CN105026950A - Terminal positioning method, positioning server and terminal - Google Patents

Terminal positioning method, positioning server and terminal Download PDF

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Publication number
CN105026950A
CN105026950A CN201380033499.XA CN201380033499A CN105026950A CN 105026950 A CN105026950 A CN 105026950A CN 201380033499 A CN201380033499 A CN 201380033499A CN 105026950 A CN105026950 A CN 105026950A
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terminal
arrival
transfer point
round
positional information
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CN105026950B (en
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刘劲楠
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Disclosed are a terminal positioning method, positioning server and terminal, the method comprising: receiving N first wave arrival angles measured by the terminal, the first angle of arrival being an angle of direction of a downlink signal reaching the terminal relative to the current direction of the terminal; the N first wave arrival angles respectively correspond to N transmission points, N being an integer greater than or equal to 2; determining the location of the terminal according to the N first wave arrival angles and the location information of the N transmission points. An embodiment of the present invention can realize terminal positioning by the angle of arrival measured by the terminal and the location information of a corresponding transmission point, without simultaneously transmitting uplink signals to a plurality of transmission points by the terminal, thus avoiding positioning failure caused by transmission points failing to receive uplink signals, and thereby providing higher positioning accuracy in terminal positioning.

Description

Terminal positioning method, positioning server and terminal
Method, location-server and the field of terminal technology of terminal positioning
The present invention relates to the communications field, and more particularly, to a kind of method of terminal positioning, location-server and terminal.Background technology
The explosive growth of intelligent terminal, has triggered terminal positioning demand and the rapid growth based on location information service.Current intelligent terminal, for example, the wirelessly notebook of access network, tablet personal computer, mobile phone, intelligent watch etc., can be with integrated GPS (Global Positioning System, global positioning system）Module, cellular communication module, WiFi (Wireless Fidelity, Wireless Fidelity）Communication module.Therefore, terminal can be based on GNSS (Global Navigation Satellite System, satellite system）Or Cellular Networks realize positioning, it can also be realized and positioned by the location technology of WiFi network.
In current location technology, location-server request base station carries out the direction of arrival measurement of terminal, and base station is measured to the direction of arrival of terminal, and then location-server realizes the positioning of terminal according to the direction of arrival of base station measurement and the positional information of base station., it is necessary to which terminal is to two base stations in the location technology（For example, serving BS and neighbor base stations）Upward signal is sent, because the transmission power of terminal is limited, usual only one of which base station（Serving BS）Stronger upward signal can be received.So as to which neighbor base stations possibly can not measure the direction of arrival of the terminal, thus positioning can not be realized.The content of the invention
The embodiments of the invention provide a kind of method of terminal positioning, location-server and terminal, while can realize terminal positioning, with higher positional accuracy.
In a first aspect, the embodiments of the invention provide a kind of method of terminal positioning, including：N number of first direction of arrival of receiving terminal measurement, the first direction of arrival is that the direction of downstream signal incoming terminal works as the angle of front direction, N number of first direction of arrival relative to terminal --- corresponding to N number of transfer point, wherein, N is the integer more than or equal to 2；According to N number of first direction of arrival and the positional information of N number of transfer point, the position of terminal is determined.
With reference in a first aspect, in the first implementation of first aspect, according to N number of first direction of arrival and the positional information of N number of transfer point, determine the position of terminal, including：The differential seat angle of N number of first direction of arrival between any two is determined, 2 differential seat angles of N (N-7) are obtained, wherein, N is the integer more than 2；Root The positional information of N (N-l)/2 differential seat angle and N number of transfer point, determines the position of terminal.
With reference to first aspect and its above-mentioned implementation, in second of implementation of first aspect, according to N (positional information of 2 differential seat angles of W-7 and N number of transfer point, determines the position of terminal, including：According to N (N-1)/2 differential seat angle and the positional information of N number of transfer point, N (N-1)/2 Ge Round Round hearts coordinates and radius are determined, and N (W-7)/2 Ge Round Round hearts distances between any two；Gen Ju Round hearts coordinate, radius He Round heart distances, based on Helen's theorem, determine the N (intersection points of the Ge Round of W-7 2 between any two；According to intersection point, the position of terminal is determined.
With reference to first aspect and its above-mentioned implementation, in the third implementation of first aspect, according to N (positional information of 2 differential seat angles of W-7 and N number of transfer point, determines the position of terminal, including：According to N (N-1)/2 differential seat angle and the positional information of N number of transfer point, N (N-1)/2 Ge Round are determined；According to N (W-7)/2 Ge Round Round hearts coordinates and radius, linear equation is set up, the position of terminal is determined based on least square method.
With reference to first aspect and its above-mentioned implementation, in the 4th kind of implementation of first aspect, N is equal to 2, and this method also includes：The second direction of arrival of the terminal of first transmission point measurement is received, first transmission point is one in N number of transfer point, and the second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point；According to N number of first direction of arrival and the positional information of N number of transfer point, the position of terminal is determined, including：According to differential seat angle, the positional information of N number of transfer point and the second direction of arrival of N number of first direction of arrival between any two, the position of terminal is determined.
With reference to first aspect and its above-mentioned implementation, in the four or five kind of implementation of first aspect, after the positional information according to N number of first direction of arrival and N number of transfer point, the position for determining terminal, method also includes：The position of at least one first direction of arrival and terminal in N number of first direction of arrival, determines angle of the current direction of terminal relative to direct north.
With reference to first aspect and its above-mentioned implementation, in the 6th kind of implementation of first aspect, before N number of first direction of arrival that receiving terminal is measured, in addition to：The antenna array ability information that receiving terminal is sent, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Second aspect, the embodiments of the invention provide a kind of method of terminal positioning, including：N number of downstream signal is received, N number of downstream signal is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；According to N number of downstream signal, N number of first direction of arrival is measured respectively, and the first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal；N number of first direction of arrival is sent to location-server. With reference to second aspect and its above-mentioned implementation, in the first implementation of second aspect, the sequence of N downstream signal is different, or the frequency of N number of downstream signal is different, or N number of downstream signal is that transfer point is sent in different time.
With reference to second aspect and its above-mentioned implementation, in second of implementation of second aspect, this method also includes：To location-server transmission antenna battle array ability information, whether antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
The third aspect, the embodiments of the invention provide a kind of location-server, including：Receiving unit, N number of first direction of arrival measured for receiving terminal, the first direction of arrival is that the direction of downstream signal incoming terminal works as the angle of front direction, N number of first direction of arrival relative to terminal --- corresponding to N number of transfer point, wherein, N is the integer more than or equal to 2；Determining unit, for the positional information according to N number of first direction of arrival and N number of transfer point, determines the position of terminal.
With reference to the third aspect, in the first implementation of the third aspect, determining unit specifically for, determine the differential seat angle of N number of first direction of arrival between any two, obtain N (W-7)/2 differential seat angle, wherein, N is integer more than 2；According to N, (positional information of 2 differential seat angles of W-7 and N number of transfer point, determines the position of terminal.
With reference to the third aspect and its above-mentioned implementation, in second of implementation of the third aspect, determining unit specifically for, according to N (N-7)/2 differential seat angle and the positional information of N number of transfer point, determine N (N-1)/2 Ge Round Round hearts coordinates and radius, and N (N-1)/2 Ge Round Round hearts distances between any two；Gen Ju Round hearts coordinate, radius He Round heart distances, based on Helen's theorem, determine the intersection points of N (W-7)/2 Ge Round between any two；According to intersection point, the position of terminal is determined.
With reference to the third aspect and its above-mentioned implementation, in the third implementation of the third aspect, determining unit is specifically for according to N (N-7)/2 differential seat angle and the positional information of N number of transfer point, determining N (W-7)/2 Ge Round；According to N (W-7)/2 Ge Round Round hearts coordinates and radius, linear equation is set up, the position of terminal is determined based on least square method.
With reference to the third aspect and its above-mentioned implementation, in the 4th kind of implementation of the third aspect, N is equal to 2, receiving unit is additionally operable to, receive the second direction of arrival of the terminal of first transmission point measurement, first transmission point is one in N number of transfer point, and the second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point；Determining unit is specifically for according to differential seat angle, the positional information of N number of transfer point and the second direction of arrival of N number of first direction of arrival between any two, determining the position of terminal.
With reference to the third aspect and its above-mentioned implementation, in the 5th kind of implementation of the third aspect, determining unit is additionally operable to, the position of at least one first direction of arrival and terminal in N number of first direction of arrival Put, determine angle of the current direction of terminal relative to direct north.
With reference to the third aspect and its above-mentioned implementation, in the 6th kind of implementation of the third aspect, receiving unit is additionally operable to, the antenna array ability information that receiving terminal is sent, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Fourth aspect, the embodiments of the invention provide a kind of terminal, including：Receiving unit, for receiving
N number of downstream signal, N number of downstream signal --- corresponding to N number of transfer point, wherein, N is the integer more than or equal to 2；Determining unit, for according to N number of downstream signal, measuring N number of first direction of arrival respectively, the first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal；Transmitting element, for sending N number of first direction of arrival to location-server.
With reference to fourth aspect, in the first implementation of fourth aspect, the sequence of N number of downstream signal is different, or the frequency of N number of downstream signal is different, or N number of downstream signal is that transfer point is sent in different time.
With reference to fourth aspect and its above-mentioned implementation, in second of implementation of fourth aspect, transmitting element is additionally operable to, to location-server transmission antenna battle array ability information, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Based on above-mentioned technical proposal, the direction of arrival and the positional information of corresponding transfer point that the embodiment of the present invention can be measured using terminal realize terminal positioning, upward signal is sent to multiple transmission point simultaneously without terminal, thus is avoided because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, cylinder will be made to the required accompanying drawing used in the embodiment of the present invention below singly to introduce, apparently, drawings in the following description are only some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the indicative flowchart of the method for the terminal positioning of one embodiment of the invention.
Fig. 2 is that the embodiment of the present invention according to differential seat angle and the position Xin of transfer point breaths Que Dings Round schematic diagram.
Fig. 3 is the schematic diagram of two Round of determination of embodiment of the present invention intersection point.
Fig. 4 is the indicative flowchart of the method for the terminal positioning of another embodiment of the present invention.
Fig. 5 is the schematic block diagram of the location-server of one embodiment of the invention. Fig. 6 is the schematic block diagram of the terminal of one embodiment of the invention.
Fig. 7 is the schematic block diagram of the location-server of another embodiment of the present invention.
Fig. 8 is the schematic block diagram of the terminal of another embodiment of the present invention.Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained on the premise of creative work is not made should all belong to the scope of protection of the invention.
It should be understood that the technical scheme of the embodiment of the present invention can apply to various communication systems, such as：Global system for mobile telecommunications (Global System of Mobile communication, cylinder is referred to as " GSM ") system, CDMA（Code Division Multiple Access, cylinder is referred to as " CDMA ") system, WCDMA（Wideband Code Division Multiple Access, cylinder is referred to as " WCDMA ") system, GPRS（General Packet Radio Service, cylinder is referred to as " GPRS "), Long Term Evolution（Long Term Evolution, cylinder is referred to as " LTE ") system, LTE FDDs（Frequency Division Duplex, cylinder is referred to as " FDD ") system, LTE time division duplexs（Time Division Duplex, cylinder is referred to as " TDD "), UMTS (Universal Mobile Telecommunication System, cylinder is referred to as " UMTS "), global interconnection inserting of microwave（Worldwide Interoperability for Microwave Access, cylinder is referred to as " WiMAX ") communication system etc..
It should also be understood that in embodiments of the present invention, terminal（Terminal user equipment can) be referred to as（User
Equipment, cylinder is referred to as " UE "), mobile station（Mobile Station, cylinder is referred to as " MS "), mobile terminal（Mobile Terminal) etc., the terminal can be through wireless access network（Radio Access Network, cylinder is referred to as " RAN ") communicated with one or more core nets, for example, terminal can be mobile phone（Or be " honeycomb " phone）, computer with mobile terminal etc., for example, terminal can also be portable, pocket, hand-held, built-in computer or vehicle-mounted mobile device, they exchange voice and/or data with wireless access network.
In embodiments of the present invention, transfer point can be base station, for example, base station (Base Transceiver Station in GSM or CDMA, cylinder is referred to as " BTS "), evolved base station in base station (NodeB, cylinder is referred to as " NB ") in WCDMA, LTE（Evolutional Node B, cylinder is referred to as ' Ν Β or e-NodeB ") or isomery scene under a variety of transfer points, such as macro base station（Macro BS), micro-base station（Micro BS), femto base station（Femto BS), cell（Small cell ).The present invention Do not limit.But for convenience of description, following embodiments will be illustrated by taking transfer point and terminal as an example.Fig. 1 is the indicative flowchart of the method for the terminal positioning of one embodiment of the invention.Fig. 1 method 100 can be realized by location-server.Fig. 1 method 100 includes：
110, N number of first direction of arrival of receiving terminal measurement, the first direction of arrival is that the direction of downstream signal incoming terminal works as the angle of front direction, N number of first direction of arrival relative to terminal --- corresponding to N number of transfer point, wherein, N is the integer more than or equal to 2.
120, according to N number of first direction of arrival and the positional information of N number of transfer point, determine the position of terminal.Based on above-mentioned technical proposal, the direction of arrival and the positional information of corresponding transfer point that the embodiment of the present invention can be measured using terminal realize terminal positioning, upward signal is sent to multiple transmission point simultaneously without terminal, thus is avoided because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.
It should be understood that the first direction of arrival can be the direction of downstream signal incoming terminal relative to when the angle counterclockwise or angle clockwise of front direction.Location-server can obtain the positional information of N number of transfer point in advance, for example, the positional information of N number of transfer point is obtained in initial phase.
It will also be understood that, the order that N number of first direction of arrival and N number of transfer point --- corresponding relation can carry out direction of arrival measurement to transfer point according to location-server requesting terminal determines that the transmission point identification carried respectively in N number of first direction of arrival that can also be reported according to terminal is determined.
It should also be understood that location-server can send Location Request to terminal, in order to which terminal measures the first direction of arrival, terminal positioning flow can also be started after the first direction of arrival that terminal is reported automatically is received.
Alternatively, it is used as one embodiment, in the step 120, in the positional information according to N number of first direction of arrival and N transfer point, when determining the position of terminal, it may be determined that the differential seat angle of N number of first direction of arrival between any two, N (2 differential seat angles of W-7 are obtained, wherein, N is the integer more than 2.Then, according to Ν (Ν -1)/2 differential seat angle and the positional information of N number of transfer point, the position of terminal is determined.
Alternatively, it is used as another embodiment, in the positional information according to N (W-7)/2 differential seat angle and N number of transfer point, when determining the position of terminal, according to the N (positional informations of 2 differential seat angles of W-7 and N number of transfer point, determine N (N-1)/2 Ge Round Round hearts coordinates and radius, and N (N-1)/2 Ge Round Round hearts distances between any two.Then, Gen Ju Round hearts coordinate, radius He Round heart distances, based on Helen's theorem, determine the intersection points of the Ge Round of N (W-7) 2 between any two.Finally, according to intersection point, the position of terminal is determined.
If for example, the first direction of arrival for downstream signal incoming terminal direction relative to when the angle counterclockwise of front direction, at this moment, 2 the first direction of arrival are with differential seat angle： ZIPJ= ZAOArZAOA the first direction of arrival for downstream signal incoming terminal direction relative to working as front direction Angle clockwise in the case of, angle method for determining difference is similarly.
The embodiment of the present invention is described in detail below in conjunction with specific example.It should be noted that these examples are intended merely to help those skilled in the art to more fully understand the embodiment of the present invention, the scope for the embodiment that is not intended to limit the present invention.
Fig. 2 is that the embodiment of the present invention according to differential seat angle and the position Xin of transfer point breaths Que Dings Round schematic diagram.As shown in Figure 2 is from Round theorems, point/and point/position fix, as the angle between fruit dot (correspond to terminal) to point I (corresponding to a transfer point) and point J (corresponding to a transfer point) is fixed, then track be Round arcs.The corresponding string of Round arcs // divide Round for two parts, the referred to as major arc of Round arc length, the short referred to as minor arc of Round arcs.In embodiments of the present invention, the differential seat angle corresponding to the first direction of arrival between any two.If be defined as all the time, point3The triangle angle of chord // determination, it may appear that fuzzy problem as shown in Figure 2, namely terminal can be on two Round of string // specular, and such as point P can increase the computation complexity of determination terminal actual position with this is put.
To eliminate this ambiguity, first direction of arrival unified definition is worked as to the angle counterclockwise of front direction for the direction of downstream signal incoming terminal relative to terminal, correspondingly, the first direction of arrival has shared initial line two-by-two, pass through the method for foregoing elimination ambiguity, the terminal location track Suo Round Round hearts can be uniquely determined, in fig. 2, work as ZIPJ<90., then solid line Round arc portions are divided into terminal location track in expression figure.And the at this moment P of mirror image, and/,/angle formed, ZIP, J=n6 (T-ZIPJ, will not produce fuzzy, and n is integer.
In this case, according to point y;) and point）Que Dings Round heart coordinates（¾, ）It is respectively with radius：
xv = (xt + xj)ll-{yi - yj)/ (2.tan(ZHV)) ( 1 ) y, ={yi + yj)l2 + (xt -Xj)l (2.tan(ZHV)) ( 2 )
R, = ^{x -xjf + (y, - yj)2)) I (2. | sin (Z/P/) |) (3) so, can (positional information of 2 differential seat angles of W-7 and N number of transfer point, be determined respectively according to N
N (N-1)/2 Ge Round Round hearts coordinates and radius.
Fig. 3 is the schematic diagram of two Round of determination of embodiment of the present invention intersection point.In order to solve terminal location, at least need the transfer point of 3 known locations, and this 3 transfer points direction of arrival differential seat angle between any two.
For Dinging Round according to differential seat angle Que, per at least one intersection point between Liang Round, and the intersecting point coordinate of one of them is the shared transfer point of two differential seat angles.Hence, it can be determined that the friendship between Liang Liang Round Point non-common transfer point unique intersection point, or the transfer point without non-common unique intersection point.So, further, according to the intersection point in N (W-7)/2 Ge Round between any two, unique intersection point of the transfer point of multiple non-common is finally can determine, arithmetic mean of instantaneous value is taken as the position of terminal.According to the differential seat angle Que between the 7th transfer point and the 2nd transfer point Ding Round G (1,y21), Round is Dinged according to the differential seat angle Que between the 3rd transfer point and the 2nd transfer point（^ (^) ^), Jia set Round G radius as R21, Round C2Radius be R32.As shown in figure 3, Ze Round G are He Round C2At least one intersection point, and one of intersection point is the 2nd transfer point, and its coordinate is（¾,>2)。
First according to formula（4) Que Dings Round G He Round C2Jian Round heart distances：
Further according to formula（5) or（6) Que Dings Round G He Round C2Jian Round hearts lines and c-axis（It is shown in dotted line）Angle sine and cosine value：
sin(r) = (y32-y21)/ ^2 (5 ) cos( ) = (x32 -x2l)l ^2(6) then, according to formula（7) and（8) determine intersection point between Liang Round/and《2The ι of distance 2/: s = (R21+R32 + Ll2)/2 (7)
2»h = ^sqrtis'is-R^Hs-R^Hs-^)) I ^2(8) finally, according to formula（9) and（And known shared anchor point determines another intersection point 10)（, ^) position：
= y2- 2./i.cos /) (10) wherein,（8) determined according to following derivation：
Two intersection points and IS2The line Yu Liang Round hearts d and C2Line be mutually perpendicular to the , Liang Round hearts and C2Line and axle angle, according to Helen's theorem area formula
Formula can be derived（8),
When 3 transfer points, the value (^) calculated by previous step is the position of terminal.
If more than 3 transfer points, are determined after the intersection point between two liang of Round, arithmetic average can be carried out with antinode coordinate, regard arithmetic mean of instantaneous value as the position of terminal.
Alternatively, as another embodiment, in the positional information according to Ν (Ν -1)/2 differential seat angle and Ν transfer point, when determining the position of terminal, (believed the position of 2 differential seat angles of W-7 and N number of transfer point according to N Breath, determines the Ge Round of N (W-7) 2.Then, according to N (W-7)/2 Ge Round Round hearts coordinates and radius, linear equation is set up, the position of terminal is determined based on least square method.
The embodiment of the present invention is described in detail below in conjunction with specific example.It should be noted that these examples are intended merely to help those skilled in the art to more fully understand the embodiment of the present invention, the scope for the embodiment that is not intended to limit the present invention.
Position based on terminal, with terminal to origin（0,0) square r of distance2Construct unknown quantity [x, y, r2, linear equation is set up according to N (N-7)/2 Ge Round Round hearts and radius, [c, y, r are solved based on least square method2] .A matrixes have the rows of N (W-7) 2, and 3 row, b column vectors have the rows of N (W-7) 2.Here continue to continue to use pair radius above Ji the describing mode of Round heart coordinates.Set up linear equation（12):
X
y {ATAYlATB (12) can be write A and b as formula in the case where being positioned using N number of transfer point：
-(½)2_(y21)
Wherein, linear equation（12) set up process and can carry out in accordance with the following steps：
First, Jia sets the Round hearts as ^), Ze Round equation expression formula（13) can be as follows,
EXPANSION EQUATION FOR STEEL（13) equation can, be obtained（ 14 ),
-2 ^-2^ =i¾-(¾)2-(^)2-r2(14) wherein, e [l, 2 ..., N], ≠.Similarly, according to 2 differential seat angles of the positional information of N number of transfer point and N (W-7), the Ge Round of N V-7 2 can be determined altogether.
With the situation concrete example explanation of 3 transfer points, at this moment Α and b expression formula is as follows,
_2½ ~2y21 1Ί R2 2 l-(x2lf -{y2lf
A= -2x32 -2y32 1 , b=
— - 2 i -2y311」 [ —（JC31)2— (y31)2
In the case of 3 transfer points, it may be determined that 3 Ge Round, therefore 3 equations can be obtained, equation (15), (16) and（17):
-2xx21 -2yy2l+r2 -(y2lf ( 15 )
-2xx32 -2yy32 + r2 = R3 2 2 - (x32 - (y32 ( 16 ) -2xx31-2yy31 + r =R31-(x31) _(y31) (17) then, according to formula（ 15 )、 （16) and（17) it can determine that linear equation（ 18 ):
A b (18) finally, according to linear equation（18) above-mentioned linear equation can be determined（12).
Alternatively, as another embodiment, if N is equal to 2, location-server can receive the second direction of arrival of the terminal of first transmission point measurement, first transmission point is one in N number of transfer point, and the second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point.In this case, in the positional information according to N number of first direction of arrival and N number of transfer point, when determining the position of terminal, location-server can determine the position of terminal according to N number of first direction of arrival differential seat angle, the positional information of N number of transfer point and the second direction of arrival between any two.
For example, the position coordinates of first transmission point is（0,0), the position coordinates of second transmission point is（0,L).Upward signal reach first transmission point the second direction of arrival be《, the direction of arrival difference of the downlink reference signal of second transmission point and the downlink reference signal incoming terminal of first transmission point is according to formula（19) and（20) coordinate of terminal can be determined
x = -L sin(«)sin(« + θ) I ήη(θ) ( 19) y = Lcos(«)sin(« + 6,)/sin(6l) (20) alternatively, as another embodiment, at least one first direction of arrival and the position of terminal that location-server can also be in N number of first direction of arrival determine angle of the current direction of terminal relative to direct north.
For example, the line and the angle of direct north of the terminal and the first transmission point can be determined by the positional information of terminal and the positional information of first transmission point《And combine the first direction of arrival ZAO for measuring obtain above, can obtain the current direction of terminal relative to the angle of direct north be a-ZAO so, location-server is while terminal positioning is realized, the current direction of terminal is may further determine that, for it needs to be determined that terminal provides solution when the application scenarios of front direction.
Alternatively, as another embodiment, the antenna array ability information that location-server can be sent with receiving terminal, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Antenna size and relevant with the wavelength of the Antenna Operation frequency range, when antenna is operated in higher frequency band, antenna size can be made small, and at this moment terminal can have the ability that direction of arrival is measured in high band.For example, the working frequency range of antenna array is millimeter wave frequency band 30GHz-300GHz, at this moment one 16 (4x4) The antenna array volume of array element can accomplish 2cm*2cm sizes.Such antenna array volume is adapted to mobile terminal, the demand of such as smart mobile phone.
Fig. 4 is the indicative flowchart of the method for the terminal positioning of another embodiment of the present invention.Fig. 4 method 400 can be realized by terminal.Fig. 4 method 400 includes：
410, receive N number of downstream signal, N number of downstream signal --- corresponding to N number of transfer point, wherein,
N is the integer more than or equal to 2.
420, according to N number of downstream signal, N number of first direction of arrival is measured respectively, and the first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal.
430, send N number of first direction of arrival to location-server.
Based on above-mentioned technical proposal, the direction of arrival and the positional information of corresponding transfer point that the embodiment of the present invention can be measured using terminal realize terminal positioning, upward signal is sent to multiple transmission point simultaneously without terminal, thus is avoided because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.
It should be understood that the first direction of arrival can be the direction of downstream signal incoming terminal relative to when the angle counterclockwise or angle clockwise of front direction.
It will also be understood that, the order that N number of first direction of arrival and N number of transfer point --- corresponding relation can carry out direction of arrival measurement to transfer point according to location-server requesting terminal determines that the transmission point identification carried respectively in N number of first direction of arrival that can also be reported according to terminal is determined.
It should also be understood that terminal can receive location-server transmission Location Request after, measure the first direction of arrival, can also from trend location-server reporting measurement to the first direction of arrival, so as to location-server start terminal positioning flow.
Alternatively, as one embodiment, the sequence of N number of downstream signal is different, or the frequency of N number of downstream signal is different, or N number of downstream signal is that transfer point is sent in different time.
For example, different transfer points sends downlink reference signal by the way of code division.Terminal is based on known downlink reference signal and proceeded to up to angular measurement, downlink reference signal has cell CRS (Cell specific Reference Signal in LTE system, specific reference signal), PRS (Positioning Reference signal, location reference signals), PSS (Primary Synchronization Signal, master sync signal) and SSS (Secondary Synchronization Signal, auxiliary synchronous signals）.Accordingly even when being that, with frequency, terminal can also distinguish different transfer points by the different corresponding codes of reference signal.
So, the direction of arrival of downlink reference signal will not be measured because of terminal, extra burden is introduced to system.But the downlink reference signal that the current system of multiplexing has had. Or, different transfer points takes different time resources and sends downstream signal.At this moment terminal only needs to know the corresponding relation of time and transfer point, and downstream signal and the corresponding relation of transfer point just can be determined using the method for blind signal detection direction of arrival.
Again or, different transfer points takes different frequency resources and sends downstream signals.At this moment terminal only needs to know the corresponding relation of frequency resource and transfer point, and downstream signal and the corresponding relation of transfer point just can be determined using the method for blind signal detection angle of arrival.
Alternatively, as another embodiment, terminal can also be to location-server transmission antenna battle array ability information, and antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Fig. 5 is the schematic block diagram of the location-server of one embodiment of the invention.Fig. 3 location-server 50 includes receiving unit 501 and determining unit 502.
Receiving unit 501, N number of first direction of arrival measured for receiving terminal, the first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal, and N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；
Determining unit 502, for the positional information according to N number of first direction of arrival and N number of transfer point, determines the position of terminal.
Based on above-mentioned technical proposal, the direction of arrival and the positional information of corresponding transfer point that the embodiment of the present invention can be measured using terminal realize terminal positioning, upward signal is sent to multiple transmission point simultaneously without terminal, thus is avoided because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.
It should be understood that the first direction of arrival can be the direction of downstream signal incoming terminal relative to when the angle counterclockwise or angle clockwise of front direction.Location-server can obtain the positional information of N number of transfer point in advance, for example, the positional information of N number of transfer point is obtained in initial phase.
It will also be understood that, the order that N number of first direction of arrival and N number of transfer point --- corresponding relation can carry out direction of arrival measurement to transfer point according to location-server requesting terminal determines that the transmission point identification carried respectively in N number of first direction of arrival that can also be reported according to terminal is determined.
It should also be understood that location-server can send Location Request to terminal, in order to which terminal measures the first direction of arrival, terminal positioning flow can also be started after the first direction of arrival that terminal is reported automatically is received.
Alternatively, as one embodiment, determining unit 502 specifically for, determine the differential seat angle of N number of first direction of arrival between any two, obtain N (2 differential seat angles of W-7, wherein, N is integer more than 2；The positional information of Ν (Ν -1)/2 differential seat angle and N number of transfer point, determines the position of terminal. Alternatively, it is used as another embodiment, determining unit 502 specifically for, according to N (W-7)/2 differential seat angle and the positional information of N number of transfer point, determine N (W-7)/2 Ge Round Round hearts coordinates and radius, and N (W-7)/2 Ge Round Round hearts distances between any two.Then, Gen Ju Round hearts coordinate, radius He Round heart distances, based on Helen's theorem, determine the intersection points of N (W-7)/2 Ge Round between any two.Finally, according to intersection point, the position of terminal is determined.
If for example, the first direction of arrival for downstream signal incoming terminal direction relative to when the angle counterclockwise of front direction, at this moment, 2 the first direction of arrival are with differential seat angle：ZIPJ=Ζ Α Ο Λ-Ζ Α Ο Α ^ are in the direction that the first direction of arrival is downstream signal incoming terminal relative in the case of the angle clockwise of front direction, and angle method for determining difference is similarly.
Alternatively, as one embodiment, determining unit 502 is specifically for according to N (W-7)/2 differential seat angle and the positional information of N number of transfer point, determining N (the Ge Round of W-7 2.Then, according to N, (the Ge Round Round hearts coordinates of W-7 2 and radius, are set up linear equation, the position of terminal are determined based on least square method.
Alternatively, it is used as another embodiment, if N is equal to 2, receiving unit 501 is additionally operable to, receive the second direction of arrival of the terminal of first transmission point measurement, first transmission point is one in N number of transfer point, and the second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point.Determining unit 502 is specifically for according to differential seat angle, the positional information of N number of transfer point and the second direction of arrival of N number of first direction of arrival between any two, determining the position of terminal.
Alternatively, as another embodiment, determining unit 502 is additionally operable to, the position of at least one first direction of arrival and terminal in N number of first direction of arrival, determines angle of the current direction of terminal relative to direct north.
Alternatively, as another embodiment, receiving unit 501 is additionally operable to, the antenna array ability information that receiving terminal is sent, and antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Fig. 6 is the schematic block diagram of the terminal of one embodiment of the invention.Fig. 4 terminal 60 includes receiving unit 601, determining unit 602 and transmitting element 603.
Receiving unit 601, for receiving N number of downstream signal, N number of downstream signal --- corresponding to N number of transfer point, wherein, N is the integer more than or equal to 2.
Determining unit 602, for according to N number of downstream signal, measuring N number of first direction of arrival respectively, the first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal.
Transmitting element 603, for sending N number of first direction of arrival to location-server.
Based on above-mentioned technical proposal, direction of arrival and corresponding biography that the embodiment of the present invention can be measured using terminal The positional information of defeated point realizes terminal positioning, and upward signal is sent to multiple transmission point simultaneously without terminal, thus avoids because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.
It should be understood that the first direction of arrival can be the direction of downstream signal incoming terminal relative to when the angle counterclockwise or angle clockwise of front direction.
It will also be understood that, the order that N number of first direction of arrival and N number of transfer point --- corresponding relation can carry out direction of arrival measurement to transfer point according to location-server requesting terminal determines that the transmission point identification carried respectively in N number of first direction of arrival that can also be reported according to terminal is determined.
It should also be understood that terminal can receive location-server transmission Location Request after, measure the first direction of arrival, can also from trend location-server reporting measurement to the first direction of arrival, so as to location-server start terminal positioning flow.
Alternatively, as one embodiment, the sequence of N number of downstream signal is different, or the frequency of N number of downstream signal is different, or N number of downstream signal is that transfer point is sent in different time.
Alternatively, as one embodiment, transmitting element 603 is additionally operable to, and to location-server transmission antenna battle array ability information, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Fig. 7 is the schematic block diagram of the location-server of another embodiment of the present invention.Embodiment in, location-server 70 include radiating circuit 702, receiving circuit 703, processing unit 704, memory 705 and antenna 701.Processing unit 704 controls the operation of location-server 70, and available for process signal.Processing unit 704 can also be referred to as CPU (Central Processing Unit, CPU）.Memory 705 can include read-only storage and random access memory, and provide instruction and data to processor 604.The a part of of memory 705 can also include non-volatile row random access memory（ NVRAM ).In specific application, location-server 70 can be embedded in or itself can be exactly the Wireless Telecom Equipment of such as mobile phone etc.Radiating circuit 702 and receiving circuit 703 may be coupled to antenna 701.Each component of location-server 70 is coupled by bus system 709, and wherein bus system 709 is in addition to including data/address bus, in addition to power bus, controlling bus and status signal bus in addition.But for the sake of clear explanation, various buses are all designated as bus system 709 in figure.N number of first direction of arrival of receiving terminal measurement, the first direction of arrival is that the direction of downstream signal incoming terminal works as the angle of front direction, N number of first direction of arrival relative to terminal --- corresponding to N number of transfer point, its In, N is the integer more than or equal to 2；According to N number of first direction of arrival and the positional information of N number of transfer point, the position of terminal is determined.
Based on above-mentioned technical proposal, the direction of arrival and the positional information of corresponding transfer point that the embodiment of the present invention can be measured using terminal realize terminal positioning, upward signal is sent to multiple transmission point simultaneously without terminal, thus is avoided because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.
It should be understood that the first direction of arrival can be the direction of downstream signal incoming terminal relative to when the angle counterclockwise or angle clockwise of front direction.Location-server can obtain the positional information of N number of transfer point in advance, for example, the positional information of N number of transfer point is obtained in initial phase.
It will also be understood that, the order that N number of first direction of arrival and N number of transfer point --- corresponding relation can carry out direction of arrival measurement to transfer point according to location-server requesting terminal determines that the transmission point identification carried respectively in N number of first direction of arrival that can also be reported according to terminal is determined.
It should also be understood that location-server can send Location Request to terminal, in order to which terminal measures the first direction of arrival, terminal positioning flow can also be started after the first direction of arrival that terminal is reported automatically is received.In the positional information according to N number of first direction of arrival and N number of transfer point, when determining the position of terminal, the differential seat angle of N number of first direction of arrival between any two is determined, N (W-7)/2 differential seat angle is obtained, wherein, N is the integer more than 2；According to N, (positional information of 2 differential seat angles of W-7 and N number of transfer point, determines the position of terminal.In the positional information according to N (N-1)/2 differential seat angle and N number of transfer point, when determining the position of terminal, according to Ν (Ν -1)/2 differential seat angle and the positional information of N number of transfer point, determine the Ge Round Round hearts coordinates of Ν (Ν -1)/2 and radius, and the Ge Round of N (W-7) 2 Round hearts distances between any two；Gen Ju Round hearts coordinate, radius He Round heart distances, based on Helen's theorem, determine the N (intersection points of the Ge Round of W-7 2 between any two；According to intersection point, the position of terminal is determined.
If for example, the first direction of arrival for downstream signal incoming terminal direction relative to when the angle counterclockwise of front direction, at this moment, 2 the first direction of arrival are with differential seat angle：ZIPJ=ZAi r ZAOA^ are in the direction that the first direction of arrival is downstream signal incoming terminal relative in the case of the angle clockwise of front direction, and angle method for determining difference is similarly.In the positional information according to N (N-1)/2 differential seat angle and N number of transfer point, when determining the position of terminal, According to N (N-1)/2 differential seat angle and the positional information of N number of transfer point, N (N-1 Round is determined；According to N (W-7)/2 Ge Round Round hearts coordinates and radius, linear equation is set up, the position of terminal is determined based on least square method.If N is equal to 2, the second direction of arrival of the terminal of first transmission point measurement is received, first transmission point is
One in N number of transfer point, the second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point；In the positional information according to N number of first direction of arrival and N number of transfer point, when determining the position of terminal, according to differential seat angle, the positional information of N number of transfer point and the second direction of arrival of N number of first direction of arrival between any two, the position of terminal is determined.After the positional information according to N number of first direction of arrival and N number of transfer point, the position for determining terminal, the position of at least one first direction of arrival and terminal in N number of first direction of arrival determines angle of the current direction of terminal relative to direct north.Before N number of first direction of arrival that receiving terminal is measured, the antenna array ability information that receiving terminal is sent, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
Fig. 8 is the schematic block diagram of the terminal of another embodiment of the present invention.
Fig. 8 terminal 80 can be used for realizing each step and method in above method embodiment.In Fig. 8 embodiment, terminal 80 includes radiating circuit 802, receiving circuit 803, processing unit 804, memory 805 and antenna 801.The operation of the control terminal 80 of processing unit 804, and available for process signal.Processing unit 804 can also be referred to as CPU (Central Processing Unit, CPU）.Memory 805 can include read-only storage and random access memory, and provide instruction and data to processor 804.The a part of of memory 805 can also include non-volatile row random access memory (NVRAM).In specific application, terminal 80 can be embedded in or itself can be exactly the Wireless Telecom Equipment of such as mobile phone etc.Radiating circuit 802 and receiving circuit 803 may be coupled to antenna 801.Each component of terminal 80 is coupled by bus system 809, and wherein bus system 809 is in addition to including data/address bus, in addition to power bus, controlling bus and status signal bus in addition.But for the sake of clear explanation, various buses are all designated as bus system 809 in figure.
Specifically, memory 805 can be stored so that processing unit 804 performs the instruction operated below：Receive N number of downstream signal, N number of downstream signal --- corresponding to N number of transfer point, wherein, N is Integer more than or equal to 2；According to N number of downstream signal, N number of first direction of arrival is measured respectively, and the first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal；N number of first direction of arrival is sent to location-server.
Based on above-mentioned technical proposal, the direction of arrival and the positional information of corresponding transfer point that the embodiment of the present invention can be measured using terminal realize terminal positioning, upward signal is sent to multiple transmission point simultaneously without terminal, thus is avoided because transfer point does not receive upward signal and causes the problem of positioning fails.While can realize terminal positioning, there is higher positional accuracy.
It should be understood that the first direction of arrival can be the direction of downstream signal incoming terminal relative to when the angle counterclockwise or angle clockwise of front direction.
It will also be understood that, the order that N number of first direction of arrival and N number of transfer point --- corresponding relation can carry out direction of arrival measurement to transfer point according to location-server requesting terminal determines that the transmission point identification carried respectively in N number of first direction of arrival that can also be reported according to terminal is determined.
It should also be understood that terminal can receive location-server transmission Location Request after, measure the first direction of arrival, can also from trend location-server reporting measurement to the first direction of arrival, so as to location-server start terminal positioning flow.
Specifically, memory 805 can be stored so that processing unit 804 performs the instruction operated below：To location-server transmission antenna battle array ability information, antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
It should be understood that, in various embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to the priority of execution sequence, and the execution sequence of each process should be determined with its function and internal logic, and any limit is constituted without tackling the implementation process of the embodiment of the present invention.
Those of ordinary skill in the art can be appreciated that, the unit and algorithm steps of each example described with reference to the embodiments described herein, it can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate the interchangeability of hardware and software, the composition and step of each example are generally described according to function in the above description.These functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel can realize described function to each specific application using distinct methods, but this realization is it is not considered that beyond the scope of this invention.
It is apparent to those skilled in the art that, clean with cylinder for convenience of description, the specific work process of the system of foregoing description, device and unit may be referred to the corresponding process in preceding method embodiment, will not be repeated here. In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can realize by another way.For example, device embodiment described above is only schematical, for example, the division of the unit, it is only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.In addition, shown or discussed coupling or direct-coupling or communication connection each other can be by the INDIRECT COUPLING of some interfaces, device or unit or communication connection or electricity, mechanical or other forms are connected.
The unit illustrated as separating component can be or may not be physically separate, and the part shown as unit can be or may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Some or all of unit therein can be selected to realize the purpose of scheme of the embodiment of the present invention according to the actual needs.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit or unit is individually physically present or two or more units are integrated in a unit.Above-mentioned integrated unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or in use, can be stored in a computer read/write memory medium.Understood based on such, the part that technical scheme substantially contributes to prior art in other words, or all or part of the technical scheme can be embodied in the form of software product, the computer software product is stored in a storage medium, including some instructions are to cause a computer equipment（Can be personal computer, server, or network equipment etc.）Perform all or part of step of each embodiment methods described of the invention.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage（ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It is described above; only embodiment of the invention; but protection scope of the present invention is not limited thereto; any one skilled in the art the invention discloses technical scope in; various equivalent modifications or substitutions can be readily occurred in, these modifications or substitutions should be all included within the scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.

Claims (1)

  1. Claim
    1st, a kind of method of terminal positioning, it is characterised in that including：
    N number of first direction of arrival of receiving terminal measurement, first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal, N number of first direction of arrival --- corresponding to N number of transfer point, wherein, N is the integer more than or equal to 2；
    According to N number of first direction of arrival and the positional information of N number of transfer point, the position of the terminal is determined.
    2nd, according to the method described in claim 1, it is characterised in that described that the position of the terminal is determined according to N number of first direction of arrival and the positional information of N number of transfer point, including：
    The differential seat angle of N number of first direction of arrival between any two is determined, 2 differential seat angles of N (N-7) are obtained, wherein, N is the integer more than 2；
    According to the N (N-1)/2 differential seat angle and the positional information of N number of transfer point, the position of the terminal is determined.
    3rd, method according to claim 2, it is characterised in that described to determine the position of the terminal according to 2 differential seat angles of the N (N-7) and the positional information of N number of transfer point, including：
    According to Ν (Ν -1)/2 differential seat angle and the positional information of N number of transfer point, N (N-1)/2 Ge Round Round hearts coordinates and radius are determined, and N (N-1)/2 Ge Round Round hearts distances between any two；Gen is according to Suo Shu Round hearts coordinate, the radius and Suo Shu Round heart distances, based on Helen's theorem, determines the N (intersection points of the Ge Round of N-1 2 between any two；
    According to the intersection point, the position of the terminal is determined.
    4th, method according to claim 2, it is characterised in that described according to the N (W-7)/2 differential seat angle and the positional information of N number of transfer point, determines the position of the terminal, including：
    According to Ν (Ν -1)/2 differential seat angle and the positional information of N number of transfer point, the Ge Round of Ν (Ν -1)/2 are determined；
    According to the N (W-7)/2 Ge Round Round hearts coordinates and radius, linear equation is set up, the position of the terminal is determined based on least square method.
    5th, according to the method described in claim 1, it is characterised in that N is equal to 2, and methods described also includes：
    The second direction of arrival of the terminal of first transmission point measurement is received, the first transmission point is one in N number of transfer point, and second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point； It is described that the position of the terminal is determined according to N number of first direction of arrival and the positional information of N number of transfer point, including：
    According to differential seat angle, the positional information of N number of transfer point and second direction of arrival of N number of first direction of arrival between any two, the position of the terminal is determined.
    6th, method according to any one of claim 1 to 5, it is characterised in that described according to N number of first direction of arrival and the positional information of N number of transfer point, after the position for determining the terminal, methods described also includes：
    The position of at least one first direction of arrival and the terminal in N number of first direction of arrival, determines the current direction of the terminal.
    7th, method according to any one of claim 1 to 6, it is characterised in that before N number of first direction of arrival that the receiving terminal is measured, in addition to：
    The antenna array ability information that receiving terminal is sent, the antenna array ability information is used to indicate that the terminal can measure direction of arrival.
    8th, a kind of method of terminal positioning, it is characterised in that including：
    Receive N number of downstream signal, N number of downstream signal --- corresponding to N number of transfer point, wherein,
    N is the integer more than or equal to 2；
    According to N number of downstream signal, N number of first direction of arrival is measured respectively, and first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal；
    N number of first direction of arrival is sent to location-server.
    9th, method according to claim 8, it is characterised in that the sequence of N number of downstream signal is different, or the frequency of N number of downstream signal are different, or N number of downstream signal is that transfer point is sent in different time.
    10th, method according to claim 8 or claim 9, it is characterised in that methods described also includes：To location-server transmission antenna battle array ability information, the antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
    11st, a kind of location-server, it is characterised in that including：
    Receiving unit, N number of first direction of arrival measured for receiving terminal, first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal, and N number of first direction of arrival is corresponded in N number of transfer point, wherein, N is the integer more than or equal to 2；
    Determining unit, for the positional information according to N number of first direction of arrival and N number of transfer point, determines the position of the terminal. 12nd, location-server according to claim 11, it is characterised in that the determining unit specifically for,
    The differential seat angle of N number of first direction of arrival between any two is determined, N (N-1)/2 differential seat angle is obtained, wherein, N is the integer more than 2；
    According to the N, (positional information of 2 differential seat angles of N-7 and N number of transfer point, determines the position of the terminal.
    13rd, location-server according to claim 12, it is characterised in that the determining unit specifically for,
    According to Ν (Ν -1)/2 differential seat angle and the positional information of N number of transfer point, N (W-7)/2 Ge Round Round hearts coordinates and radius are determined, and N (W-7)/2 Ge Round Round hearts distances between any two；According to Suo Shu Round hearts coordinate, the radius and Suo Shu Round heart distances, based on Helen's theorem, the N (intersection points of the Ge Round of N-1 2 between any two are determined；
    It is just blunt according to the intersection point, determine the position of the terminal.
    14th, location-server according to claim 12, it is characterised in that the determining unit specifically for,
    According to Ν (Ν -1)/2 differential seat angle and the positional information of N number of transfer point, the Ge Round of Ν (Ν -1)/2 are determined；
    According to the N (N-7)/2 Ge Round Round hearts coordinates and radius, linear equation is set up, the position of the terminal is determined based on least square method.
    15th, location-server according to claim 11, it is characterized in that, N is equal to 2, the receiving unit is additionally operable to, receive the second direction of arrival of the terminal of first transmission point measurement, the first transmission point is one in N number of transfer point, and second direction of arrival is angle of the direction relative to direct north that upward signal reaches transfer point；
    The determining unit is specifically for according to differential seat angle, the positional information of N number of transfer point and second direction of arrival of N number of first direction of arrival between any two, determining the position of the terminal.
    16th, the location-server according to any one of claim 11 to 15, the determining unit is additionally operable to, the position of at least one first direction of arrival and the terminal in N number of first direction of arrival, determines the current direction of the terminal.
    17th, the location-server according to any one of claim 11 to 16, the receiving unit is additionally operable to, the antenna array ability information that receiving terminal is sent, and the antenna array ability information is used to indicate that the terminal can measure direction of arrival. 18th, a kind of terminal, it is characterised in that including：
    Receiving unit, for receiving N number of downstream signal, N number of downstream signal --- corresponding to N transfer point, wherein, N is the integer more than or equal to 2；
    Determining unit, for according to N number of downstream signal, measuring N number of first direction of arrival respectively, first direction of arrival is that the angle of front direction is worked as in the direction of downstream signal incoming terminal relative to terminal；Transmitting element, for sending N number of first direction of arrival to location-server.
    19th, terminal according to claim 18, it is characterised in that the sequence of N number of downstream signal is different, or the frequency of N number of downstream signal are different, or N number of downstream signal is that transfer point is sent in different time.
    20th, the terminal according to claim 18 or 19, it is characterized in that, the transmitting element is additionally operable to, to location-server transmission antenna battle array ability information, the antenna array ability information can measure direction of arrival and terminal for instruction terminal can carry out the frequency range of direction of arrival measurement.
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