horizontal coordinate of the UE to be positioned.

Obtain a corresponding second measurement equation based on the error relationship corresponding to the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;

Solve the second measurement equation based on the second estimated horizontal coordinates, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, to obtain a solution result of the second measurement equation;

Based on the solution result of the second measurement equation, the horizontal coordinates of the UE to be positioned are acquired.

In an optional embodiment of the present application, obtaining the horizontal coordinates of the UE to be positioned based on the solution result of the second measurement equation, including:

Determine the sign of the horizontal coordinate of the UE to be positioned based on the sign of the second estimated horizontal coordinate;

Based on the solution result of the second measurement equation, obtain the size of the horizontal coordinate of the UE to be positioned;

Based on the sign and size of the horizontal coordinates of the UE to be positioned, the horizontal coordinates of the UE to be positioned are obtained.

In a second aspect, an embodiment of the present application provides a positioning device, including:

The positioning measurement value receiving module is used to receive the positioning measurement value sent by the positioning reference information receiver in the communication system, and the positioning reference information receiver is the user equipment (UE) to be positioned or at least two base stations;

a three-dimensional measurement distance acquisition module, used for acquiring the three-dimensional measurement distance between each base station and the UE to be located based on the positioning measurement value;

The horizontal coordinate acquisition module is configured to acquire the horizontal coordinates of the UE to be located based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be located.

In an optional embodiment of the present application, the horizontal coordinate acquisition module includes: a first measurement equation acquisition sub-module and a horizontal coordinate acquisition sub-module, wherein:

The first measurement equation obtaining sub-module is configured to obtain the corresponding first measurement equation based on the corresponding error relationship between the three-dimensional calculated distance between each base station and the UE to be located and each three-dimensional measured distance, wherein each three-dimensional calculated distance is determined by the corresponding three-dimensional calculated distance. The three-dimensional coordinates of the base station and the three-dimensional coordinates of the UE to be located are obtained by coordinate operation;

The horizontal coordinate acquisition sub-module is configured to obtain the horizontal coordinates of the UE to be located by calculating the first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be located.

In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is specifically used for:

In an optional embodiment of the present application, the horizontal coordinate acquisition sub-module is further used for:

In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor;

A computer program is stored in the memory;

The processor is configured to execute the computer program to implement the method provided in the embodiment of the first aspect or any optional embodiment of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the first aspect embodiment or any one of the first aspect is implemented Methods provided in alternative embodiments.

The beneficial effects brought by the technical solution provided by the application are:

By acquiring the three-dimensional measurement distances between multiple base stations and the UE to be located, and then obtaining the horizontal coordinates of the UE to be located based on the multiple three-dimensional measured distances, the three-dimensional coordinates of the multiple base stations, and the height of the UE to be located. Compared with the known information of the height of the UE, this solution improves the accuracy of two-dimensional positioning on the premise of ensuring the positioning performance.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments of the present application.

1 is a schematic flowchart of a positioning method according to an embodiment of the present application;

FIG. 2 is a structural block diagram of a positioning device according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed ways

The following describes in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, but not to be construed as limiting the present invention.

It will be understood by those skilled in the art that the singular forms "a", "an", "the" and "the" as used herein can include the plural forms as well, unless expressly stated otherwise. It should be further understood that the word "comprising" used in the specification of this application refers to the presence of stated features, integers, steps, operations, elements and/or components, but does not preclude the presence or addition of one or more other features, Integers, steps, operations, elements, components and/or groups thereof. It will be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Furthermore, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combination of one or more of the associated listed items.

In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a positioning method provided by an embodiment of the present application. As shown in FIG. 1 , the method may include:

Step S101: Receive a positioning measurement value sent by a receiver of positioning reference information in a communication system, where the receiver of the positioning reference information is a user equipment (UE) to be positioned or at least two base stations.

Wherein, in the communication system, the positioning of the UE may be implemented by sending and receiving positioning reference information between a base station and a UE (User Equipment, user equipment). In specific implementation, the sender of the positioning reference information may be a base station or a UE, that is, when the sender of the positioning reference information is each base station, the receiver of the positioning reference information is the UE (ie, in a downlink scenario), and the sender of the positioning reference information is the UE , the receiver of the positioning reference information is each base station (ie, the uplink scenario). After receiving the positioning reference information, the receiver of the positioning reference information obtains the corresponding positioning measurement value according to the configuration information of the positioning reference information received in advance, and sends the positioning measurement value to the corresponding positioning server in the communication system. It can be understood that, the execution body of the embodiment of the present application may be the above-mentioned positioning server.

Step S102, based on the positioning measurement value, obtain the three-dimensional measurement distance between each base station and the UE to be positioned.

Specifically, the positioning server may receive at least two positioning measurement values, and each positioning measurement value corresponds to a three-dimensional measurement distance between a base station and the UE to be positioned, so the three-dimensional measurement distance between at least two base stations and the UE to be positioned is obtained here. Measure distance.

Step S103: Obtain the horizontal coordinates of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned.

Specifically, since the three-dimensional coordinates (including horizontal coordinates and heights) of multiple base stations, the three-dimensional measurement distances from multiple base stations to the UE to be located, and the height of the UE to be located are all known, the relationship between the multiple base stations and the UE to be located can be determined based on the The relationship between the three-dimensional measurement distance and the three-dimensional calculated distance (that is, obtained by coordinate operation), obtain the corresponding measurement equation. In this measurement equation, only the horizontal coordinates of the UE to be located are unknown, so solving the measurement equation can get the UE to be located. Horizontal coordinates.

In the solution provided by this application, the three-dimensional measurement distances between multiple base stations and the UE to be located are obtained, and then the horizontal coordinates of the UE to be located are obtained based on the multiple three-dimensional measured distances, the three-dimensional coordinates of the multiple base stations, and the height of the UE to be located. , since the known information of the height of the UE to be positioned is added, the solution improves the accuracy of two-dimensional positioning compared with the prior art on the premise of ensuring positioning performance.

In an optional embodiment of the present application, the positioning measurement value includes a time of arrival TOA (Time of Arrival) measurement value, a time difference of arrival (TDOA) measurement value, a carrier phase measurement value, and a differential carrier phase measurement value. at least one of.

Specifically, in the communication system, the sender (base station (BS, Base Station) or UE) can be configured to send two or more carrier frequencies in addition to the traditional PRS (Positioning Reference Signal) configuration for sending carrier phase positioning signals. Carrier phase reference signal (C-PRS, Carrier phase Positioning Reference Signal); in FDD (Frequency Division Duplexing, frequency division duplexing) mode, for example, the first and last RE (Resource Element) of a carrier with a bandwidth of 100MHz can also be used , resource particle) to send C-PRS. The positioning measurement value corresponding to the traditional PRS includes the TOA measurement value or the TDOA measurement value, and the positioning measurement value corresponding to the C-PRS is the carrier phase measurement value or the differential carrier phase measurement value.

It should be noted that there are the following basic methods for positioning using TOA measurements, TDOA measurements, carrier phase measurements or differential carrier phase measurements:

(1) Non-differential mode: The UE position is calculated directly using the TOA measurement value, the TDOA measurement value and the carrier phase measurement value without using the differential technique.

(2) Differential method: First, differentiate the TOA measurement value or the carrier phase measurement value to eliminate some common deviations in the measurement value, and then use the TDOA measurement value or differential carrier phase measurement value obtained after the difference to calculate the UE position. There are two types of differential methods: single differential and double differential.

Single differential mode: select a sender (or receiver) as the reference terminal, and then differentiate the measured values related to other senders (or receivers) with the measured values related to the reference terminal. The purpose of single-difference is to eliminate measurement bias on one side (receiver or sender). Double-difference mode: The measured values after the single-difference mode are differentiated again to eliminate measurement errors related to the sender and receiver at the same time, such as the clock offset of the BS and the UE. For example, the double differential technique can be used in downlink positioning scenarios. At this time, there are multiple senders (base stations) and two receivers, one of which is a reference receiver whose position is known. Another recipient is a UE whose location is unknown. At this time, the two receivers receive the positioning signal sent by the base station at the same time, and use the double differential technique to eliminate the common errors related to the transmitter and receiver in the measurement values of the two receivers, and then accurately calculate the unknown receiver. s position.

Specifically, it can be understood that the three-dimensional calculated distance between each base station and the UE to be located can be obtained through coordinate operations, and the difference between the three-dimensional calculated distance and the corresponding three-dimensional measurement value is equal to the prediction error, so it can be calculated according to The above relationship establishes a corresponding first measurement equation, and in this equation, only the horizontal coordinate position of the UE to be located is unknown, so this equation can be solved based on the known multiple three-dimensional measurement distances, the three-dimensional coordinates of multiple base stations, and the height of the UE to be located. The first measurement equation.

The above solution process will be described in detail below through a specific calculation example.

First, define the parameters involved in this example:

s _i =(x _i , y _i , z _i ) ^T , i=(1,...,M) are the three-dimensional coordinates of the i-th base station among the M base stations participating in the positioning.

s _u =(x _u , _yu , _zu ) ^T is the three-dimensional coordinates of the UE to be positioned, wherein _zu is the height coordinate of the user, which is known in advance.

Calculate the three-dimensional distance between the UE and the i-th base station, in meters.

y _i is the three-dimensional measurement distance between the UE and the ith base station, in meters. The relationship between s _i and y _i can be expressed as:

y _i =s _i +wi _i

Among them, w _i is the measurement error corresponding to y _i , which can usually be expressed as Gaussian white noise

The unit is meters.

r _i =(x _i , y _i ) ^T , i=(1,...,M) is the horizontal coordinate of the ith base station.

r _u =(x _u , y _u ) ^T is the horizontal coordinate of the UE to be positioned.

Calculate the two-dimensional distance between the UE and the ith base station, in meters.

Then, the example uses the differentially processed positioning measurement value, then the three-dimensional measurement distance obtained from the positioning measurement value is as follows:

y _ij =s _ij +w _ij (i=1,2,...,M) (1)

y _ij =y _i -y _j ; s _ij =s _i -s _j ; w _ij = _wi -w _j (2)

Among them, y _j is the three-dimensional measurement distance of the reference base station during differential processing. For example, the first base station can be used as the reference base station, then formula (1) can be expressed as:

y=s+w (3)

in:

Then, the corresponding first measurement equation is constructed according to the above definition and derivation:

According to s _i =‖s _i -s _u ‖, take the square and expand to get:

Will

Substituting into formula (5), we get:

Substitute i=1 into formula (5) and subtract it from formula (7), we can get:

Assumption

is an unknown vector, where r _u is the horizontal coordinate of the UE to be positioned, and s ₁ is the three-dimensional measurement distance between the UE to be positioned and the first base station. Considering the measurement error corresponding to each three-dimensional measurement distance, it can be determined according to formula (8) The following first measurement equation is obtained:

in:

Q ₁ =B ₁ QB ₁ ,B ₁ =2diag{[s ₂ ,s ₃ ,…s _M ]}; s _i =‖s _i -s _u ‖ (12)

Finally, based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, the horizontal coordinates of the UE to be positioned are calculated through the first measurement equation (ie, formula (9)).

The least squares solution of Equation (9) can be expressed as:

Following the example, the solution process of the first measurement equation will be described in detail.

First, it is assumed that the weighting matrix B ₁ is a unit diagonal matrix, that is, it is assumed that the measurement error corresponding to each three-dimensional measurement distance is 1 (that is, the first measurement error value. It can be understood that the preset measurement error value can also be set to other values ), solve the first measurement equation based on each three-dimensional measurement distance, the height of the UE to be positioned, and the first measurement error value corresponding to each three-dimensional measurement distance, and obtain the first estimated horizontal coordinate, that is, the position of the UE to be positioned is preliminarily estimated.

Specifically, B ₁ contains real source location information, but is unknown. First, B ₁ can be set as the identity matrix for least squares solution to get

That is, the first estimated horizontal coordinate can be expressed as:

Q(0) ₁ =B(0) ₁ QB(0) ₁ ,B(0) ₁ =2diag{[1,1,...1]}

Then, based on the first estimated horizontal coordinates, the height of the UE to be positioned, and the three-dimensional coordinates of each base station, a second measurement error value corresponding to each three-dimensional measurement distance is obtained, and then based on each three-dimensional measurement distance, the height of the UE to be positioned, and each The first measurement equation is solved for the second measurement error value corresponding to the three-dimensional measurement distance, and the second estimated horizontal coordinate of the UE to be located is obtained, that is, the weighted matrix B ₁ is further set according to the preliminary estimated position of the UE to be located, and the more Accurate UE location to be located.

Specifically, after obtaining the first estimated horizontal coordinates of the UE to be positioned, the estimated position of the UE to be positioned can be obtained in combination with the height of the UE to be positioned

and through

way to compute the diagonal elements _of B1. At this point there are:

Then calculate the second estimated horizontal coordinate of the UE to be located according to formula (9):

The second estimated horizontal coordinate is used as the horizontal coordinate of the UE to be located.

Specifically, if the estimation error is not considered, the above-mentioned second estimated horizontal coordinate may be used as the horizontal coordinate of the UE to be located.

Then, in order to further improve the accuracy of the horizontal coordinates of the UE to be located, the present application can also locate the UE to be located on the basis of the second estimated horizontal coordinates.

Obtaining a corresponding second measurement equation based on the error relationship corresponding to the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;

Continuing the example, first, based on the

Including the horizontal coordinates of the UE to be located

and the corresponding estimation error

The relationship between is obtained by the following formula:

in:

at the same time:

So we get:

higher-order errors are discarded

After the corresponding term, the second measurement equation is obtained:

in:

Finally, the solution result of the second measurement equation

It can be obtained by the following least squares solution:

Then, according to the result obtained by formula (22), the horizontal coordinates of the UE to be located can be further obtained. Depend on

form (with

It can be known that to obtain the horizontal coordinates of the UE to be located, it is necessary to

Take the square root and change.

Specifically, since the second estimated horizontal coordinates have relatively low accuracy compared to the horizontal coordinates of the UE to be located, the signs of the two are the same. Then, based on the sign of the second estimated horizontal coordinate, the sign of the horizontal coordinate of the UE to be positioned is determined, that is, the sign of the second estimated horizontal coordinate is determined as the sign of the horizontal coordinate of the UE to be positioned.

To sum up, the positioning method provided by the embodiments of the present application may include the following steps:

(1) The sender (BS or UE) in the communication system is configured to send traditional PRS, or configure two or more carrier frequencies to send C-PRS, while the sender (BS or UE) sends the corresponding PRS or C-PRS The configuration information is sent to the positioning server.

Among them, for the UE positioning method based on the downlink positioning reference signal, such as OTDOA (Observed Time Difference of Arrival, observed time difference of arrival), the BS is the sender; for the UE positioning method based on the uplink positioning reference signal, such as UTDOA ( Uplink Observed Time Difference of Arrival, the UE is the sender.

(2) The positioning server sends the configuration information corresponding to the PRS or the C-PRS to the receiver (BS or UE) of the PRS or the C-PRS, respectively.

(3) The sender (BS or UE) sends PRS or C-PRS respectively according to the configuration corresponding to the PRS or C-PRS, wherein the C-PRS is sent on two or more carrier frequencies.

(4) The receiver receives the PRS or C-PRS according to the configuration of the received PRS or C-PRS, respectively, and obtains the TOA and the carrier phase measurement value; wherein, for the carrier phase positioning, when converting the three-dimensional measurement value, it is necessary to calculate The integer ambiguity of the corresponding carrier phase measurement to ensure that the carrier phase and the integer ambiguity can constitute TOA/TDOA measurements.

(5) The receiver reports the value obtained after measuring the PRS or C-PRS to the positioning server. If the receiver is a UE, the measurement value reported by the receiver may be a TOA measurement value or a carrier phase measurement value without differentiation, or a TDOA measurement value or a single-difference carrier phase measurement value after a single difference.

(6) The positioning server performs processing according to the solution provided by the present application according to the positioning measurement value reported by the receiver. That is, based on the positioning measurement value, the 3D measurement distance between each base station and the UE to be positioned is obtained, and then the horizontal coordinates of the UE to be positioned are obtained based on each 3D measurement distance, the 3D coordinates of each base station and the height of the UE to be positioned.

FIG. 2 is a structural block diagram of a positioning device provided by an embodiment of the present application. As shown in FIG. 2 , the device 200 may include: a positioning measurement value receiving module 201, a three-dimensional measurement distance obtaining module 202, and a horizontal coordinate obtaining module 203, wherein :

The positioning measurement value receiving module 201 is used for receiving the positioning measurement value sent by the positioning reference information receiver in the communication system, and the positioning reference information receiver is the user equipment to be positioned (UE) or at least two base stations;

The three-dimensional measurement distance obtaining module 202 is configured to obtain the three-dimensional measurement distance between each base station and the UE to be positioned based on the positioning measurement value;

The horizontal coordinate obtaining module 203 is configured to obtain the horizontal coordinates of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned.

The first measurement equation is solved based on each 3D measurement distance, the height of the UE to be positioned, and the first measurement error value corresponding to each 3D measurement distance, and the first estimated horizontal coordinate of the UE to be positioned is obtained, where the first measurement error value is a preset value ;

Based on each three-dimensional measurement distance, the height of the UE to be positioned, and the second measurement error value corresponding to each three-dimensional measurement distance, the first measurement equation is solved again to obtain the second estimated horizontal coordinate of the UE to be positioned;

Based on the same principle, an embodiment of the present application also provides an electronic device, the electronic device includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it realizes The method provided in any optional embodiment of the present application can specifically implement the following situations:

Receive the positioning measurement value sent by the positioning reference information receiver in the communication system, and the positioning reference information receiver is the user equipment (UE) to be positioned or at least two base stations; Measure the distance; obtain the horizontal coordinates of the UE to be located based on the three-dimensional measured distances, the three-dimensional coordinates of each base station, and the height of the UE to be located.

An embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, the method shown in any embodiment of the present application is implemented.

It can be understood that the computer program stored in the medium may be a computer program corresponding to the data transmission method.

FIG. 3 shows a schematic structural diagram of an electronic device to which an embodiment of the present application is applied. As shown in FIG. 3 , the electronic device 300 shown in FIG. 3 includes a processor 301 and a memory 303 . The processor 301 is connected to the memory 303 , for example, through a bus 302 . Further, the electronic device 300 may further include a transceiver 304 , and the electronic device 300 may perform data interaction with other electronic devices through the transceiver 304 . It should be noted that in practical applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation to the embodiments of the present application.

The processor 301 is applied in the embodiments of the present application, and may be used to implement the function of the positioning apparatus shown in FIG. 2 .

The processor 301 may be a CPU, general purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It may implement or execute the various exemplary logical blocks, modules and circuits described in connection with this disclosure. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

The bus 302 may include paths to communicate information between the above-described components. The bus 302 may be a PCI bus, an EISA bus, or the like. The bus 302 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in FIG. 3, but it does not mean that there is only one bus or one type of bus.

The memory 303 can be ROM or other types of static storage devices that can store static information and instructions, RAM or other types of dynamic storage devices that can store information and instructions, or can be EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being executed by a computer Access any other medium without limitation.

The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301 . The processor 301 is configured to execute the application program code stored in the memory 303, so as to realize the action of the positioning apparatus provided by the embodiment shown in FIG. 2 .

The technical solutions provided in the embodiments of the present application can be applied to various systems, especially 5G systems. For example, applicable systems may be global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) general packet Wireless service (general packet radio service, GPRS) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, Long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (New Radio, NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (Evloved Packet System, EPS), a 5G system (5GS), and the like.

The terminal device involved in the embodiments of the present application may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing device connected to a wireless modem. In different systems, the name of the terminal device may be different. For example, in the 5G system, the terminal device may be called user equipment (User Equipment, UE). Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a radio access network (Radio Access Network, RAN). "telephone) and computers with mobile terminal equipment, eg portable, pocket-sized, hand-held, computer-built or vehicle-mounted mobile devices, which exchange language and/or data with the radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (Personal Digital Assistants), PDA) and other devices. Wireless terminal equipment may also be referred to as system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point , a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in the embodiments of the present application.

It should be understood that although the various steps in the flowchart of the accompanying drawings are sequentially shown in the order indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order and may be performed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution sequence is also It does not have to be performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of sub-steps or stages of other steps.

The above are only part of the embodiments of the present application. It should be pointed out that for those skilled in the art, some improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as The protection scope of this application.

Claims

A positioning method, wherein the method comprises:

receiving a positioning measurement value sent by a receiver of positioning reference information in the communication system, where the receiver of the positioning reference information is the user equipment UE or at least two base stations to be positioned;

Based on the positioning measurement value, obtain the three-dimensional measurement distance between each base station and the UE to be positioned;

Based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, the horizontal coordinates of the UE to be positioned are acquired.
The method of claim 1, wherein the positioning measurements include at least one of a time of arrival TOA measurement, a time difference of arrival TDOA measurement, a carrier phase measurement, and a differential carrier phase measurement.
The method according to claim 1 or 2, wherein the obtaining the horizontal coordinates of the UE to be positioned based on each three-dimensional measurement distance, the three-dimensional coordinates of each base station and the height of the UE to be positioned comprises:

Based on the corresponding error relationship between the three-dimensional calculated distance between each base station and the UE to be located and each three-dimensional measured distance, a corresponding first measurement equation is obtained, wherein each three-dimensional calculated distance is determined by the three-dimensional coordinates of the corresponding base station and the undetermined The three-dimensional coordinates of the UE are obtained through coordinate operations;

Based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, the horizontal coordinates of the UE to be positioned are obtained by calculating through the first measurement equation.
The method according to claim 3, wherein the horizontal coordinates of the UE to be located are obtained by calculating the first measurement equation based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be located. ,include:

The first measurement equation is solved based on each three-dimensional measurement distance, the height of the UE to be positioned, and the first measurement error value corresponding to each three-dimensional measurement distance, and the first estimated horizontal coordinate of the UE to be positioned is obtained, wherein the The first measurement error value is a preset value;

Based on the first estimated horizontal coordinates, the height of the UE to be positioned, and the three-dimensional coordinates of each base station, obtain a second measurement error value corresponding to each three-dimensional measurement distance;

Based on each three-dimensional measurement distance, the height of the UE to be positioned, and the second measurement error value corresponding to each three-dimensional measurement distance, the first measurement equation is solved again to obtain the second estimated horizontal coordinate of the UE to be positioned;

The horizontal coordinates of the UE to be positioned are acquired based on the second estimated horizontal coordinates.
The method according to claim 4, wherein the obtaining the horizontal coordinates of the UE to be positioned based on the second estimated horizontal coordinates comprises:

The second estimated horizontal coordinate is used as the horizontal coordinate of the UE to be located.
The method according to claim 4, wherein the obtaining the horizontal coordinates of the UE to be positioned based on the second estimated horizontal coordinates comprises:

Obtaining a corresponding second measurement equation based on the corresponding error relationship between the second estimated horizontal coordinate and the horizontal coordinate of the UE to be positioned;

Solve the second measurement equation based on the second estimated horizontal coordinates, the three-dimensional coordinates of each base station, and the height of the UE to be positioned, to obtain a solution result of the second measurement equation;

Based on the solution result of the second measurement equation, the horizontal coordinates of the UE to be positioned are acquired.
The method according to claim 6, wherein, obtaining the horizontal coordinates of the UE to be located based on the solution result of the second measurement equation, comprising:

Determine the sign of the horizontal coordinate of the UE to be positioned based on the sign of the second estimated horizontal coordinate;

Based on the solution result of the second measurement equation, obtain the size of the horizontal coordinate of the UE to be positioned;

Based on the sign and size of the horizontal coordinates of the UE to be positioned, the horizontal coordinates of the UE to be positioned are obtained.
A positioning device, wherein the device comprises:

a positioning measurement value receiving module, configured to receive a positioning measurement value sent by a receiver of positioning reference information in the communication system, where the receiver of the positioning reference information is the user equipment UE or at least two base stations to be positioned;

a three-dimensional measurement distance obtaining module, configured to obtain the three-dimensional measurement distance between each base station and the UE to be positioned based on the positioning measurement value;

A horizontal coordinate obtaining module is configured to obtain the horizontal coordinates of the UE to be positioned based on the three-dimensional measurement distances, the three-dimensional coordinates of each base station, and the height of the UE to be positioned.
An electronic device, wherein the electronic device includes a memory and a processor;

A computer program is stored in the memory;

The processor for executing the computer program to implement the method of any one of claims 1 to 7.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method of any one of claims 1 to 7 is implemented.