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WO2023226816A1 - Procédé de positionnement, et dispositif, station de base, appareil de positionnement et support de stockage lisible par processeur - Google Patents

Procédé de positionnement, et dispositif, station de base, appareil de positionnement et support de stockage lisible par processeur Download PDF

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Publication number
WO2023226816A1
WO2023226816A1 PCT/CN2023/094364 CN2023094364W WO2023226816A1 WO 2023226816 A1 WO2023226816 A1 WO 2023226816A1 CN 2023094364 W CN2023094364 W CN 2023094364W WO 2023226816 A1 WO2023226816 A1 WO 2023226816A1
Authority
WO
WIPO (PCT)
Prior art keywords
error
assistance information
positioning
positioning assistance
terminal device
Prior art date
Application number
PCT/CN2023/094364
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English (en)
Chinese (zh)
Inventor
田晓阳
全海洋
李健翔
Original Assignee
大唐移动通信设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 大唐移动通信设备有限公司 filed Critical 大唐移动通信设备有限公司
Publication of WO2023226816A1 publication Critical patent/WO2023226816A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices

Definitions

  • the present disclosure relates to the field of communication technology, and more specifically, to a positioning method, equipment, a base station, a positioning device and a processor-readable storage medium.
  • positioning technology is also widely used in various industries. Various positioning methods emerge in endlessly, and different positioning methods usually need to support positioning integrity functions.
  • Positioning integrity is a measure of trust in the accuracy of location-related data and the ability to provide alerts. If the positioning integrity function is not supported, the positioning server or terminal device may use untrusted measurement results to calculate the position, causing Inaccurate positioning results reduce positioning accuracy, so it is crucial to support positioning integrity functions.
  • the present disclosure provides a positioning method, equipment, base station, positioning device and processor-readable storage medium, which solves the problem that the positioning method of the 5G cellular network in the prior art cannot support positioning integrity, resulting in inaccurate positioning results and low positioning accuracy. technical problem.
  • the present disclosure provides a positioning method, which can be applied to positioning devices, and the method includes:
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station;
  • the credibility of the current location of the terminal device is determined.
  • the first positioning assistance information in the process of assisting uplink positioning by the terminal device, can be reported to the base station, and the base station then sends its own second positioning assistance information and the first positioning assistance information reported by the terminal device to the positioning device.
  • This enables the positioning device to verify the accuracy of the position based on the first positioning auxiliary information of the terminal device and/or the second positioning auxiliary information of the base station, supports the positioning integrity function, and improves the accuracy and precision of the positioning result.
  • the obtaining positioning assistance information includes:
  • the positioning device can obtain the first positioning assistance information reported by the terminal device and the second positioning assistance information of the base station itself from the base station through signaling interaction with the base station, and use the first positioning assistance information and the third positioning assistance information.
  • the second positioning auxiliary information verifies the current position of the terminal device to determine whether the current position is accurate to support the completion of positioning. It has good performance and improves the accuracy and precision of positioning results.
  • the first positioning assistance information includes: at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identification;
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the positioning device may determine whether the first positioning assistance information is available based on the first identification. If available, the positioning device may determine whether the first positioning assistance information is available based on the first error, the first error average and standard deviation, and the unit time in the first positioning assistance information. The probability of occurrence of the first error and the expected duration determine the credibility of the current position of the terminal device, discard the untrustworthy positions, and retain the trusted positions.
  • the positioning integrity function can be realized during the uplink positioning process of the terminal device. Improve the accuracy and precision of positioning results.
  • the second positioning assistance information includes:
  • Second error second error mean and standard deviation, second error occurrence probability per unit time and expected duration, third error, third error mean and standard deviation, third error occurrence probability per unit time and expected duration, at least one of the second identification and the third identification;
  • the second error is used to characterize the reception time error of the uplink reference signal of the terminal equipment by the base station
  • the second identifier is used to characterize the second error, the second error average and standard deviation, Whether the second error occurrence probability and expected duration per unit time are available
  • the third error is the power error related to the resource element carrying the uplink reference signal
  • the third identifier is used to characterize the third error, the third error Are the mean and standard deviation, probability of third error per unit time and expected duration available.
  • the positioning device may also determine the second error, the second error average and standard deviation, and the second error occurrence probability per unit time in the second positioning assistance information based on the second identification and/or the third identification. and expected duration, third error, third error mean and standard deviation, third error occurrence probability per unit time and expected duration are available, if available, the positioning device is based on the second error, second error mean and standard difference, the probability of occurrence of the second error per unit time and expected duration, the third error, the average and standard deviation of the third error, the probability of occurrence of the third error per unit time and expected duration, to determine the credibility of the current location of the terminal device, By discarding untrustworthy locations and retaining trusted locations, the positioning integrity function can be implemented during the uplink positioning process assisted by the terminal device, and the accuracy and precision of the positioning results can be improved.
  • determining the credibility of the current location of the terminal device based on the positioning assistance information includes:
  • the available information is obtained from the positioning assistance information, and the available information includes at least one of the first positioning assistance information and the second positioning assistance information. kind;
  • the credibility of the current location of the terminal device is determined.
  • the positioning device can find information that can be used to determine the credibility of the current location in the positioning assistance information based on the first identification, the second identification, and the third identification, and determine the current location based on the available information.
  • the credibility of the location discarding untrustworthy locations and retaining trusted locations, can realize the positioning integrity function during the uplink positioning process assisted by the terminal device, and improve the accuracy and precision of the positioning results.
  • determining the credibility of the current location of the terminal device based on the available information includes:
  • the credibility of the current location of the terminal device is determined.
  • the positioning device can calculate a comparison result based on the data in the first positioning assistance information, and determine the possible location of the current location of the terminal device based on the comparison result. Reliability, if the current location is untrustworthy, it will be discarded and the trusted location will be retained to realize the positioning integrity function and improve the accuracy and precision of the positioning results.
  • determining the credibility of the current location of the terminal device based on the available information includes:
  • the credibility of the current location of the terminal device is determined based on the third error, the third error average and standard deviation, the third error occurrence probability per unit time and the expected duration in the second positioning assistance information.
  • the current position of the terminal device is determined based on the second error, the second error average and standard deviation, the second error occurrence probability per unit time and the expected duration in the second positioning assistance information.
  • the credibility of the location including:
  • the credibility of the current location of the terminal device is determined.
  • the positioning device can calculate based on these available information.
  • the comparison result is obtained, and the credibility of the current location of the terminal device is determined based on the comparison result. If the current location is untrustworthy, it is discarded and the trusted location is retained to realize the positioning integrity function and improve the accuracy and precision of the positioning result.
  • the current position of the terminal device is determined based on the third error, the third error average and standard deviation, the third error occurrence probability per unit time and the expected duration in the second positioning assistance information.
  • the credibility of the location including:
  • the credibility of the current location of the terminal device is determined.
  • the positioning device can calculate based on these available information. Compare the results and determine the credibility of the current location of the terminal device based on the comparison results. If the current location is untrustworthy, discard it and retain the trusted location to implement the positioning integrity function and improve the accuracy and precision of the positioning results.
  • the method also includes:
  • the current location of the terminal device is determined.
  • the terminal device can send uplink reference information to the base station, and the base station measures the uplink reference signal to obtain the measurement result and reports it to the positioning device, thereby realizing assisted uplink positioning of the terminal device, so that the positioning device can quickly and accurately determine The current location of the terminal device to improve positioning efficiency.
  • embodiments of the present disclosure provide a positioning method, which is applied to a base station.
  • the method includes:
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station;
  • the positioning assistance information is sent to the positioning device, and the first positioning assistance information and the second positioning assistance information are used by the positioning device to determine the credibility of the current location of the terminal device.
  • the base station side can obtain the first positioning assistance information of the terminal device from the terminal device side, and obtain its own second positioning assistance information, and forward it to the positioning device, and the positioning device can obtain the first positioning assistance information according to the first positioning assistance information and
  • the second positioning auxiliary information is used by the positioning device to determine the credibility of the current position of the terminal device.
  • the current position calculated by the positioning device can be verified to improve positioning accuracy and credibility.
  • the obtaining positioning assistance information includes: receiving the first positioning assistance information sent by a terminal device.
  • the terminal device can send the first positioning assistance information to the base station during the process of assisting uplink positioning, and the base station forwards it to the positioning device.
  • the positioning device can use the first positioning assistance based on the first positioning assistance information. The information obtains the positioning integrity results to support the positioning integrity function when the terminal device assists uplink positioning.
  • the first positioning assistance information includes: at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identification;
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning assistance information includes: second error, second error average and standard deviation, second error occurrence probability per unit time and expected duration, third error, third error average and standard deviation , at least one of the third error occurrence probability per unit time and the expected duration, the second identification and the third identification;
  • the second error is used to characterize the reception time error of the uplink reference signal by the base station
  • the second identifier is used to characterize the second error, the second error average and standard deviation, and the second error per unit time.
  • the second error probability and expected duration are available
  • the third error is the power associated with the resource element carrying the uplink reference signal. Error, the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • the method also includes:
  • the measurement value is sent to the positioning device, and the measurement value is used by the positioning device to determine the current location of the terminal device.
  • the base station can measure the uplink reference signal sent by the terminal equipment to obtain the measurement result, and send it to the positioning device, which can enable the positioning device to quickly calculate based on the measurement result.
  • the location of the terminal device improves positioning efficiency.
  • embodiments of the present disclosure provide a positioning device, which includes a memory, a transceiver, and a processor:
  • Memory used to store computer programs
  • transceiver used to send and receive data under the control of the processor
  • processor used to read the computer program in the memory and perform the following operations:
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station;
  • the credibility of the current location of the terminal device is determined.
  • the processor when used to obtain positioning assistance information, it is specifically configured to: receive the positioning assistance information sent by the base station.
  • the first positioning assistance information includes: at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identification;
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning assistance information includes: second error, second error average and standard deviation, second error occurrence probability per unit time and expected duration, third error, third error average and standard deviation , at least one of the third error occurrence probability per unit time and the expected duration, the second identification and the third identification;
  • the second error is used to characterize the reception time error of the uplink reference signal by the base station
  • the second identifier is used to characterize the second error, the second error average and standard deviation, and the second error per unit time.
  • the third error is the power error related to the resource element carrying the uplink reference signal
  • the third identifier is used to characterize the third error, the third error average, and Standard deviation, probability of occurrence of third error per unit time and expected duration are available.
  • the processor when used to determine the credibility of the current location of the terminal device based on the positioning assistance information, it is specifically used to:
  • the available information is obtained from the positioning assistance information, and the available information includes at least one of the first positioning assistance information and the second positioning assistance information. kind;
  • the credibility of the current location of the terminal device is determined.
  • the processor is configured to determine the credibility of the current location of the terminal device based on the available information, specifically for:
  • the credibility of the current location of the terminal device is determined.
  • the processor is configured to determine the credibility of the current location of the terminal device based on the available information, specifically for:
  • the credibility of the current location of the terminal device is determined based on the third error, the third error average and standard deviation, the third error occurrence probability per unit time and the expected duration in the second positioning assistance information.
  • the processor is configured to determine the second error according to the second error, the second error average and standard deviation, the second error occurrence probability per unit time and the expected duration in the second positioning assistance information.
  • the processor is specifically used for:
  • the credibility of the current location of the terminal device is determined.
  • the processor is configured to determine the third error according to the third error, the third error average and standard deviation, the third error occurrence probability per unit time and the expected duration in the second positioning assistance information.
  • the processor is specifically used for:
  • the credibility of the current location of the terminal device is determined.
  • the processor is further configured to: obtain a measurement value of the base station, where the measurement value is measured by the base station according to the uplink reference signal of the terminal device;
  • the current location of the terminal device is determined.
  • embodiments of the present disclosure provide a base station, including a memory, a transceiver and a processor:
  • Memory used to store computer programs
  • transceiver used to send and receive data under the control of the processor
  • processor used to read the computer program in the memory and perform the following operations:
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station;
  • the positioning assistance information is sent to the positioning device, and the first positioning assistance information and the second positioning assistance information are used by the positioning device to determine the credibility of the current location of the terminal device.
  • the processor when used to obtain positioning assistance information, it is specifically used to:
  • the first positioning assistance information includes:
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning assistance information includes:
  • Second error second error mean and standard deviation, second error occurrence probability per unit time and expected duration, third error, third error mean and standard deviation, third error occurrence probability per unit time and expected duration, at least one of the second identification and the third identification;
  • the second error is used to characterize the reception time error of the uplink reference signal by the base station
  • the second identifier is used to characterize the second error, the second error average and standard deviation, and the second error per unit time.
  • the third error is the power error related to the resource element carrying the uplink reference signal
  • the third identifier is used to characterize the third error, the third error average, and Standard deviation, probability of occurrence of third error per unit time and expected duration are available.
  • the processor is also used for:
  • the measurement value is sent to the positioning device, and the measurement value is used by the positioning device to determine the current location of the terminal device.
  • inventions of the present disclosure provide a positioning device, which can be located in a positioning device.
  • the positioning device includes:
  • An acquisition unit configured to acquire positioning assistance information, where the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station;
  • a determining unit configured to determine the credibility of the current location of the terminal device based on the positioning assistance information.
  • inventions of the present disclosure provide a positioning device.
  • the positioning device may be located in a base station.
  • the positioning device includes:
  • a receiving unit configured to obtain positioning assistance information, where the positioning assistance information includes first positioning assistance information and second positioning assistance information;
  • a sending unit configured to send the positioning assistance information to a positioning device, where the first positioning assistance information and the second positioning assistance information are used by the positioning device to determine the credibility of the current location of the terminal device.
  • embodiments of the present disclosure provide a processor-readable storage medium that stores a processor-executable computer program for executing the above positioning method.
  • the positioning method, equipment, base station, positioning device and processor-readable storage medium obtained by the embodiments of the present disclosure obtain the first positioning assistance information reported by the terminal device to the base station and the second positioning assistance information of the base station itself when the terminal device assists in uplink positioning.
  • the positioning auxiliary information determines the credibility of the current location of the terminal device based on the first positioning auxiliary information and the second positioning auxiliary information to support the positioning integrity function and ensure the accuracy of positioning.
  • Figure 1 is an architecture diagram of a positioning system provided by an embodiment of the present disclosure
  • Figure 2 is a schematic flowchart of a positioning method provided by Embodiment 1 of the present disclosure
  • Figure 3 is an interactive schematic diagram of the positioning method provided by Embodiment 2 of the present disclosure.
  • Figure 4 is an interactive schematic diagram of the positioning method provided by Embodiment 3 of the present disclosure.
  • Figure 5 is an interactive schematic diagram of the positioning method provided by Embodiment 4 of the present disclosure.
  • Figure 6 is an interactive schematic diagram of a positioning method provided by Embodiment 5 of the present disclosure.
  • Figure 7 is an interactive schematic diagram of the positioning method provided by Embodiment 6 of the present disclosure.
  • Figure 8 is a schematic structural diagram of a positioning device provided by Embodiment 7 of the present disclosure.
  • Figure 9 is a schematic structural diagram of an access network device provided in Embodiment 8 of the present disclosure.
  • Figure 10 is a schematic structural diagram of a positioning device provided in Embodiment 9 of the present disclosure.
  • Figure 11 is a schematic structural diagram of a positioning device provided in Embodiment 10 of the present disclosure.
  • the term “plurality” refers to two or more than two, and other quantifiers are similar to it.
  • FIG. 1 is an architecture diagram of a positioning system provided by an embodiment of the present disclosure, which can be applied to the 5G radio access network NG-RAN.
  • the location management function (LMF) is responsible for selecting the positioning method and triggering the corresponding positioning measurement, and can calculate the final positioning result and accuracy.
  • the LMF can communicate with multiple 5G wireless access network NG-RAN nodes. Interaction to provide auxiliary data information for broadcast. LMF may optionally segment and/or encrypt ancillary data information for broadcast.
  • LMF can also be combined with Access and Mobility Management Function (AMF) Interaction to provide encryption key data information to AMF.
  • LMF is also connected with Service Location Protocol (SLP) and Evolved Serving Mobile Location Center (E-SMLC).
  • SLP Service Location Protocol
  • E-SMLC Evolved Serving Mobile Location Center
  • the 5G radio access network NG-RAN can send positioning reference signals or perform positioning measurements based on auxiliary data information.
  • the user terminal User Equipment, UE
  • the base station ng-eNB may broadcast the assistance data information received from the LMF in the positioning system information message.
  • the base station gNB may broadcast the assistance data information received from the LMF in the positioning system information message.
  • the positioning integrity function is mainly to calculate the positioning results and accuracy through the UE, and then report it to the LMF.
  • the LMF determines the final positioning result and accuracy, ensuring the accuracy of the final positioning result to improve positioning credibility.
  • Spend For positioning methods related to 5G cellular networks, the current standard does not support the positioning integrity function. If the positioning integrity function is not supported, the positioning server or terminal device may use untrusted measurement results to calculate the position, resulting in inaccurate positioning results. , which reduces the positioning accuracy and credibility.
  • the inventor found through creative research that in the 5G cellular network positioning method, in order to support the positioning integrity function and ensure positioning accuracy and credibility, the UE can report to the base station when assisting uplink positioning. Its own positioning assistance information is then reported by the base station to the LMF. At the same time, the base station will also report the base station's own positioning assistance information to the LMF. The LMF is based on the base station's own positioning assistance information and the UE's own positioning assistance information. , the positioning integrity result is calculated. The positioning integrity result can be used to characterize whether the LMF has used wrong measurement results for position calculation, thereby determining the credibility of the UE's current position.
  • the current position is untrustworthy, it can be discarded to retain the trusted position and improve positioning.
  • Accuracy ensures that the positioning server or UE can use trusted location information. Supporting the positioning integrity function in the UE-assisted uplink positioning method can reduce the impact of fault events and erroneous data on position calculations and improve the credibility of the positioning position.
  • the technical solutions provided by the embodiments of the present disclosure can be applied to a variety of systems, especially 5G systems.
  • the 5G system includes terminal equipment and network equipment, among which the core network equipment includes: Session Management Function (SMF).
  • SMF Session Management Function
  • the terminal device involved in the embodiments of the present disclosure may be a device that provides voice and/or data connectivity to users, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem, etc.
  • the names of terminal equipment may also be different.
  • the terminal equipment may be called User Equipment (UE).
  • UE User Equipment
  • Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a Radio Access Network (RAN).
  • RAN Radio Access Network
  • the wireless terminal equipment can be a mobile terminal equipment, such as a mobile phone (also known as a "cellular phone").
  • Wireless terminal equipment may also be called a system, a subscriber unit (subscriber unit), Subscriber station, mobile station, mobile, remote station, access point, remote terminal, access terminal ), user terminal equipment (user terminal), user agent (user agent), and user device (user device) are not limited in the embodiments of the present disclosure.
  • FIG 2 is a schematic flowchart of a positioning method provided in Embodiment 1 of the present disclosure. This method can be applied to a positioning device.
  • the execution subject of this embodiment is a positioning device. Taking the positioning device as the above-mentioned positioning server as an example. As shown in Figure 2, the method includes the following steps:
  • Step S201 Obtain positioning assistance information.
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station.
  • the terminal device in the terminal device-assisted uplink positioning method, can send the uplink reference signal SRS, and the base station receives the uplink reference signal SRS and performs measurements. Depending on the auxiliary uplink positioning method used, the measurement obtained by the base station The results are also different. Finally, the base station reports the measurement results to the LMF to calculate the current location of the terminal device.
  • LMF may use measurement results that exceed the error boundary (ie, wrong measurement results) for position calculation, which will lead to errors in the final position information and inaccurate position. Therefore, during the assisted uplink positioning process, the terminal device can upload its own first positioning assistance information to the base station, and the base station forwards it to the LMF. At the same time, the base station will also give its own second positioning assistance information to the LMF when forwarding.
  • the LMF is based on The first positioning auxiliary information and the second positioning auxiliary information realize the positioning integrity calculation and obtain the positioning integrity result. Then the LMF determines whether the calculated current position is credible through the positioning integrity result.
  • the base station and the terminal device can interact through Radio Resource Control (RRC) signaling
  • the base station and the positioning server can interact through 5G positioning protocol (NRPPa for short) signaling
  • the terminal device and the positioning server They can interact through Lightweight Presentation Protocol (LPP) signaling.
  • RRC Radio Resource Control
  • NRPPa 5G positioning protocol
  • LPP Lightweight Presentation Protocol
  • the UE reports assistance information from the terminal device itself to the base station through RRC dedicated signaling.
  • the first positioning assistance data may refer to the assistance data related to the transmission error of the terminal device itself
  • the second positioning assistance data may refer to the assistance data related to the integrity of the base station itself
  • the first positioning assistance information of the terminal device may include a first set of data and related time.
  • the first set of data may specifically include at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identifier.
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the first error may specifically refer to the sending time error.
  • the terminal In order to support positioning, the terminal is on Before reporting the measured values obtained from the downlink positioning reference signal/uplink positioning reference signal, internal calibration/compensation of the transmission delay can be performed, but the calibration cannot completely cancel the error.
  • the remaining transmission time delay after calibration or the uncalibrated transmission time delay Defined as the sending time error.
  • a terminal receive time error group UE Rx TEG is associated with one or more downlink measurements whose transmit time errors are within a certain range. The errors of any two downlink measurements associated with the same UE Rx TEG are within a certain range.
  • the first identifier may refer to the sending time error DUN identifier, which is used to indicate whether the positioning auxiliary information of the relevant error source can be used for positioning integrity calculation.
  • the sending time error DUN flag is set to "No" it indicates that the relevant positioning auxiliary information can be used for positioning integrity calculations.
  • the sending time error DUN flag is set to "yes”, it indicates that these positioning auxiliary information cannot be used for integrity calculations.
  • the first flag is set to "yes” it means that the relevant positioning assistance information (ie, the first error, the first error average and standard deviation, the first error occurrence probability per unit time, and the expected duration) is available of.
  • the first flag is set to "No” it means that the relevant positioning assistance information (ie, the first error, the first error average and standard deviation, the first error occurrence probability per unit time, and the expected duration) is unavailable.
  • the first error average value and standard deviation may specifically refer to the transmission time error average value and standard deviation, and the first error average value and standard deviation are used to calculate the first error boundary.
  • the integrity bound provides a statistical distribution of the residuals associated with positioning corrections. Completeness bounds are used to statistically limit the residuals after applying localization corrections. When LMF uses measurement results that exceed the first error boundary for position calculation, it may cause inaccurate positioning results.
  • the first error occurrence probability per unit time and the expected duration can be specifically used to calculate the first residual risk value.
  • the residual risk is the probability of occurrence of a fault event defined per unit time.
  • Each residual risk is accompanied by a mean duration, which represents the expected average duration of the corresponding failure event and is used to convert the probability of occurrence into the probability of the presence of a failure event at any given time.
  • the relevant time specifically refers to the minimum time interval between two groups of terminal devices that are independent of each other when sending the first positioning assistance data to the base station.
  • the second positioning assistance information of the base station can be specifically divided into a second set of data, a third set of data and related time, where the second set of data specifically includes a second error, a second error average and a standard deviation. , the second error occurrence probability per unit time and the expected duration, and at least one of the second identification.
  • the third set of data specifically includes the third error, the third error mean and standard deviation, the third error occurrence probability per unit time and the expectation. At least one of duration and third identifier.
  • the second error is used to characterize the reception time error of the uplink reference signal of the base station to the terminal equipment
  • the second identifier is used to characterize the second error, the second error average and standard deviation, the second error occurrence probability per unit time and the expected duration.
  • the third error is the power error related to the resource element carrying the uplink reference signal.
  • the third error is used to characterize the resource element carrying the uplink reference signal configured for measurement at the first path delay The power error of the linear average of the channel response.
  • the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • the second error may specifically refer to the reception time error. From the perspective of signal reception, there will be a time delay from the time the radio frequency signal reaches the receiving antenna to the time the signal is digitized and timestamped at the baseband. .
  • the second error mean and standard deviation are used to calculate the receive time error boundary (the receive time error boundary is Determine the credibility of the current position based on LMF).
  • the second error occurrence probability per unit time and the expected duration are used to calculate the second residual risk value (the second residual risk value is used by the LMF to determine the credibility of the current location).
  • the third error may specifically be the receive first path power error.
  • the uplink reference signal receive path power is defined as the power of the linear average of the channel response at the i-th path delay of the resource element that carries the received uplink reference signal configured for measurement, where , the uplink reference signal received first path power is the power contribution corresponding to the first detected path in time.
  • the third error mean value and standard deviation are used to calculate the received first path power error boundary (the received first path power error boundary is used by the LMF to determine the credibility of the current position).
  • the third error occurrence probability per unit time and the expected duration are used to calculate the third residual risk value (the third residual risk value is used by LMF to determine the credibility of the current location).
  • Correlation time is used to characterize the time between two sets of data that are independent of each other.
  • Step S202 Determine the credibility of the current location of the terminal device based on the positioning assistance information.
  • the positioning auxiliary information includes first positioning auxiliary information and second positioning auxiliary information.
  • Part of the first positioning auxiliary information and the second positioning auxiliary information may be unavailable, that is, it cannot be used. Used to support positioning integrity calculations. At this time, it is necessary to distinguish the available information from the unavailable information from the positioning auxiliary information, and then use the available information to calculate the positioning integrity to obtain the credibility of the current position.
  • the LMF can determine the credibility of the current location of the terminal device based on the first positioning assistance information of the terminal device.
  • the LMF can also determine the credibility of the current location of the terminal device based on the base station's third positioning assistance information.
  • the second positioning auxiliary information determines the credibility of the current location of the terminal device.
  • the LMF can simultaneously determine the terminal device based on the first positioning auxiliary information and the second positioning auxiliary information. the credibility of the current location.
  • credibility can be divided into two situations: credible and untrustworthy. For example, if the credibility indicates that the current location is untrustworthy, the LMF discards the current location information, and if the credibility indicates that the current location is credible, the LMF may retain the current location. This can improve positioning accuracy and positioning credibility.
  • the positioning method provided by the embodiment of the present disclosure obtains the positioning assistance data of the base station itself from the base station and the positioning assistance data uploaded to the base station by the terminal device itself through LMF. Based on these two kinds of assistance data, the integrity result is calculated to determine whether the position is trustworthy. , can support positioning integrity, prevent LMF from using wrong data for position calculation, resulting in inaccurate position calculation results, and improve positioning accuracy and credibility.
  • FIG. 3 is an interactive schematic diagram of three positioning methods provided by embodiments of the present disclosure.
  • the execution subject of the positioning method provided in this embodiment is a positioning device, which may specifically be an LMF.
  • the positioning method includes steps:
  • Step S301 Receive positioning assistance information sent by the base station.
  • Step S302 Determine the credibility of the current location of the terminal device based on the positioning assistance information.
  • the base station and the terminal device may, but are not limited to, interact through RRC dedicated signaling to implement the reporting of the first positioning assistance information.
  • RRC dedicated signaling may be used to implement the reporting of the first positioning assistance information.
  • Other methods of information interaction between the base station and the terminal device may be applied. this.
  • the terminal device can send the uplink reference signal SRS to the base station.
  • the base station can measure the arrival angle or arrival time difference of the uplink reference signal SRS, and calculate the terminal based on the measurement results and other positioning-related configuration information.
  • the current location of the device, and LMF determines whether the current location is credible.
  • FIG 4 is an interactive schematic diagram of the positioning method provided in Embodiment 4 of the present disclosure.
  • the execution subject of the positioning method provided in this embodiment is a positioning device, which may specifically be an LMF.
  • the positioning method includes steps:
  • Step S401 Receive positioning assistance information sent by the base station.
  • Step S402 Obtain available information from the positioning assistance information according to the first identifier, the second identifier, and the third identifier in the positioning assistance information.
  • Step S403 Determine the credibility of the current location of the terminal device based on available information.
  • the available information includes at least one of first positioning assistance information and second positioning assistance information.
  • the LMF can determine which positioning assistance information is available based on the results indicated by the first identifier, the second identifier, and the third identifier.
  • the first set of data includes the first error, the first error mean and standard deviation, the first error occurrence probability per unit time and the expected duration, and the first identifier.
  • the second set of data includes the second error, the second error mean and standard deviation, the second error occurrence probability per unit time and the expected duration.
  • the third set of data includes the third error, the third error mean and standard deviation, the third error occurrence probability per unit time and the expected duration. If the result indicated by the first identifier is "yes", it means that the first set of data can be used as available information (that is, the available information at least includes the first positioning assistance information).
  • the available information may include the above-mentioned first set of data and/or the second set of data and/or the third set of data.
  • the available information includes the second set of data and/or the third set of data, it means that the available information includes There is secondary positioning auxiliary information.
  • the sending time error DUN identifier when the sending time error DUN identifier is set to "yes", it indicates the sending time error, the sending time error average and standard deviation, and the unit time.
  • the transmission time error occurrence probability and expected duration can be used as available information.
  • the positioning device can find information that can be used to determine the credibility of the current location in the positioning assistance information based on the first identification, the second identification, and the third identification, and determine the current location based on the available information.
  • the credibility of the location discarding untrustworthy locations and retaining trusted locations, can realize the positioning integrity function during the uplink positioning process assisted by the terminal device, and improve the accuracy and precision of the positioning results.
  • LMF can calculate the positioning integrity calculation result based on the available information and the positioning integrity calculation formula, and determine the credibility of the current location through the positioning integrity calculation result.
  • the positioning integrity calculation formula is as follows: P(W>B
  • W represents the error
  • B represents the error boundary
  • the value of NOT DUN is "No" which is used to identify that the currently available information needs to include the above-mentioned first set of data and/or the second set of data and/or the third set of data.
  • Residual Risk represents residual risk.
  • the boundary refers to the integrity boundary that provides the statistical distribution of the residuals associated with the positioning correction, and the integrity boundary is used to statistically limit the residuals after applying the positioning correction.
  • the boundary formula describes a boundary model, including mean and standard deviation.
  • B represents the error boundary
  • mean represents the mean value
  • stdDev represents the standard deviation
  • K is the coefficient value, which is calculated through the normInv function.
  • the normInv function is used to return the inverse function of the normal cumulative distribution function of the specified mean and standard deviation.
  • IRallocation is a default value, and its value range is [irMinimum, irMaximum]. Users can set the value of IRallocation and define the value of irMinimum and irMaximum.
  • the residual risk is the probability of occurrence of a defined failure event per unit time.
  • Each residual risk is accompanied by a mean duration, which represents the expected average duration of the corresponding failure event and is used to convert the probability of occurrence into the probability of the presence of a failure event at any given time.
  • the calculation formula of residual risk is: average duration * probability of occurrence of a failure event defined by unit time.
  • the LMF can determine the terminal device through the following steps. Confidence of current location:
  • the credibility of the current location of the terminal device is determined.
  • the first residual risk value represents the occurrence probability of the first error.
  • the first error can be regarded as W
  • the first error boundary can be regarded as B
  • the first residual risk value can be regarded as Residual Risk
  • the preset value can be regarded as IRallocation, and each can be substituted into the above positioning integrity calculation formula P (W>B
  • NOT DNU is used at this time to identify that the currently available information includes at least the first set of data mentioned above.
  • LMF can be based on the second set of data and/or a third set of data to determine the credibility of the current location of the terminal device.
  • the available information is the above-mentioned second set of data in the second positioning assistance information (that is, including the second error, the second error average and standard deviation, the second error occurrence probability per unit time and expected duration)
  • the LMF can determine the credibility of the current location of the terminal device through the following steps:
  • the credibility of the current location of the terminal device is determined.
  • the second residual risk value represents the probability of occurrence of the second error.
  • the second error can be regarded as W
  • the second error boundary can be regarded as B
  • the second residual risk value can be regarded as Residual Risk
  • the preset value can be regarded as IRallocation, and each can be substituted into the above positioning integrity calculation formula P (W>B
  • NOT DNU is used at this time to identify that the currently available information includes at least the second set of data mentioned above (that is, including the second error, the second error mean and standard deviation, the second error occurrence probability per unit time, and the expected duration).
  • the positioning device can calculate the comparison based on these available information. As a result, the credibility of the current location of the terminal device is determined based on the comparison results. If the current location is untrustworthy, it is discarded and the trusted location is retained to implement the positioning integrity function and improve the accuracy and precision of the positioning results.
  • LMF can determine the credibility of the current location of the terminal device through the following steps:
  • the third residual risk value represents the probability of occurrence of the third error.
  • the third error can be regarded as W
  • the third error boundary can be regarded as B
  • the third residual risk value can be regarded as Residual Risk
  • the preset value can be regarded as IRallocation, and each can be substituted into the above positioning integrity calculation formula P (W>B
  • NOT DNU is used at this time to identify that the currently available information includes at least the third set of data mentioned above (that is, including the third error, the third error mean and standard deviation, The probability of occurrence of the third error per unit time and the expected duration).
  • the positioning device can calculate and obtain the comparison result based on these available information. , and determine the credibility of the current location of the terminal device based on the comparison results. If the current location is untrustworthy, it is discarded and the trusted location is retained to implement the positioning integrity function and improve the accuracy and precision of the positioning results.
  • the LMF may determine the credibility of the terminal device through the following steps:
  • the credibility of the current location of the terminal device is determined.
  • the first error average and standard deviation can be substituted into the above boundary calculation formula to calculate the first error boundary B1
  • the second error average and standard deviation can be substituted into the above boundary calculation formula to calculate the second error boundary B1.
  • the third error average and standard deviation into the above boundary calculation formula to calculate the third error boundary B3.
  • B represents the error boundary
  • mean represents the mean value
  • stdDev represents the standard deviation
  • K is the coefficient value, which is calculated through the normInv function.
  • the normInv function is used to return the inverse function of the normal cumulative distribution function of the specified mean and standard deviation.
  • IRallocation is a default value, and its value range is [irMinimum, irMaximum]. Users can set the value of IRallocation and define the value of irMinimum and irMaximum.
  • the first error occurrence probability per unit time and the expected duration can be substituted into the above residual
  • the first residual risk value R1 is calculated.
  • the second residual risk value R2 is calculated.
  • the third residual risk value per unit time is substituted.
  • the error occurrence probability and expected duration are substituted into the above residual risk calculation formula, and the third residual risk value R3 is calculated.
  • the first error W1, the first error boundary B1, the first residual risk value R1 and the preset value are used as IRallocation and brought into the above positioning integrity calculation formula to obtain P(W1>B1
  • the second error W2, the second error boundary B2, the second residual risk value R2 and the preset value as IRallocation bring them into the above positioning integrity calculation formula, P(W2>B2
  • the first comparison result, the second comparison result and the third comparison result if there is P(W1>B1
  • FIG. 5 is an interactive schematic diagram of a positioning method provided by the fourth embodiment of the present disclosure.
  • the execution subject of the positioning method provided in this embodiment is a positioning device, which may specifically be an LMF.
  • the positioning method includes steps:
  • Step S501 Obtain the measurement value and positioning assistance information of the base station;
  • Step S502 Determine the current location of the terminal device based on the measurement value;
  • Step S503 Determine the credibility of the current location of the terminal device based on the positioning assistance information.
  • the measurement value is measured by the base station according to the uplink reference signal of the terminal device, and the positioning assistance information includes the first positioning assistance information of the terminal device and/or the second positioning assistance information of the base station.
  • the terminal equipment (such as UE) assists the uplink positioning method in a variety of ways. Specifically, the terminal equipment sends the uplink reference signal SRS to the base station, and the base station receives the uplink reference signal SRS and performs measurements. According to different Different measurement results can be obtained by different measurement methods, and the base station then reports the measurement results to the LMF to calculate the location of the terminal device.
  • the auxiliary uplink positioning method may be the uplink time difference of arrival (UL-TDOA for short) method.
  • LMF is based on the measurement results of the arrival time difference of the uplink reference signal sent by the terminal device measured by different base stations and other auxiliary positioning. Configuration information, calculate the current location of the terminal device.
  • the LMF after supporting the positioning integrity function, the LMF will also obtain the IRallocation selected by the user based on the second positioning assistance information of the base station itself sent by the base station and the first positioning assistance information reported by the terminal device to the base station. value and the above positioning integrity calculation formula to determine the credibility of the current position. If the current position is trusted, it can be kept, if the current position is not, the LMF can discard it.
  • the auxiliary uplink positioning method may also be the uplink angle of arrival (UL-AOA for short) positioning method.
  • the LMF is based on the measurement results of the angle of arrival of the uplink reference signal sent by the terminal device measured by different base stations and Other auxiliary positioning configuration information is used to calculate the current location of the terminal device.
  • the LMF after supporting the positioning integrity function, the LMF will also obtain the IRallocation selected by the user based on the second positioning assistance information of the base station itself sent by the base station and the first positioning assistance information reported by the terminal device to the base station. value and the above positioning integrity calculation formula to determine the credibility of the current position. If the current position is trusted, it can be kept, if the current position is not, the LMF can discard it.
  • FIG. 6 is an interactive schematic diagram of a positioning method provided by Embodiment 5 of the present disclosure.
  • the execution subject of the positioning method provided in this embodiment may be a base station.
  • the positioning method includes the following steps:
  • Step S601 Obtain positioning assistance information
  • Step S602 Send the positioning assistance information to the positioning device.
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station.
  • the first positioning assistance information and the second positioning assistance information are used by the positioning device to determine the credibility of the current location of the terminal device.
  • the positioning assistance information includes the assistance data (i.e., the first positioning assistance data) related to the transmission error reported by the terminal device to the base station through RRC dedicated signaling in this disclosure and the base station's own assistance related to positioning integrity.
  • data i.e. second positioning auxiliary data
  • the positioning device is LMF.
  • the base station and LMF interact through NGPPa dedicated signaling to realize the reporting of positioning assistance data.
  • the base station receives the first positioning assistance information sent by the terminal device.
  • the first positioning assistance information may specifically include at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identification. kind.
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning assistance information may specifically include the second error, the second error average and standard deviation, the second error occurrence probability per unit time and the expected duration, the third error, the third error At least one of the average value and the standard deviation, the third error occurrence probability per unit time and the expected duration, the second identifier and the third identifier.
  • the second error is used to characterize the base station's reception time error of the uplink reference signal
  • the second identifier is used to characterize the second error, the second error average and standard deviation, the second error occurrence probability per unit time, and whether the expected duration is available.
  • the third error is the power error related to the resource element carrying the uplink reference signal.
  • the third error is used to characterize the channel response at the first path delay of the resource element carrying the uplink reference signal configured for measurement.
  • the power of the linear average, the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • FIG 7 is an interactive schematic diagram of the positioning method provided by Embodiment 6 of the present disclosure. As shown in Figure 7, the positioning method includes the following steps:
  • Step S701 Send the first positioning assistance information through RRC dedicated signaling
  • Step S702 Send the first positioning assistance information and the second positioning assistance information through NRPPa dedicated signaling;
  • Step S703 Determine the credibility of the current location based on the first positioning auxiliary information and the second positioning auxiliary information.
  • the terminal device uploads its own error-related assistance data to the base station through RRC dedicated signaling.
  • the terminal equipment can send uplink reference signals to different base stations.
  • the base station obtains the measurement results based on the uplink reference signals sent by the terminal equipment and reports them to the LMF.
  • the LMF determines the current location of the terminal equipment based on the measurement results.
  • the auxiliary uplink positioning method can be specifically divided into the UL-TDOA positioning method and the UL-AOA positioning method.
  • the measurement results obtained by different positioning methods are also different.
  • the corresponding measurement result is the arrival time difference of the uplink reference signal.
  • the corresponding measurement result is the angle of arrival of the uplink reference signal.
  • FIG 8 is a schematic structural diagram of a positioning device provided in Embodiment 7 of the present disclosure.
  • the positioning device provided in this embodiment may specifically be a positioning server LMF.
  • the positioning device may specifically include a memory 810, a transceiver 820, and a processor 830.
  • the bus architecture may include any number of interconnected buses and bridges, specifically linked together by various circuits of one or more processors represented by processor 830 and memory represented by memory 810.
  • the bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein.
  • the bus interface provides the interface.
  • the transceiver 820 may be a plurality of elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical cables, and other transmission media.
  • the processor 830 is responsible for managing the bus architecture and general processing, and the memory 810 can store data used by the processor 830 when performing operations.
  • the processor 830 may be a central processing unit (CPU), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA) or a complex programmable logic device (Comple13 Programmable Logic Device, CPLD). ), the processor can also adopt a multi-core architecture.
  • CPU central processing unit
  • ASIC Application Specific Integrated Circuit
  • FPGA field programmable gate array
  • CPLD Complex programmable logic device
  • Memory 810 used to store computer programs
  • transceiver 820 used to send and receive data under the control of processor 830
  • processor 830 used to read the computer program in the memory and perform the following operations:
  • the credibility of the current location of the terminal device is determined.
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station.
  • processor when used to obtain positioning assistance information, is specifically used for:
  • the first positioning assistance information includes: at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identification.
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning auxiliary information includes: second error, second error average and standard deviation, second error occurrence probability and expected duration per unit time, third error, third error average and standard deviation, unit The third time error occurrence probability and at least one of the expected duration, the second identification and the third identification.
  • the second error is used to characterize the base station's reception time error of the uplink reference signal
  • the second identifier is used to characterize the second error, the second error average and standard deviation, the second error occurrence probability per unit time, and whether the expected duration is available.
  • the third error is the power error related to the resource element carrying the uplink reference signal. Specifically, the third error is used to characterize the channel response at the first path delay of the resource element carrying the uplink reference signal configured for measurement. The power of the linear average, the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • the processor is used to determine the credibility of the current location of the terminal device based on the positioning assistance information, specifically for:
  • the credibility of the current location of the terminal device is determined.
  • the available information includes at least one of first positioning assistance information and second positioning assistance information.
  • the processor is configured to determine the credibility of the current location of the terminal device based on the available information, specifically for:
  • the credibility of the current location of the terminal device is determined.
  • the first residual risk value represents the occurrence probability of the first error.
  • the processor is configured to determine the credibility of the current location of the terminal device based on the available information, specifically for:
  • the processor is configured to determine the probability of the current location of the terminal device based on the second error, the second error average and standard deviation, the second error occurrence probability per unit time, and the expected duration in the second positioning assistance information.
  • the processor is specifically used for:
  • the credibility of the current location of the terminal device is determined.
  • the second residual risk value represents the probability of occurrence of the second error.
  • the processor is configured to determine the probability of the current location of the terminal device based on the third error, the third error average and standard deviation, the third error occurrence probability per unit time, and the expected duration in the second positioning assistance information.
  • the processor is specifically used for:
  • the credibility of the current location of the terminal device is determined.
  • the third residual risk value represents the probability of occurrence of the third error.
  • the processor is also used for:
  • the current location of the terminal device is determined.
  • measurement values include:
  • the arrival time difference of the uplink reference signal of the terminal equipment measured by different base stations.
  • measurement values include:
  • the arrival angle of the uplink reference signal of the terminal equipment measured by different base stations.
  • FIG 9 is a schematic structural diagram of an access network device provided in Embodiment 8 of the present disclosure.
  • the access network equipment provided in this embodiment may specifically be a base station.
  • the base station may specifically include a memory 910, a transceiver 920, and a processor 930.
  • the bus architecture may include any number of interconnected buses and bridges, specifically linked together by various circuits of one or more processors represented by processor 930 and memory represented by memory 910.
  • the bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein.
  • the bus interface provides the interface.
  • the transceiver 920 may be a plurality of components, including a transmitter and a receiver, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical cables, and other transmission media.
  • the processor 930 is responsible for managing the bus architecture and general processing, and the memory 910 can store data used by the processor 930 when performing operations.
  • the processor 930 may be a central processing unit (CPU), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA) or a complex programmable logic device (Comple13 Programmable Logic Device, CPLD). ), the processor can also adopt a multi-core architecture.
  • CPU central processing unit
  • ASIC Application Specific Integrated Circuit
  • FPGA field programmable gate array
  • CPLD Complex programmable logic device
  • Memory 910 is used to store computer programs; transceiver 920 is used to send and receive data under the control of processor 930; processor 930 is used to read the computer program in the memory and perform the following operations:
  • the positioning assistance information includes the first positioning assistance information of the terminal device and/or the second positioning assistance information of the base station.
  • the first positioning assistance information and the second positioning assistance information are used by the positioning device to determine the credibility of the current location of the terminal device. .
  • processor when used to obtain positioning assistance information, is specifically used for:
  • the first positioning auxiliary information includes:
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning auxiliary information includes:
  • Second error second error mean and standard deviation, second error occurrence probability per unit time and expected duration, third error, third error mean and standard deviation, third error occurrence probability per unit time and expected duration, at least one of the second identification and the third identification;
  • the second error is used to characterize the base station's reception time error of the uplink reference signal
  • the second identifier is used to characterize the second error, the second error average and standard deviation, the second error occurrence probability per unit time, and whether the expected duration is available.
  • the third error is the power error related to the resource element carrying the uplink reference signal. Specifically, the third error is used to characterize the channel response at the first path delay of the resource element carrying the uplink reference signal configured for measurement. The power of the linear average, the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • the processor is also configured to: determine the measurement value according to the uplink reference signal of the terminal device; send the measurement value to the positioning device, and the measurement value is used by the positioning device to determine the current location of the terminal device.
  • the measurement value includes the arrival time difference of the uplink reference signal of the terminal device measured by different base stations.
  • the measurement value includes the arrival angle of the uplink reference signal of the terminal device measured by different base stations.
  • FIG. 10 is a schematic structural diagram of a positioning device provided in Embodiment 9 of the present disclosure.
  • the positioning device may be located in the positioning server LMF.
  • the positioning device 1010 includes an acquisition unit 1020 and a determination unit 1030 .
  • the obtaining unit 1020 is used to obtain positioning assistance information; the determining unit 1030 is used to determine the credibility of the current location of the terminal device based on the positioning assistance information.
  • the positioning assistance information includes first positioning assistance information of the terminal device and/or second positioning assistance information of the base station.
  • the positioning device 1010 provided in this embodiment may also include an auxiliary information receiving unit, configured to receive positioning auxiliary information sent by the base station.
  • an auxiliary information receiving unit configured to receive positioning auxiliary information sent by the base station.
  • the first positioning assistance information includes: at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identifier;
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning auxiliary information includes:
  • Second error second error mean and standard deviation, second error occurrence probability per unit time and expected duration, third error, third error mean and standard deviation, third error occurrence probability per unit time and expected duration, at least one of the second identification and the third identification;
  • the second error is used to characterize the reception time error of the uplink reference signal of the base station to the terminal equipment
  • the second identifier is used to characterize the second error, the second error average and standard deviation, the second error occurrence probability per unit time and the expected duration.
  • the third error is the power error related to the resource element carrying the uplink reference signal.
  • the third error is used to characterize the resource element carrying the uplink reference signal configured for measurement at the first path delay The power error of the linear average of the channel response.
  • the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • the determination unit 1030 is specifically configured to: obtain available information from the positioning assistance information according to the first identification, the second identification and the third identification. ; Determine the credibility of the current location of the terminal device based on available information.
  • the available information includes at least one of first positioning assistance information and second positioning assistance information.
  • the determining unit 1030 when determining the credibility of the current location of the terminal device based on the available information, is specifically configured to: determine based on the first error average and standard deviation. The first error boundary; determine the first residual risk value based on the probability of the first error occurring per unit time and the expected duration; obtain the probability that the first error is greater than the first error boundary, and add it to the sum of the first residual risk value and the preset value Compare and obtain the comparison result; determine the credibility of the current location of the terminal device based on the comparison result.
  • the first residual risk value represents the occurrence probability of the first error.
  • the determining unit 1030 when determining the credibility of the current location of the terminal device based on the available information, is specifically configured to: based on the second error in the second positioning auxiliary information , the second error average and standard deviation, the second error occurrence probability per unit time and the expected duration, determine the credibility of the current location of the terminal device; and/or, based on the third error in the second positioning auxiliary information, the third error The average and standard deviation of the three errors, the probability of the third error occurring per unit time and the expected duration determine the credibility of the current location of the terminal device.
  • the determination unit 1030 determines the credibility of the current location of the terminal device based on the second error in the second positioning assistance information, the second error average and standard deviation, the second error occurrence probability per unit time, and the expected duration. degree, specifically used to: determine the second error boundary based on the second error average and standard deviation; determine the second residual risk value based on the second error occurrence probability per unit time and expected duration; obtain the second error greater than the second The probability of the error boundary is compared with the sum of the second residual risk value and the preset value to obtain a comparison result; based on the comparison result, the credibility of the current location of the terminal device is determined.
  • the second residual risk value represents the probability of occurrence of the second error.
  • the determination unit 1030 determines the credibility of the current location of the terminal device based on the third error, the third error average and standard deviation, the third error occurrence probability per unit time, and the expected duration in the second positioning assistance information. degree, specifically used to: determine the third error boundary based on the third error average and standard deviation; determine the third residual risk value based on the third error occurrence probability and expected duration per unit time; obtain the third error greater than the third The probability of the error boundary is compared with the sum of the third residual risk value and the preset value to obtain the comparison result; according to the comparison result, Determine the credibility of the current location of the terminal device.
  • the third residual risk value represents the probability of occurrence of the third error.
  • the positioning device 1010 provided in this embodiment may also include a location determination unit, used to obtain the measurement value of the base station; and determine the current location of the terminal device based on the measurement value.
  • a location determination unit used to obtain the measurement value of the base station; and determine the current location of the terminal device based on the measurement value.
  • the measurement value is measured by the base station based on the uplink reference signal of the terminal equipment.
  • the measurement value includes the arrival time difference of the uplink reference signal of the terminal device measured by different base stations.
  • the measurement value includes the arrival angle of the uplink reference signal of the terminal device measured by different base stations.
  • the method and the device are based on the same application concept. Since the method and the device solve problems in similar principles, the implementation of the device and the method can be referred to each other, and repeated details will not be repeated.
  • FIG. 11 is a schematic structural diagram of a positioning device provided in Embodiment 10 of the present disclosure.
  • the positioning device may be located in access network equipment, such as a base station.
  • the positioning device 1110 includes a receiving unit 1120 and a sending unit 1130 .
  • the receiving unit 1120 is used to obtain positioning assistance information; the sending unit 1130 is used to send the positioning assistance information to the positioning device.
  • the positioning assistance information includes first positioning assistance information and second positioning assistance information. The first positioning assistance information and the second positioning assistance information are used by the positioning device to determine the credibility of the current location of the terminal device.
  • the receiving unit 1120 is specifically configured to receive the first positioning assistance information sent by the terminal device.
  • the first positioning assistance information includes: at least one of the first error, the first error average and standard deviation, the first error occurrence probability per unit time and expected duration, and the first identification.
  • the first error is used to represent the uplink reference signal transmission time error of the terminal device, and the first identifier is used to represent whether the first positioning assistance information is available.
  • the second positioning auxiliary information includes: second error, second error average and standard deviation, second error occurrence probability and expected duration per unit time, third error, third error average and standard deviation, unit The third time error occurrence probability and at least one of the expected duration, the second identification and the third identification.
  • the second error is used to characterize the base station's reception time error of the uplink reference signal
  • the second identifier is used to characterize the second error, the second error average and standard deviation, the second error occurrence probability per unit time, and whether the expected duration is available.
  • the third error is the power error related to the resource element carrying the uplink reference signal.
  • the third error is used to characterize the channel response at the first path delay of the resource element carrying the uplink reference signal configured for measurement.
  • the power of the linear average, the third identifier is used to characterize whether the third error, the third error mean and standard deviation, the third error occurrence probability per unit time, and the expected duration are available.
  • the positioning device 1110 also includes a measurement value sending unit, configured to determine the measurement value according to the uplink reference signal of the terminal device; and send the measurement value to the positioning device.
  • the measurement value is used by the positioning device to determine the current location of the terminal device.
  • the measurement value includes the arrival time difference of the uplink reference signal of the terminal device measured by different base stations.
  • the measurement value includes the arrival angle of the uplink reference signal of the terminal device measured by different base stations.
  • the method and the device are based on the same application concept. Since the method and the device solve problems in similar principles, the implementation of the device and the method can be referred to each other, and repeated details will not be repeated.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit may be stored in a processor-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product.
  • the technical solution of the present disclosure is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .
  • Embodiments of the present disclosure provide a processor-readable storage medium.
  • the processor-readable storage medium stores a computer program.
  • the computer program is used to cause the processor to execute the positioning method provided in any of the above embodiments.
  • the processor-readable storage medium may be any available media or data storage device that the processor can access, including but not limited to magnetic storage (such as floppy disks, hard disks, tapes, magneto-optical disks (MO), etc.), optical storage (such as CDs, DVD, BD, HVD, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state drive (SSD)), etc.
  • magnetic storage such as floppy disks, hard disks, tapes, magneto-optical disks (MO), etc.
  • optical storage such as CDs, DVD, BD, HVD, etc.
  • semiconductor memories such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state drive (SSD)
  • embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) embodying computer-usable program code therein.
  • a computer-usable storage media including, but not limited to, magnetic disk storage, optical storage, and the like
  • processor-executable instructions may also be stored in a processor-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the generation of instructions stored in the processor-readable memory includes the manufacture of the instruction means product, the instruction device implements the function specified in one process or multiple processes in the flow chart and/or one block or multiple blocks in the block diagram.
  • processor-executable instructions may also be loaded onto a computer or other programmable data processing device such that A series of operational steps are executed on a computer or other programmable device to produce a computer-implemented process, whereby instructions executed on the computer or other programmable device provide for implementing a process or processes in a flowchart and/or a method in a block diagram The steps for a function specified in a box or boxes.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente divulgation concerne un procédé de positionnement, ainsi qu'un dispositif, une station de base, un appareil de positionnement et un support de stockage lisible par processeur. Le procédé consiste à : acquérir des informations assistées par positionnement, les informations assistées par positionnement comprenant des premières informations assistées par positionnement d'un dispositif terminal et/ou des secondes informations assistées par positionnement d'une station de base ; et déterminer la crédibilité de l'emplacement actuel du dispositif terminal selon les informations assistées par positionnement. Lorsqu'un dispositif terminal acquiert, pendant un positionnement de liaison montante assisté, des premières informations assistées par positionnement, qui sont rapportées à une station de base au moyen du dispositif terminal, et des secondes informations assistées par positionnement de la station de base elle-même, un dispositif de positionnement peut déterminer la crédibilité de l'emplacement actuel du dispositif terminal sur la base des premières informations assistées par positionnement et des secondes informations assistées par positionnement.
PCT/CN2023/094364 2022-05-23 2023-05-15 Procédé de positionnement, et dispositif, station de base, appareil de positionnement et support de stockage lisible par processeur WO2023226816A1 (fr)

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CN202210564018.9 2022-05-23
CN202210564018.9A CN117156378A (zh) 2022-05-23 2022-05-23 定位方法、设备、基站、定位装置和处理器可读存储介质

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105744618A (zh) * 2014-12-12 2016-07-06 电信科学技术研究院 一种进行定位的方法、系统和设备
CN108924737A (zh) * 2018-06-20 2018-11-30 北京三快在线科技有限公司 定位方法、装置、设备及计算机可读存储介质
US20220034992A1 (en) * 2020-07-30 2022-02-03 Nokia Technologies Oy Reporting of integrity-related information for positioning
WO2022082535A1 (fr) * 2020-10-21 2022-04-28 华为技术有限公司 Procédé de positionnement et appareil associé

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CN105744618A (zh) * 2014-12-12 2016-07-06 电信科学技术研究院 一种进行定位的方法、系统和设备
CN108924737A (zh) * 2018-06-20 2018-11-30 北京三快在线科技有限公司 定位方法、装置、设备及计算机可读存储介质
US20220034992A1 (en) * 2020-07-30 2022-02-03 Nokia Technologies Oy Reporting of integrity-related information for positioning
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