WO2015078000A1

WO2015078000A1 - Terminal positioning method, positioning server and terminal

Info

Publication number: WO2015078000A1
Application number: PCT/CN2013/088206
Authority: WO
Inventors: 刘劲楠
Original assignee: 华为技术有限公司
Priority date: 2013-11-29
Filing date: 2013-11-29
Publication date: 2015-06-04
Also published as: CN105026950A; CN105026950B

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

终端定位的方法、定位服务器和终端技术领域 Terminal positioning method, positioning server and terminal

本发明涉及通信领域，并且更具体地，涉及一种终端定位的方法、定位服务器和终端。背景技术 The present invention relates to the field of communications, and more particularly to a method of terminal location, a location server, and a terminal. Background technique

智能终端的爆发式增长，引发了终端定位需求和基于位置信息服务的快速增长。当前的智能终端，例如，通过无线方式接入网络的笔记本，平板电脑，手机，智能手表等，可以集成 GPS ( Global Positioning System, 全球定位***）模块，蜂窝通信模块， WiFi ( Wireless Fidelity, 无线保真）通信模块。因此，终端可以基于 GNSS ( Global Navigation Satellite System, 卫星系统）或蜂窝网实现定位，也可以通过 WiFi网络的定位技术实现定位。 The explosive growth of smart terminals has led to rapid growth in terminal location requirements and location-based information services. Current smart terminals, such as notebooks, tablets, mobile phones, smart watches, etc. that wirelessly access the network, can integrate GPS (Global Positioning System, Global Positioning System) modules, cellular communication modules, WiFi (Wireless Fidelity, wireless protection) True) communication module. Therefore, the terminal can be located based on the GNSS (Global Navigation Satellite System) or the cellular network, or can be located through the positioning technology of the WiFi network.

目前的定位技术中，定位服务器请求基站进行终端的波达角测量，基站对终端的波达角进行测量，然后定位服务器根据基站测量的波达角以及基站的位置信息实现终端的定位。在该定位技术中，需要终端向两个基站（例如，服务基站和邻居基站）发送上行信号，由于终端的发射功率受限，通常只有一个基站（服务基站）能够收到较强的上行信号。从而邻居基站可能无法测量到该终端的波达角，因而无法实现定位。发明内容 In the current positioning technology, the positioning server requests the base station to perform the angle of arrival measurement of the terminal, and the base station measures the angle of arrival of the terminal, and then the positioning server realizes the positioning of the terminal according to the angle of arrival measured by the base station and the position information of the base station. In the positioning technology, the terminal needs to send uplink signals to two base stations (for example, the serving base station and the neighbor base station). Since the transmission power of the terminal is limited, usually only one base station (serving base station) can receive a strong uplink signal. Therefore, the neighbor base station may not be able to measure the angle of arrival of the terminal, and thus the positioning cannot be achieved. Summary of the invention

本发明实施例提供了一种终端定位的方法、定位服务器和终端，在能够实现终端定位的同时，具有较高的定位准确度。 The embodiment of the invention provides a method for positioning a terminal, a positioning server and a terminal, which have high positioning accuracy while realizing terminal positioning.

第一方面，本发明实施例提供了一种终端定位的方法，包括：接收终端测量的 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角， N个第一波达角——对应于 N个传输点，其中， N为大于或等于 2的整数；根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置。 In a first aspect, an embodiment of the present invention provides a method for positioning a terminal, including: receiving N first wave angles measured by a terminal, where the first wave angle is a clip of a direction in which the downlink signal arrives at the terminal relative to a current direction of the terminal. Angle, N first angles of arrival - corresponding to N transmission points, where N is an integer greater than or equal to 2; determining the position of the terminal based on the position information of the N first angles of arrival and the N transmission points .

结合第一方面，在第一方面的第一种实现方式中，根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置，包括：确定 N个第一波达角两两之间的角度差，得到 N(N-7) 2个角度差，其中， N为大于 2的整数；根 N(N-l)/2个角度差和 N个传输点的位置信息，确定终端的位置。 With reference to the first aspect, in a first implementation manner of the first aspect, determining location of the terminal according to location information of the N first arrival angles and the N transmission points, including: determining N first wave angles The angle difference between the two results in N (N-7) 2 angular differences, where N is an integer greater than 2; N(Nl)/2 angular differences and position information of N transmission points determine the position of the terminal.

结合第一方面及其上述实现方式，在第一方面的第二种实现方式中，根据 N(W-7 2个角度差和 N个传输点的位置信息，确定终端的位置，包括：根据 N(N-1 )/2个角度差和 N个传输点的位置信息，确定 N(N-1 )/2个圓的圓心坐标和半径，以及 N(W-7)/2个圓两两之间的圓心距离；根据圓心坐标、半径和圓心距离，基于海伦定理，确定 N(W-7 2个圓两两之间的交点；根据交点，确定终端的位置。 With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, determining a location of the terminal according to N (W-7 2 angular differences and location information of N transmission points, including: according to N (N-1)/2 angular differences and position information of N transmission points, determining the center coordinates and radius of N(N-1)/2 circles, and N(W-7)/2 circles Center distance between centers; According to the center coordinates, radius and center distance, based on Helen's theorem, determine the intersection point between N (W-7 2 circles); according to the intersection point, determine the position of the terminal.

结合第一方面及其上述实现方式，在第一方面的第三种实现方式中，根据 N(W-7 2个角度差和 N个传输点的位置信息，确定终端的位置，包括：根据 N(N-1 )/2个角度差和 N个传输点的位置信息，确定 N(N-1 )/2个圓；根据 N(W-7)/2个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定终端的位置。 With reference to the first aspect and the foregoing implementation manner, in a third implementation manner of the first aspect, determining a location of the terminal according to N (W-7 2 angular differences and location information of N transmission points, including: according to N (N-1)/2 angular differences and position information of N transmission points, determine N(N-1)/2 circles; establish linearity according to the center coordinates and radius of N(W-7)/2 circles The equation determines the position of the terminal based on the least squares method.

结合第一方面及其上述实现方式，在第一方面的第四种实现方式中， N 等于 2, 该方法还包括：接收第一传输点测量的终端的第二波达角，第一传输点是 N个传输点中的一个，第二波达角是上行信号到达传输点的方向相对于正北方向的夹角；根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置，包括：根据 N个第一波达角两两之间的角度差、 N个传输点的位置信息和第二波达角，确定终端的位置。 With reference to the first aspect and the foregoing implementation manner, in a fourth implementation manner of the first aspect, N is equal to 2, the method further includes: receiving a second angle of arrival of the terminal measured by the first transmission point, the first transmission point Is one of N transmission points, the second angle of arrival is the angle of the direction of the uplink signal reaching the transmission point with respect to the true north direction; determining the terminal according to the position information of the N first wave angles and the N transmission points The position includes: determining a position of the terminal according to an angular difference between the two first angles of arrival, a position information of the N transmission points, and a second angle of arrival.

结合第一方面及其上述实现方式，在第一方面的第四五种实现方式中，在根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置之后，方法还包括：根据 N个第一波达角中的至少一个第一波达角和终端的位置，确定终端当前的方向相对于正北方向的夹角。 With reference to the first aspect and the foregoing implementation manner, in the fourth and fifth implementation manners of the first aspect, after determining the location of the terminal according to the location information of the N first wave angles and the N transmission points, the method further includes : determining an angle of a current direction of the terminal with respect to a true north direction according to at least one of the first first wave angles and a position of the terminal.

结合第一方面及其上述实现方式，在第一方面的第六种实现方式中，在接收终端测量的 N个第一波达角之前，还包括：接收终端发送的天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 In combination with the first aspect and the foregoing implementation manner, in a sixth implementation manner of the first aspect, before receiving the N first wave angles measured by the terminal, the method further includes: receiving antenna array capability information sent by the terminal, the antenna array The capability information is used to indicate that the terminal is capable of measuring the angle of arrival and the frequency band in which the terminal can perform the angle of arrival measurement.

第二方面，本发明实施例提供了一种终端定位的方法，包括：接收 N个下行信号， N个下行信号一一对应于 N个传输点，其中， N为大于或等于 2 的整数；根据 N个下行信号，分别测量 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角；向定位服务器发送 N个第一波达角。结合第二方面及其上述实现方式，在第二方面的第一种实现方式中， N 个下行信号的序列不同，或 N个下行信号的频率不同，或 N个下行信号是传输点在不同时间发送的。 In a second aspect, the embodiment of the present invention provides a method for locating a terminal, including: receiving N downlink signals, where N downlink signals correspond to N transmission points, where N is an integer greater than or equal to 2; N downlink signals respectively measuring N first wave angles, wherein the first wave angle is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal; and N first wave angles are transmitted to the positioning server. With reference to the second aspect and the foregoing implementation manner, in the first implementation manner of the second aspect, the sequence of the N downlink signals is different, or the frequencies of the N downlink signals are different, or the N downlink signals are transmission points at different times. Sent.

结合第二方面及其上述实现方式，在第二方面的第二种实现方式中，该方法还包括：向定位服务器发送天线阵能力信息，天线阵能力信息用于指示终端是否能够测量波达角以及终端可以进行波达角测量的频段。 With reference to the second aspect and the foregoing implementation manner, in a second implementation manner of the second aspect, the method further includes: sending antenna array capability information to the positioning server, where the antenna array capability information is used to indicate whether the terminal can measure the DOA angle And the frequency band in which the terminal can perform the angle of arrival measurement.

第三方面，本发明实施例提供了一种定位服务器，包括：接收单元，用于接收终端测量的 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角， N个第一波达角——对应于 N个传输点，其中， N为大于或等于 2的整数；确定单元，用于根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置。 In a third aspect, an embodiment of the present invention provides a positioning server, including: a receiving unit, configured to receive N first angles of arrival measured by the terminal, where the first angle of arrival is a direction in which the downlink signal arrives at the terminal relative to the current terminal Angle of direction, N first angles of arrival - corresponding to N transmission points, where N is an integer greater than or equal to 2; determining unit for N first angles of arrival and N transmission points Location information, determine the location of the terminal.

结合第三方面，在第三方面的第一种实现方式中，确定单元具体用于，确定 N个第一波达角两两之间的角度差，得到 N(W-7)/2个角度差，其中， N 为大于 2的整数；根据 N(W-7 2个角度差和 N个传输点的位置信息，确定终端的位置。 With reference to the third aspect, in a first implementation manner of the third aspect, the determining unit is specifically configured to determine an angle difference between the two first wave angles to obtain N(W-7)/2 angles Poor, where N is an integer greater than 2; the position of the terminal is determined according to N (W-7 2 angular differences and position information of N transmission points).

结合第三方面及其上述实现方式，在第三方面的第二种实现方式中，确定单元具体用于，根据 N(N-7)/2个角度差和 N个传输点的位置信息，确定 N(N-1 )/2个圓的圓心坐标和半径，以及 N(N-1 )/2个圓两两之间的圓心距离；根据圓心坐标、半径和圓心距离，基于海伦定理，确定 N(W-7)/2个圓两两之间的交点；根据交点，确定终端的位置。 With reference to the third aspect and the foregoing implementation manner, in a second implementation manner of the third aspect, the determining unit is specifically configured to determine, according to the N(N-7)/2 angular differences and the location information of the N transmission points, Center coordinates and radius of N(N-1)/2 circles, and the center distance between two (N-1)/2 circles; According to the center coordinates, radius and center distance, based on Helen's theorem, determine N (W-7)/2 intersections between two circles; according to the intersection, determine the position of the terminal.

结合第三方面及其上述实现方式，在第三方面的第三种实现方式中，确定单元具体用于，根据 N(N-7)/2个角度差和 N个传输点的位置信息，确定 N(W-7)/2个圓；根据 N(W-7)/2个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定终端的位置。 With reference to the third aspect and the foregoing implementation manner, in a third implementation manner of the third aspect, the determining unit is specifically configured to determine, according to the N(N-7)/2 angular differences and the location information of the N transmission points, N(W-7)/2 circles; According to the center coordinates and radius of N(W-7)/2 circles, a linear equation is established, and the position of the terminal is determined based on the least squares method.

结合第三方面及其上述实现方式，在第三方面的第四种实现方式中， N 等于 2, 接收单元还用于，接收第一传输点测量的终端的第二波达角，第一传输点是 N个传输点中的一个，第二波达角是上行信号到达传输点的方向相对于正北方向的夹角；确定单元具体用于，根据 N个第一波达角两两之间的角度差、 N个传输点的位置信息和第二波达角，确定终端的位置。 With reference to the third aspect and the foregoing implementation manner, in a fourth implementation manner of the third aspect, N is equal to 2, the receiving unit is further configured to: receive a second angle of arrival of the terminal measured by the first transmission point, the first transmission The point is one of the N transmission points, and the second angle of arrival is the angle of the direction of the uplink signal reaching the transmission point with respect to the true north direction; the determining unit is specifically configured to be between the two first wave angles The angular difference, the position information of the N transmission points, and the second angle of arrival determine the position of the terminal.

结合第三方面及其上述实现方式，在第三方面的第五种实现方式中，确定单元还用于，根据 N个第一波达角中的至少一个第一波达角和终端的位置，确定终端当前的方向相对于正北方向的夹角。 With reference to the third aspect and the foregoing implementation manner, in a fifth implementation manner of the third aspect, the determining unit is further configured to: according to at least one of the N first angles of arrival and the bit of the terminal Set, determine the angle between the current direction of the terminal and the true north direction.

结合第三方面及其上述实现方式，在第三方面的第六种实现方式中，接收单元还用于，接收终端发送的天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 With reference to the third aspect and the foregoing implementation manner, in a sixth implementation manner of the third aspect, the receiving unit is further configured to: receive antenna array capability information sent by the terminal, where the antenna array capability information is used to indicate that the terminal can measure the DOA angle And the frequency band in which the terminal can perform the angle of arrival measurement.

第四方面，本发明实施例提供了一种终端，包括：接收单元，用于接收 In a fourth aspect, an embodiment of the present invention provides a terminal, including: a receiving unit, configured to receive

N个下行信号， N个下行信号——对应于 N个传输点，其中， N为大于或等于 2的整数；确定单元，用于根据 N个下行信号，分别测量 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角；发送单元，用于向定位服务器发送 N个第一波达角。 N downlink signals, N downlink signals - corresponding to N transmission points, where N is an integer greater than or equal to 2; a determining unit, configured to respectively measure N first wave angles according to the N downlink signals, The first angle of arrival is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal, and a sending unit is configured to send N first angles of arrival to the positioning server.

结合第四方面，在第四方面的第一种实现方式中， N个下行信号的序列不同，或 N个下行信号的频率不同，或 N个下行信号是传输点在不同时间发送的。 With reference to the fourth aspect, in the first implementation manner of the fourth aspect, the sequence of the N downlink signals is different, or the frequencies of the N downlink signals are different, or the N downlink signals are transmitted by the transmission point at different times.

结合第四方面及其上述实现方式，在第四方面的第二种实现方式中，发送单元还用于，向定位服务器发送天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 With reference to the fourth aspect and the foregoing implementation manner, in a second implementation manner of the fourth aspect, the sending unit is further configured to: send the antenna array capability information to the positioning server, where the antenna array capability information is used to indicate that the terminal can measure the DOA angle And the frequency band in which the terminal can perform the angle of arrival measurement.

基于上述技术方案，本发明实施例可以利用终端测量的波达角和相应传输点的位置信息实现终端定位，而不需要终端同时向多个传输点发送上行信号，因而避免了由于传输点接收不到上行信号而导致定位失败的问题。在能够实现终端定位的同时，有较高的定位准确度。附图说明 Based on the foregoing technical solution, the embodiment of the present invention can implement terminal positioning by using the angle of arrival measured by the terminal and the position information of the corresponding transmission point, without requiring the terminal to simultaneously send uplink signals to multiple transmission points, thereby avoiding receiving due to the transmission point. The problem of positioning failure due to the uplink signal. It can achieve higher positioning accuracy while enabling terminal positioning. DRAWINGS

为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作筒单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。 In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments of the present invention will be briefly described. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

图 1是本发明一个实施例的终端定位的方法的示意性流程图。 FIG. 1 is a schematic flowchart of a method for positioning a terminal according to an embodiment of the present invention.

图 2 是本发明实施例的根据角度差和传输点的位置信息确定圓的示意图。 Fig. 2 is a schematic diagram of determining a circle based on an angular difference and position information of a transmission point according to an embodiment of the present invention.

图 3是本发明实施例的确定两个圓的交点的示意图。 Figure 3 is a schematic illustration of the determination of the intersection of two circles in accordance with an embodiment of the present invention.

图 4是本发明另一实施例的终端定位的方法的示意性流程图。 FIG. 4 is a schematic flowchart of a method for positioning a terminal according to another embodiment of the present invention.

图 5是本发明一个实施例的定位服务器的示意性框图。图 6是本发明一个实施例的终端的示意性框图。 Figure 5 is a schematic block diagram of a location server in accordance with one embodiment of the present invention. Figure 6 is a schematic block diagram of a terminal in accordance with one embodiment of the present invention.

图 7是本发明另一实施例的定位服务器的示意性框图。 FIG. 7 is a schematic block diagram of a positioning server according to another embodiment of the present invention.

图 8是本发明另一实施例的终端的示意性框图。具体实施方式 FIG. 8 is a schematic block diagram of a terminal according to another embodiment of the present invention. detailed description

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。 The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without making creative labor are within the scope of the present invention.

应理解，本发明实施例的技术方案可以应用于各种通信***，例如：全球移动通讯 ( Global System of Mobile communication, 筒称为 "GSM" )***、码分多址（Code Division Multiple Access, 筒称为 "CDMA" ) ***、宽带码分多址（ Wideband Code Division Multiple Access, 筒称为 "WCDMA" )***、通用分组无线业务（General Packet Radio Service, 筒称为 "GPRS" )、长期演进（ Long Term Evolution, 筒称为 "LTE" )***、 LTE频分双工（ Frequency Division Duplex,筒称为 "FDD" )***、 LTE 时分双工（ Time Division Duplex, 筒称为 "TDD" )、通用移动通信*** ( Universal Mobile Telecommunication System,筒称为 "UMTS" ),全球互联微波接入（ Worldwide Interoperability for Microwave Access , 筒称为 " WiMAX" )通信***等。 It should be understood that the technical solutions of the embodiments of the present invention can be applied to various communication systems, such as: Global System of Mobile communication ("GSM") system, Code Division Multiple Access (Code Division Multiple Access) Called "CDMA" system, Wideband Code Division Multiple Access ("WCDMA") system, General Packet Radio Service ("General Packet Radio Service"), Long Term Evolution ( Long Term Evolution, the tube is called "LTE" system, LTE frequency division duplex (Frequency Division Duplex), LTE time division duplex (Time Division Duplex, "TDD"), general purpose The mobile communication system (Universal Mobile Telecommunication System, called "UMTS"), the Worldwide Interoperability for Microwave Access ("Wireless" called "WiMAX") communication system.

还应理解，在本发明实施例中，终端（Terminal )可称之为用户设备（User It should also be understood that in the embodiment of the present invention, a terminal (Terminal) may be referred to as a user equipment (User).

Equipment, 筒称为 "UE" )、移动台（ Mobile Station, 筒称为 "MS" )、移动终端（ Mobile Terminal )等，该终端可以经无线接入网（ Radio Access Network, 筒称为 "RAN" ) 与一个或多个核心网进行通信，例如，终端可以是移动电话（或称为 "蜂窝" 电话）、具有移动终端的计算机等，例如，终端还可以是便携式、袖珍式、手持式、计算机内置的或者车载的移动装置，它们与无线接入网交换语音和 /或数据。 Equipment, the tube is called "UE"), the mobile station (Mobile Station, the tube is called "MS"), the mobile terminal (Mobile Terminal), etc., and the terminal can pass through the radio access network (Radio Access Network, the tube is called "RAN" " ) communicating with one or more core networks, for example, the terminal may be a mobile phone (or "cellular" phone), a computer with a mobile terminal, etc., for example, the terminal may also be portable, pocket-sized, handheld, Computer built-in or in-vehicle mobile devices that exchange voice and/or data with a wireless access network.

在本发明实施例中，传输点可以是基站，例如， GSM或 CDMA中的基站 ( Base Transceiver Station, 筒称为 "BTS" ), WCDMA中的基站 ( NodeB , 筒称为 "NB" ), LTE中的演进型基站（Evolutional Node B , 筒称为 'ΈΝΒ 或 e-NodeB" ), 也可以是异构场景下的多种传输点，如宏基站（ Macro BS ), 微基站（ Micro BS ), 微微基站（Femto BS ), 小小区（Small cell )。本发明并不限定。但为描述方便，下述实施例将以传输点和终端为例进行说明。图 1是本发明一个实施例的终端定位的方法的示意性流程图。图 1的方法 100可以由定位服务器实现。图 1的方法 100包括： In the embodiment of the present invention, the transmission point may be a base station, for example, a base station in GSM or CDMA (Base Transceiver Station, called "BTS"), a base station in WCDMA (NodeB, a cylinder called "NB"), LTE The evolved base station (Evolutional Node B, referred to as 'ΈΝΒ or e-NodeB') may also be a plurality of transmission points in a heterogeneous scenario, such as a macro base station (Mac), a micro base station (Micro BS), Femto BS, Small cell. The present invention Not limited. However, for convenience of description, the following embodiments will be described by taking a transmission point and a terminal as an example. FIG. 1 is a schematic flowchart of a method for positioning a terminal according to an embodiment of the present invention. The method 100 of Figure 1 can be implemented by a location server. The method 100 of Figure 1 includes:

110, 接收终端测量的 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角， N个第一波达角——对应于 N个传输点，其中， N为大于或等于 2的整数。 110. Receive N first angles of arrival measured by the terminal, where the first angle of arrival is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal, and N first angles of arrival—corresponding to N transmission points Where N is an integer greater than or equal to 2.

120,根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置。基于上述技术方案，本发明实施例可以利用终端测量的波达角和相应传输点的位置信息实现终端定位，而不需要终端同时向多个传输点发送上行信号，因而避免了由于传输点接收不到上行信号而导致定位失败的问题。在能够实现终端定位的同时，有较高的定位准确度。 120. Determine a location of the terminal according to location information of the N first arrival angles and the N transmission points. Based on the foregoing technical solution, the embodiment of the present invention can implement terminal positioning by using the angle of arrival measured by the terminal and the position information of the corresponding transmission point, without requiring the terminal to simultaneously send uplink signals to multiple transmission points, thereby avoiding receiving due to the transmission point. The problem of positioning failure due to the uplink signal. It can achieve higher positioning accuracy while enabling terminal positioning.

应理解，第一波达角可以是下行信号到达终端的方向相对于当前方向的逆时针夹角或顺时针夹角。定位服务器可以预先获取 N个传输点的位置信息，例如在初始化阶段获取 N个传输点的位置信息。 It should be understood that the first angle of arrival may be a counterclockwise angle or a clockwise angle with respect to the direction of the direction in which the downstream signal reaches the terminal. The location server can obtain location information of N transmission points in advance, for example, obtain location information of N transmission points in the initialization phase.

还应理解， N个第一波达角与 N个传输点的——对应关系可以根据定位服务器请求终端对传输点进行波达角测量的顺序确定，也可以根据终端上报的 N个第一波达角中分别携带的传输点标识确定。 It should also be understood that the correspondence between the N first angles of arrival and the N transmission points may be determined according to the order in which the positioning server requests the terminal to perform the angle of arrival measurement on the transmission point, or may be based on the N first waves reported by the terminal. The transmission point identifiers carried in the corners are determined.

还应理解，定位服务器可以向终端发送定位请求，以便于终端测量第一波达角，也可以在接收到终端自动上报的第一波达角后，启动终端定位流程。 It should also be understood that the location server may send a location request to the terminal, so that the terminal may measure the first angle of arrival, or may initiate the terminal location procedure after receiving the first angle of arrival automatically reported by the terminal.

可选地，作为一个实施例，在步骤 120中，在根据 N个第一波达角和 N 个传输点的位置信息，确定终端的位置时，可以确定 N个第一波达角两两之间的角度差，得到 N(W-7 2个角度差，其中， N为大于 2的整数。然后，根据 Ν(Ν-1)/2个角度差和 N个传输点的位置信息，确定终端的位置。 Optionally, as an embodiment, in step 120, when determining the location of the terminal according to the location information of the N first wave angles and the N transmission points, the N first wave angles may be determined. The difference between the angles gives N (W-7 2 angular differences, where N is an integer greater than 2. Then, based on Ν(Ν-1)/2 angular differences and position information of N transmission points, the terminal is determined s position.

可选地，作为另一实施例，在根据 N(W-7)/2个角度差和 N个传输点的位置信息，确定终端的位置时，根据 N(W-7 2个角度差和 N个传输点的位置信息，确定 N(N-1 )/2个圓的圓心坐标和半径，以及 N(N-1 )/2个圓两两之间的圓心距离。然后，根据圓心坐标、半径和圓心距离，基于海伦定理，确定 N(W-7) 2 个圓两两之间的交点。最后，根据交点，确定终端的位置。 Optionally, as another embodiment, when determining the location of the terminal according to the N(W-7)/2 angular differences and the location information of the N transmission points, according to N (W-7 2 angular differences and N The position information of the transmission points, determine the center coordinates and radius of N(N-1)/2 circles, and the center distance between two (N-1)/2 circles. Then, according to the center coordinates and radius And the center distance, based on the Helen's theorem, determine the intersection between the two circles of N(W-7). Finally, based on the intersection point, determine the position of the terminal.

例如，如果第一波达角为下行信号到达终端的方向相对于当前方向的逆时针夹角，这时， 2个第一波达角与角度差为： ZIPJ= ZAOA_r ZAOA 在第一波达角为下行信号到达终端的方向相对于当前方向的顺时针夹角的情况下，角度差的确定方法同理。 For example, if the first angle of arrival is the counterclockwise angle of the direction of the downlink signal reaching the terminal with respect to the current direction, then the two first angles of arrival and the angle difference are: ZIPJ= ZAOA _r ZAOA in the first wave The angle is the direction in which the downlink signal arrives at the terminal relative to the current direction. In the case of a clockwise angle, the method of determining the angular difference is the same.

下面将结合具体的例子详细描述本发明实施例。应注意，这些例子只是为了帮助本领域技术人员更好地理解本发明实施例，而非限制本发明实施例的范围。 Embodiments of the present invention will be described in detail below with reference to specific examples. It should be noted that the examples are only intended to assist those skilled in the art to better understand the embodiments of the present invention and not to limit the scope of the embodiments of the present invention.

图 2 是本发明实施例的根据角度差和传输点的位置信息确定圓的示意图。如图 2所示，由圓定理可知，点 /和点/的位置固定，如果点 (对应于终端 )到点 I (对应于一个传输点 )和点 J (对应于一个传输点 )之间的夹角固定，那么的轨迹为圓弧。圓弧对应的弦 / /将圓分为两部分，圓弧长的称为优弧，圓弧短的称为劣弧。在本发明实施例中，对应于第一波达角两两之间的角度差。如果始终定义为，点 ³和弦 //确定的三角形夹角，会出现如图 2所示的模糊问题，也即终端可以在弦 / /镜像对称的两个圓上，例如点 P和点这会增加确定终端真实位置的计算复杂度。 2 is a schematic diagram of determining a circle based on an angular difference and position information of a transmission point according to an embodiment of the present invention. As shown in Figure 2, it can be seen from the circle theorem that the position of the point/and point / is fixed, if the point (corresponding to the terminal) to the point I (corresponding to a transmission point) and the point J (corresponding to a transmission point) The angle is fixed, then the trajectory is an arc. The arc corresponding to the arc / / divides the circle into two parts, the long arc is called the superior arc, and the short arc is called the bad arc. In the embodiment of the present invention, the angle difference between the two angles of the first wave angle is corresponding. If you always define the angle of the triangle defined by the point ³ chord //, the blur problem shown in Figure 2 will appear, that is, the terminal can be on the two circles of the string / / mirror symmetry, such as point P and point. Increase the computational complexity of determining the true location of the terminal.

为消除这种模糊情况，将第一波达角统一定义为下行信号到达终端的方向相对于终端当前方向的逆时针夹角，相应地，两两第一波达角共用起始边，通过前述消除模糊情况的方法，可以唯一地确定终端位置轨迹所在圓的圓心，在图 2中，当 ZIPJ<90。 , 则表示图中实线的圓弧部分为终端位置轨迹。而这时镜像的 P，的和 /, /形成的夹角， ZIP，J=_n 6(T -ZIPJ，不会产生模糊， n为整数。 To eliminate this ambiguity, the first angle of arrival is uniformly defined as the counterclockwise angle of the direction in which the downlink signal arrives at the terminal with respect to the current direction of the terminal. Accordingly, the first wave angles of the two pairs share the starting edge, through the foregoing The method of eliminating the blur condition can uniquely determine the center of the circle where the end position trajectory is located. In Fig. 2, when ZIPJ < 90. , it means that the arc part of the solid line in the figure is the end position trajectory. At this time, the mirrored P, and /, / formed angle, ZIP, J = _n 6 (T -ZIPJ, does not produce blur, n is an integer.

在这种情况下，根据点 y_;)和点）确定的圓心坐标（_¾, ）和半径分别为： In this case, the center coordinates ( _3⁄4 , ) and the radius determined according to the point y _; ) and the point are:

x_v = (x_t + x_j)ll-{y_i - yj)/ (2.tan(ZHV)) ( 1 ) y, ={y_i + y_j)l2 + (x_t -_Xj)l (2.tan(ZHV)) ( 2 )x _v = (x _t + x _j ) ll - {y _i - yj) / (2. tan(ZHV)) ( 1 ) y, ={y _i + y _j )l2 + (x _t - _Xj )l ( 2.tan(ZHV)) ( 2 )

R, = ^{x -xjf + (y, - yj)²)) I (2.|sin(Z/P/)|) ( 3 ) 这样，可以根据 N(W-7 2个角度差和 N个传输点的位置信息，分别确定R, = ^{x -xjf + (y, - yj) ² )) I (2.|sin(Z/P/)|) ( 3 ) Thus, according to N (W-7 2 angular differences and N Position information of transmission points, respectively determined

N(N-1 )/2个圓的圓心坐标和半径。 Center coordinates and radius of N(N-1)/2 circles.

图 3是本发明实施例的确定两个圓的交点的示意图。为了求解终端位置，至少需要 3个已知位置的传输点，以及这 3个传输点的波达角两两之间的角度差。 Figure 3 is a schematic illustration of the determination of the intersection of two circles in accordance with an embodiment of the present invention. In order to solve the position of the terminal, at least three transmission points of known positions and the angular difference between the two angles of the arrival angles of the three transmission points are required.

对于根据角度差确定的圓，每两个圓之间至少有一个交点，并且其中一个的交点坐标为两个角度差共用的传输点。因此，可以确定两两圓之间的交点非共用的传输点的唯一交点，或者没有非共用的传输点的唯一交点。这样，进一步地，根据 N(W-7)/2个圓中两两之间的交点，最终能够确定多个非共用的传输点的唯一交点，取算术平均值作为终端的位置。根据第 7个传输点和第 2个传输点之间的角度差确定圓 G( ₁,y₂₁), 根据第 3个传输点和第 2个传输点之间的角度差确定圓（^(^,)^), 假设圓 G的半径为 R₂₁ , 圓 C₂的半径为 R₃₂。如图 3所示，则圓 G和圓 C₂至少有一个交点，并且其中的一个交点为第 2个传输点，其坐标为（_¾,>₂)。 For a circle determined according to the angle difference, there is at least one intersection point between every two circles, and the intersection point coordinate of one of them is a transmission point shared by two angle differences. Therefore, you can determine the intersection between two circles The only intersection of a non-shared transmission point, or the unique intersection of a non-shared transmission point. Thus, further, based on the intersection between two of the N(W-7)/2 circles, the unique intersection of the plurality of non-shared transmission points can be finally determined, and the arithmetic mean value is taken as the position of the terminal. The circle G( ₁ , y ₂₁ ) is determined according to the angle difference between the 7th transmission point and the 2nd transmission point, and the circle is determined according to the angle difference between the 3rd transmission point and the 2nd transmission point (^(^ ,)^), assuming that the radius of the circle G is R ₂₁ and the radius of the circle C ₂ is R ₃₂ . As shown in Fig. 3, the circle G and the circle C _{2 have} at least one intersection point, and one of the intersection points is the second transmission point whose coordinates are ( _3⁄4 , > ₂ ).

先根据公式（4)确定圓 G和圓 C₂之间的圓心距离：First determine the center distance between circle G and circle C ₂ according to formula (4):

再根据公式（5 )或（6)确定圓 G和圓 C₂之间的圓心连线与 c轴（如虚线所示）的夹角的正弦和余弦值： Then determine the sine and cosine values of the angle between the center line between the circle G and the circle C ₂ and the c-axis (shown by the dotted line) according to the formula (5) or (6):

sin(r) = (y₃₂-y₂₁)/ ^₂ (5 ) cos( ) = (x₃₂ -x_2l)l ^₂ (6) 然后，根据公式（7)和（8)确定两个圓之间的交点/ 和《₂的距离 2·/ι: s = (R₂₁+R₃₂ + L_l2)/2 (7)Sin(r) = (y ₃₂ -y ₂₁ )/ ^ ₂ (5 ) cos( ) = (x ₃₂ -x _2l )l ^ ₂ (6) Then, two circles are determined according to formulas (7) and (8) the intersection between the / and the distance _"2 2 · / ι: s = ( R 21 + R 32 + L l2) / 2 (7)

2»h = ^sqrtis'is-R^Hs-R^Hs-^)) I ^₂ ( 8 ) 最后，根据公式（9)和（10)以及已知的共用锚点确定另一个交点（ ,}^)的位置：2»h = ^sqrtis'is-R^Hs-R^Hs-^)) I ^ ₂ ( 8 ) Finally, another intersection point is determined according to equations (9) and (10) and the known common anchor point ( , The location of }^):

= y₂-2./i.cos /) ( 10) 其中，（8)按照以下推导过程确定： = y ₂ -2./i.cos /) (10) where (8) is determined according to the following derivation process:

两个交点和 IS₂的连线与两圓心 d和 C₂的连线相互垂直，两圓心和 C₂的连线与轴的夹角 , 根据海伦定理面积公式The line connecting the two intersections and IS ₂ is perpendicular to the line connecting the two centers d and C ₂ , and the angle between the line connecting the two centers and C ₂ and the axis, according to the Helen's theorem area formula

可以推导出公式（8), You can derive formula (8),

对于 3个传输点的情况，通过上面步骤计算出的值 ( ^, )即为终端的位置。 For the case of three transmission points, the value (^, ) calculated by the above steps is the position of the terminal.

如果是大于 3个传输点，确定两两圓之间的交点后，可以对交点坐标进行算术平均，将算术平均值作为终端的位置。 If it is greater than 3 transmission points, after determining the intersection between the two circles, the arithmetic coordinates of the intersection coordinates can be performed, and the arithmetic mean value is taken as the position of the terminal.

可选地，作为另一实施例，在根据 Ν(Ν-1 )/2个角度差和 Ν个传输点的位置信息，确定终端的位置时，根据 N(W-7 2个角度差和 N个传输点的位置信息，确定 N(W-7) 2个圓。然后，根据 N(W-7)/2个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定终端的位置。 Optionally, as another embodiment, when determining the location of the terminal according to the 角度(Ν-1)/2 angular differences and the position information of the one transmission point, according to N (W-7 2 angular differences and N Location letter of transmission point Interest, determine N (W-7) 2 circles. Then, based on the center coordinates and radius of N(W-7)/2 circles, a linear equation is established, and the position of the terminal is determined based on the least squares method.

基于终端的位置 , 与终端到原点（0, 0)的距离的平方 r²构造未知量 [x,y,r² , 根据 N(N-7)/2个圓的圓心和半径建立线性方程，基于最小二乘法求解 [ c,y,r²] 。 A矩阵有 N(W-7) 2行， 3列， b列向量有 N(W-7) 2行。这里继续沿用前文对半径及圓心坐标的描述方式。建立线性方程（12): Based on the position of the terminal, the squared r ² of the distance from the terminal to the origin (0, 0) constructs an unknown quantity [x, y, r ² , and establishes a linear equation according to the center and radius of the N(N-7)/2 circles, Solving [ c, y, r ² ] based on the least squares method. The A matrix has N (W-7) 2 rows, 3 columns, and the b column vector has N (W-7) 2 rows. Here we continue to use the previous description of the radius and center coordinates. Establish a linear equation (12):

X X

y {A^TAY^lA^Tb (12) 在使用 N个传输点进行定位的情况下，可以将 A和 b写成通式： y {A ^T AY ^l A ^T b (12) In the case of positioning using N transmission points, A and b can be written as a general formula:

-(½)²_(y₂₁)

-(1⁄2) ² _(y ₂₁ )

其中，线性方程（12) 的建立过程可以按照如下步骤进行： Among them, the establishment process of the linear equation (12) can be carried out as follows:

首先，假设圓心为，^), 则该圓的方程表达式（13) 可以如下，

First, assuming that the center of the circle is ^^, the equation (13) of the circle can be as follows.

展开方程（ 13 ), 可以得到方程（ 14 ), Expand equation ( 13 ) to get equation ( 14 ),

-2 ^-2^ =i¾-(_¾)²-(^)²-r² ( 14) 其中， e[l,2,...,N], ≠ 。类似地，根据 N个传输点的位置信息和 N(W-7) 2 个角度差，一共可以确定 N V-7 2个圓。 _{-2 ^ -2 ^ = i¾- (¾} ) 2 - (^) 2 -r 2 (14) wherein, e [l, 2, ... , N], ≠. Similarly, based on the position information of the N transmission points and the N (W-7) 2 angular differences, a total of N V-7 2 circles can be determined.

以 3个传输点的情况具体举例说明，这时 Α和 b的表达式如下， The case of three transmission points is exemplified, and the expressions of Α and b are as follows.

_2½ ~2y₂₁ 1Ί R₂ ² _l-(x_2lf -{y_2lf _21⁄2 ~2y ₂₁ 1Ί R ₂ ² _l -(x _2l f -{y _2l f

A= -2x₃₂ -2y₃₂ 1 , b=

A= -2x ₃₂ -2y ₃₂ 1 , b=

— - 2 i -2y₃₁ 1」 [ —（JC₃₁)²— (y₃₁)² — — 2 i -2y ₃₁ 1” [ —(JC ₃₁ ) ² — (y ₃₁ ) ²

在 3个传输点的情况下，可以确定 3个圓，因此可获得 3个方程，方程 (15)、 (16)和（17): In the case of 3 transmission points, 3 circles can be determined, so three equations can be obtained, equations (15), (16) and (17):

-2xx₂₁ -2yy_2l+r²

-(y_2lf ( 15 )-2xx ₂₁ -2yy _2l +r ²

-(y _2l f ( 15 )

-2xx₃₂ -2yy₃₂ + r² = R₃ ² ₂ - (x₃₂ - (y₃₂ ( 16 ) -2xx₃₁-2yy₃₁ + r =R₃₁-(x₃₁) _(y₃₁) ( 17) 然后，根据公式（ 15 )、（ 16 )和（ 17 )可确定线性方程（ 18 ): -2xx ₃₂ -2yy ₃₂ + r ² = R ₃ ² ₂ - (x ₃₂ - (y ₃₂ ( 16 ) -2xx ₃₁ -2yy ₃₁ + r =R ₃₁ -(x ₃₁ ) _(y ₃₁ ) ( 17) Then, according to equations ( 15 ), ( 16 ) and ( 17 ), the linear equation ( 18 ) can be determined:

A b (18) 最后，根据线性方程（18)可以确定上述线性方程（12)。 A b (18) Finally, the above linear equation (12) can be determined according to the linear equation (18).

可选地，作为另一实施例，若 N等于 2, 定位服务器可以接收第一传输点测量的终端的第二波达角，第一传输点是 N个传输点中的一个，第二波达角是上行信号到达传输点的方向相对于正北方向的夹角。在这种情况下，在根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置时，定位服务器可以根据 N个第一波达角两两之间的角度差、 N个传输点的位置信息和第二波达角，确定终端的位置。 Optionally, as another embodiment, if N is equal to 2, the positioning server may receive a second angle of arrival of the terminal measured by the first transmission point, where the first transmission point is one of N transmission points, and the second wave reaches The angle is the angle between the direction in which the upstream signal reaches the transmission point and the true north direction. In this case, when determining the position of the terminal according to the position information of the N first wave angles and the N transmission points, the positioning server may determine the angle difference between the two first wave angles, N. The position information of the transmission point and the second angle of arrival determine the position of the terminal.

例如，第一传输点的位置坐标为（0,0) , 第二传输点的位置坐标为（0,L)。上行信号到达第一传输点的第二波达角为《 , 第二传输点的下行参考信号和第一传输点的下行参考信号到达终端的波达角差为根据公式（19) 和（20)可以确定终端的坐标 For example, the position coordinates of the first transmission point are (0, 0), and the position coordinates of the second transmission point are (0, L). The second wave angle of the uplink signal reaching the first transmission point is “, the difference between the downlink reference signal of the second transmission point and the downlink reference signal of the first transmission point reaching the terminal is according to formulas (19) and (20). Can determine the coordinates of the terminal

x = -L sin(«)sin(« + θ) I ήη(θ) ( 19) y = Lcos(«)sin(« + 6^,)/sin(6^l) (20) 可选地，作为另一实施例，定位服务器还可以根据 N个第一波达角中的至少一个第一波达角和终端的位置，确定终端当前的方向相对于正北方向的夹角。 x = -L sin(«)sin(« + θ) I ήη(θ) ( 19) y = Lcos(«)sin(« + 6 ^, )/sin(6 ^l ) (20) Alternatively, as another In one embodiment, the positioning server may further determine an angle of the current direction of the terminal relative to the north direction according to at least one of the N first angles of arrival and the position of the terminal.

例如，可以由终端的位置信息和第一传输点的位置信息确定该终端与该第一传输点的连线与正北方向的夹角《, 并结合前文测量得到的第一波达角 ZAO , 可以得到终端当前的方向相对于正北方向的夹角为 a - ZAO . 这样，定位服务器在实现终端定位的同时，可以进一步确定终端当前的方向，为需要确定终端当前方向的应用场景提供了解决方案。 For example, the position information of the terminal and the position information of the first transmission point may be used to determine an angle between the connection of the terminal and the first transmission point and the north direction, and combined with the first angle of arrival ZAO measured in the foregoing. The angle between the current direction of the terminal and the true north direction is a - ZAO. In this way, the positioning server can further determine the current direction of the terminal while implementing the terminal positioning, and provides a solution for the application scenario in which the current direction of the terminal needs to be determined. Program.

可选地，作为另一实施例，定位服务器还可以接收终端发送的天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 Optionally, as another embodiment, the positioning server may further receive antenna array capability information sent by the terminal, where the antenna array capability information is used to indicate that the terminal can measure the angle of arrival and the frequency band in which the terminal can perform the angle of view measurement.

天线尺寸和与该天线工作频段的波长有关，当天线工作在较高频段时，天线尺寸可以做的很小，这时终端可以具有在高频段测量波达角的能力。例如，天线阵的工作频段为毫米波频段 30GHz-300GHz, 这时一个 16 (4x4) 阵元的天线阵体积可以做到 2cm*2cm大小。这样的天线阵体积可以适应移动终端，例如智能手机的需求。 The size of the antenna is related to the wavelength of the working frequency band of the antenna. When the antenna operates in a higher frequency band, the antenna size can be made small, and the terminal can have the ability to measure the angle of arrival at a high frequency band. For example, the antenna array operates in the millimeter-wave band from 30 GHz to 300 GHz, at which time a 16 (4x4) The array size of the array element can be 2cm*2cm. Such an array size can be adapted to the needs of mobile terminals, such as smart phones.

图 4是本发明另一实施例的终端定位的方法的示意性流程图。图 4的方法 400可以由终端实现。图 4的方法 400包括： FIG. 4 is a schematic flowchart of a method for positioning a terminal according to another embodiment of the present invention. The method 400 of Figure 4 can be implemented by a terminal. The method 400 of Figure 4 includes:

410, 接收 N个下行信号， N个下行信号——对应于 N个传输点，其中， 410, receiving N downlink signals, N downlink signals, corresponding to N transmission points, where

N为大于或等于 2的整数。 N is an integer greater than or equal to 2.

420, 根据 N个下行信号，分别测量 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角。 420. Measure N first wave angles according to the N downlink signals, where the first wave angle is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal.

430, 向定位服务器发送 N个第一波达角。 430. Send N first angles of arrival to the positioning server.

基于上述技术方案，本发明实施例可以利用终端测量的波达角和相应传输点的位置信息实现终端定位，而不需要终端同时向多个传输点发送上行信号，因而避免了由于传输点接收不到上行信号而导致定位失败的问题。在能够实现终端定位的同时，有较高的定位准确度。 Based on the foregoing technical solution, the embodiment of the present invention can implement terminal positioning by using the angle of arrival measured by the terminal and the position information of the corresponding transmission point, without requiring the terminal to simultaneously send uplink signals to multiple transmission points, thereby avoiding receiving due to the transmission point. The problem of positioning failure due to the uplink signal. It can achieve higher positioning accuracy while enabling terminal positioning.

应理解，第一波达角可以是下行信号到达终端的方向相对于当前方向的逆时针夹角或顺时针夹角。 It should be understood that the first angle of arrival may be a counterclockwise angle or a clockwise angle with respect to the direction of the direction in which the downstream signal reaches the terminal.

还应理解，终端可以在接收到定位服务器发送的定位请求之后，测量第一波达角，也可以自动向定位服务器上报测量到的第一波达角，以便定位服务器启动终端定位流程。 It should also be understood that the terminal may measure the first angle of arrival after receiving the positioning request sent by the positioning server, and may also automatically report the measured first angle of arrival to the positioning server, so as to locate the server to initiate the terminal positioning process.

可选地，作为一个实施例， N个下行信号的序列不同，或 N个下行信号的频率不同，或 N个下行信号是传输点在不同时间发送的。 Optionally, as an embodiment, the sequence of the N downlink signals is different, or the frequencies of the N downlink signals are different, or the N downlink signals are transmitted by the transmission point at different times.

例如，不同的传输点采用码分的方式发送下行参考信号。终端基于已知的下行参考信号进行到达角测量，在 LTE***中下行参考信号有小区 CRS ( Cell specific Reference Signal,特定的参考信号 ), PRS( Positioning Reference signal, 定位参考信号 ), PSS ( Primary Synchronization Signal, 主同步信号 ) 和 SSS ( Secondary Synchronization Signal, 辅同步信号）。这样即使是同频，终端也可以通过不同的参考信号对应的码来区分不同的传输点。 For example, different transmission points transmit a downlink reference signal in a code division manner. The terminal performs the angle of arrival measurement based on the known downlink reference signal. In the LTE system, the downlink reference signal has a cell CRS (Cell Specific Reference Signal), a PRS (Positioning Reference Signal), and a PSS (Primary Synchronization). Signal, Primary Synchronization Signal) and SSS (Secondary Synchronization Signal). Thus, even if the frequency is the same, the terminal can distinguish different transmission points by codes corresponding to different reference signals.

这样，不会因为终端测量下行参考信号的波达角，给***引入额外的负担。而是复用目前***已经有的下行参考信号。或者，不同的传输点，占用不同的时间资源发送下行信号。这时终端只需要知道时间与传输点的对应关系，便可以采用盲信号检测波达角的方法来确定下行信号与传输点的对应关系。 In this way, no additional burden is introduced into the system because the terminal measures the angle of arrival of the downlink reference signal. Instead, it reuses the downlink reference signals already in the system. Or, different transmission points occupy different time resources to send downlink signals. At this time, the terminal only needs to know the correspondence between the time and the transmission point, and the blind signal can be used to detect the angle of arrival to determine the correspondence between the downlink signal and the transmission point.

再或者，不同的传输点，占用不同的频率资源发送下行信号。这时终端只需要知道频率资源与传输点的对应关系，便可以采用盲信号检测到达角的方法来确定下行信号与传输点的对应关系。 Or, different transmission points occupy different frequency resources to send downlink signals. At this time, the terminal only needs to know the correspondence between the frequency resource and the transmission point, and the method of detecting the angle of arrival by the blind signal can be used to determine the correspondence between the downlink signal and the transmission point.

可选地，作为另一实施例，终端还可以向定位服务器发送天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 Optionally, as another embodiment, the terminal may further send antenna array capability information to the positioning server, where the antenna array capability information is used to indicate that the terminal can measure the angle of arrival and the frequency band in which the terminal can perform the angle of arrival measurement.

图 5是本发明一个实施例的定位服务器的示意性框图。图 3的定位服务器 50包括接收单元 501和确定单元 502。 Figure 5 is a schematic block diagram of a location server in accordance with one embodiment of the present invention. The location server 50 of FIG. 3 includes a receiving unit 501 and a determining unit 502.

接收单元 501 , 用于接收终端测量的 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角， N个第一波达角一一对应于 N个传输点，其中， N为大于或等于 2的整数； The receiving unit 501 is configured to receive N first angles of arrival measured by the terminal, where the first angle of arrival is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal, and the N first wave angles correspond to N transmission points, where N is an integer greater than or equal to 2;

确定单元 502, 用于根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置。 The determining unit 502 is configured to determine the location of the terminal according to the location information of the N first wave angles and the N transmission points.

可选地，作为一个实施例，确定单元 502具体用于，确定 N个第一波达角两两之间的角度差，得到 N(W-7 2个角度差，其中， N为大于 2的整数； Ν(Ν-1)/2个角度差和 N个传输点的位置信息，确定终端的位置。可选地，作为另一实施例，确定单元 502具体用于，根据 N(W-7)/2个角度差和 N个传输点的位置信息，确定 N(W-7)/2个圓的圓心坐标和半径，以及 N(W-7)/2个圓两两之间的圓心距离。然后，根据圓心坐标、半径和圓心距离，基于海伦定理，确定 N(W-7)/2个圓两两之间的交点。最后，根据交点，确定终端的位置。 Optionally, as an embodiment, the determining unit 502 is specifically configured to determine an angular difference between the two first wave angles to obtain N (W-7 2 angular differences, where N is greater than 2 Integer; Ν(Ν-1)/2 angular differences and position information of N transmission points to determine the position of the terminal. Optionally, as another embodiment, the determining unit 502 is specifically configured to determine N(W-7)/2 circles according to N(W-7)/2 angular differences and position information of the N transmission points. Center coordinates and radius, and the center distance between N (W-7)/2 circles. Then, based on the center coordinates, radius, and center distance, based on Helen's theorem, the intersection between N(W-7)/2 circles is determined. Finally, based on the intersection point, determine the location of the terminal.

例如，如果第一波达角为下行信号到达终端的方向相对于当前方向的逆时针夹角，这时， 2个第一波达角与角度差为： ZIPJ= ΖΑΟΛ- ΖΑΟΑ^ 在第一波达角为下行信号到达终端的方向相对于当前方向的顺时针夹角的情况下，角度差的确定方法同理。 For example, if the first angle of arrival is the counterclockwise angle of the direction of the downlink signal reaching the terminal with respect to the current direction, then the two first wave angles and the angle difference are: ZIPJ= ΖΑΟΛ- ΖΑΟΑ^ in the first wave When the angle of arrival is a clockwise angle with respect to the direction of the downlink signal reaching the terminal, the method of determining the angle difference is the same.

可选地，作为一个实施例，确定单元 502具体用于，根据 N(W-7)/2个角度差和 N个传输点的位置信息，确定 N(W-7 2个圓。然后，根据 N(W-7 2 个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定终端的位置。 Optionally, as an embodiment, the determining unit 502 is specifically configured to determine N (W-7 2 circles according to N(W-7)/2 angular differences and position information of N transmission points. Then, according to N (W-7 center coordinates and radius of 2 circles, establish a linear equation, and determine the position of the terminal based on the least squares method.

可选地，作为另一实施例，若 N等于 2, 接收单元 501还用于，接收第一传输点测量的终端的第二波达角，第一传输点是 N个传输点中的一个，第二波达角是上行信号到达传输点的方向相对于正北方向的夹角。确定单元 502具体用于，根据 N个第一波达角两两之间的角度差、 N个传输点的位置信息和第二波达角，确定终端的位置。 Optionally, as another embodiment, if N is equal to 2, the receiving unit 501 is further configured to: receive a second angle of arrival of the terminal measured by the first transmission point, where the first transmission point is one of N transmission points, The second angle of arrival is the angle of the direction of the upward signal reaching the transmission point with respect to the true north direction. The determining unit 502 is specifically configured to determine the position of the terminal according to the angular difference between the two first wave angles, the position information of the N transmission points, and the second wave angle.

可选地，作为另一实施例，确定单元 502还用于，根据 N个第一波达角中的至少一个第一波达角和终端的位置，确定终端当前的方向相对于正北方向的夹角。 Optionally, as another embodiment, the determining unit 502 is further configured to determine, according to at least one of the N first arrival angles and the position of the terminal, the current direction of the terminal relative to the true north direction. Angle.

可选地，作为另一实施例，接收单元 501还用于，接收终端发送的天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 Optionally, in another embodiment, the receiving unit 501 is further configured to: receive antenna array capability information sent by the terminal, where the antenna array capability information is used to indicate that the terminal can measure the angle of arrival and the frequency band in which the terminal can perform the angle of arrival measurement.

图 6是本发明一个实施例的终端的示意性框图。图 4的终端 60包括接收单元 601、确定单元 602和发送单元 603。 Figure 6 is a schematic block diagram of a terminal in accordance with one embodiment of the present invention. The terminal 60 of Fig. 4 includes a receiving unit 601, a determining unit 602, and a transmitting unit 603.

接收单元 601 , 用于接收 N个下行信号， N个下行信号——对应于 N个传输点，其中， N为大于或等于 2的整数。 The receiving unit 601 is configured to receive N downlink signals, and N downlink signals, corresponding to N transmission points, where N is an integer greater than or equal to 2.

确定单元 602, 用于根据 N个下行信号，分别测量 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角。 The determining unit 602 is configured to separately measure N first wave arrival angles according to the N downlink signals, where the first wave angle is an angle between a direction in which the downlink signal reaches the terminal and a current direction of the terminal.

发送单元 603 , 用于向定位服务器发送 N个第一波达角。 The sending unit 603 is configured to send N first arrival angles to the positioning server.

基于上述技术方案，本发明实施例可以利用终端测量的波达角和相应传输点的位置信息实现终端定位，而不需要终端同时向多个传输点发送上行信号，因而避免了由于传输点接收不到上行信号而导致定位失败的问题。在能够实现终端定位的同时，有较高的定位准确度。 Based on the foregoing technical solution, the embodiment of the present invention can utilize the angle of arrival measured by the terminal and the corresponding transmission. The position information of the input point realizes the terminal positioning, and the terminal does not need to send the uplink signal to multiple transmission points at the same time, thereby avoiding the problem that the positioning failure occurs because the transmission point does not receive the uplink signal. While achieving terminal positioning, it has higher positioning accuracy.

可选地，作为一个实施例，发送单元 603还用于，向定位服务器发送天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 Optionally, as an embodiment, the sending unit 603 is further configured to send antenna array capability information to the positioning server, where the antenna array capability information is used to indicate that the terminal can measure the angle of arrival and the frequency band in which the terminal can perform the angle of arrival measurement.

图 7是本发明另一实施例的定位服务器的示意性框图。的实施例中，定位服务器 70包括发射电路 702、接收电路 703、处理单元 704、存储器 705及天线 701。处理单元 704控制定位服务器 70的操作，并且可用于处理信号。处理单元 704还可以称为 CPU ( Central Processing Unit, 中央处理单元）。存储器 705可以包括只读存储器和随机存取存储器，并向处理器 604提供指令和数据。存储器 705的一部分还可以包括非易失行随机存取存储器（ NVRAM )。具体的应用中，定位服务器 70可以嵌入或者本身可以就是例如移动电话之类的无线通信设备。发射电路 702和接收电路 703可以耦合到天线 701。定位服务器 70的各个组件通过总线*** 709耦合在一起，其中总线*** 709除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图中将各种总线都标为总线*** 709。接收终端测量的 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角， N个第一波达角——对应于 N个传输点，其中， N为大于或等于 2的整数；根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置。 FIG. 7 is a schematic block diagram of a positioning server according to another embodiment of the present invention. In the embodiment, the positioning server 70 includes a transmitting circuit 702, a receiving circuit 703, a processing unit 704, a memory 705, and an antenna 701. Processing unit 704 controls the operation of location server 70 and is operable to process signals. Processing unit 704 may also be referred to as a CPU (Central Processing Unit). Memory 705 can include read only memory and random access memory and provides instructions and data to processor 604. A portion of the memory 705 may also include non-volatile line random access memory (NVRAM). In a particular application, the location server 70 can be embedded or can itself be a wireless communication device such as a mobile phone. Transmit circuit 702 and receive circuit 703 can be coupled to antenna 701. The various components of the location server 70 are coupled together by a bus system 709, which in addition to the data bus includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are labeled as bus system 709 in the figure. Receiving N first angles of arrival measured by the terminal, the first angle of arrival is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal, and N first angles of arrival—corresponding to N transmission points, Where N is an integer greater than or equal to 2; the position of the terminal is determined according to the position information of the N first wave angles and the N transmission points.

还应理解，定位服务器可以向终端发送定位请求，以便于终端测量第一波达角，也可以在接收到终端自动上报的第一波达角后，启动终端定位流程。在根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置时，确定 N个第一波达角两两之间的角度差，得到 N(W-7)/2个角度差，其中， N 为大于 2的整数；根据 N(W-7 2个角度差和 N个传输点的位置信息，确定终端的位置。在根据 N(N-1 )/2个角度差和 N个传输点的位置信息，确定终端的位置时，根据 Ν(Ν-1)/2个角度差和 N个传输点的位置信息，确定 Ν(Ν-1)/2个圓的圓心坐标和半径，以及 N(W-7) 2个圓两两之间的圓心距离；根据圓心坐标、半径和圓心距离，基于海伦定理，确定 N(W-7 2个圓两两之间的交点；根据交点，确定终端的位置。 It should also be understood that the location server may send a location request to the terminal, so that the terminal may measure the first angle of arrival, or may initiate the terminal location procedure after receiving the first angle of arrival automatically reported by the terminal. When determining the position of the terminal according to the position information of the N first wave angles and the N transmission points, determining the angle difference between the two first wave angles to obtain N(W-7)/2 Angle difference, where N is an integer greater than 2; according to N (W-7 2 angular differences and position information of N transmission points, the position of the terminal is determined. According to N(N-1)/2 angle difference sum The position information of the N transmission points, when determining the position of the terminal, determining the center coordinates of Ν(Ν-1)/2 circles according to Ν(Ν-1)/2 angular differences and position information of N transmission points Radius, and the center distance between two circles of N(W-7); According to the center coordinates, radius and center distance, based on Helen's theorem, determine the intersection of N(W-7 2 circles); Intersection, determine the location of the terminal.

例如，如果第一波达角为下行信号到达终端的方向相对于当前方向的逆时针夹角，这时， 2个第一波达角与角度差为： ZIPJ= ZAi r ZAOA^ 在第一波达角为下行信号到达终端的方向相对于当前方向的顺时针夹角的情况下，角度差的确定方法同理。在根据 N(N-1 )/2个角度差和 N个传输点的位置信息，确定终端的位置时，根据 N(N-1 )/2个角度差和 N个传输点的位置信息，确定 N(N-1 个圓；根据 N(W-7)/2个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定终端的位置。若 N等于 2, 接收第一传输点测量的终端的第二波达角，第一传输点是For example, if the first angle of arrival is the counterclockwise angle of the direction of the downlink signal reaching the terminal with respect to the current direction, then the two first angles of arrival and the angle difference are: ZIPJ= ZAi r ZAOA^ in the first wave When the angle of arrival is a clockwise angle with respect to the direction of the downlink signal reaching the terminal, the method of determining the angle difference is the same. When determining the position of the terminal based on the N(N-1)/2 angular differences and the position information of the N transmission points, According to N(N-1)/2 angular differences and position information of N transmission points, N(N-1 circles are determined; a linear equation is established according to the center coordinates and radius of N(W-7)/2 circles Determining the position of the terminal based on the least squares method. If N is equal to 2, receiving the second angle of arrival of the terminal measured by the first transmission point, the first transmission point is

N个传输点中的一个，第二波达角是上行信号到达传输点的方向相对于正北方向的夹角；在根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置时，根据 N个第一波达角两两之间的角度差、 N个传输点的位置信息和第二波达角，确定终端的位置。在根据 N个第一波达角和 N个传输点的位置信息，确定终端的位置之后，根据 N个第一波达角中的至少一个第一波达角和终端的位置，确定终端当前的方向相对于正北方向的夹角。在接收终端测量的 N个第一波达角之前，接收终端发送的天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 One of the N transmission points, the second angle of arrival is the angle of the direction of the uplink signal reaching the transmission point with respect to the true north direction; determining the terminal according to the position information of the N first wave angles and the N transmission points At the position, the position of the terminal is determined based on the angular difference between the two first angles of arrival, the position information of the N transmission points, and the second angle of arrival. After determining the location of the terminal according to the location information of the N first angles of arrival and the N transmission points, determining the current location of the terminal according to at least one of the first first angles of arrival and the location of the terminal. The angle of the direction relative to the true north direction. Before receiving the N first angles of arrival measured by the terminal, the antenna array capability information sent by the terminal is used, and the antenna array capability information is used to indicate that the terminal can measure the angle of arrival and the frequency band at which the terminal can perform the angle of arrival measurement.

图 8是本发明另一实施例的终端的示意性框图。 FIG. 8 is a schematic block diagram of a terminal according to another embodiment of the present invention.

图 8的终端 80可用于实现上述方法实施例中各步骤及方法。图 8的实施例中，终端 80包括发射电路 802、接收电路 803、处理单元 804、存储器 805及天线 801。处理单元 804控制终端 80的操作，并且可用于处理信号。处理单元 804还可以称为 CPU ( Central Processing Unit, 中央处理单元）。存储器 805可以包括只读存储器和随机存取存储器，并向处理器 804提供指令和数据。存储器 805 的一部分还可以包括非易失行随机存取存储器 ( NVRAM )。具体的应用中，终端 80可以嵌入或者本身可以就是例如移动电话之类的无线通信设备。发射电路 802和接收电路 803 可以耦合到天线 801。终端 80的各个组件通过总线*** 809耦合在一起，其中总线*** 809 除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图中将各种总线都标为总线*** 809。 The terminal 80 of FIG. 8 can be used to implement the steps and methods in the foregoing method embodiments. In the embodiment of FIG. 8, the terminal 80 includes a transmitting circuit 802, a receiving circuit 803, a processing unit 804, a memory 805, and an antenna 801. Processing unit 804 controls the operation of terminal 80 and is operable to process signals. Processing unit 804 may also be referred to as a CPU (Central Processing Unit). Memory 805 can include read only memory and random access memory and provides instructions and data to processor 804. A portion of the memory 805 can also include non-volatile line random access memory (NVRAM). In a particular application, terminal 80 may be embedded or may itself be a wireless communication device such as a mobile telephone. Transmitting circuit 802 and receiving circuit 803 can be coupled to antenna 801. The various components of terminal 80 are coupled together by a bus system 809, which in addition to the data bus includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are labeled as bus system 809 in the figure.

具体地，存储器 805可存储使得处理单元 804执行以下操作的指令：接收 N个下行信号， N个下行信号——对应于 N个传输点，其中， N为大于或等于 2的整数；根据 N个下行信号，分别测量 N个第一波达角，第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角；向定位服务器发送 N个第一波达角。 Specifically, the memory 805 can store instructions that cause the processing unit 804 to: receive N downlink signals, N downlink signals - corresponding to N transmission points, where N is An integer greater than or equal to 2; N first first angles of arrival are respectively measured according to the N downlink signals, the first angle of arrival is an angle between a direction in which the downlink signal arrives at the terminal and a current direction of the terminal; and N are sent to the positioning server First point of view.

具体地，存储器 805可存储使得处理单元 804执行以下操作的指令：向定位服务器发送天线阵能力信息，天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 In particular, the memory 805 can store instructions that cause the processing unit 804 to: transmit antenna array capability information to the location server, the antenna array capability information to indicate that the terminal is capable of measuring the angle of arrival and the frequency band at which the terminal can make the angle of arrival measurement.

应理解，在本发明的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。 It should be understood that, in various embodiments of the present invention, the size of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not be taken to the embodiments of the present invention. The implementation process constitutes any limitation.

本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。 Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of both, in order to clearly illustrate hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

所属领域的技术人员可以清楚地了解到，为了描述的方便和筒洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。在本申请所提供的几个实施例中，应该理解到，所揭露的***、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个 ***，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。 A person skilled in the art can clearly understand that, for the convenience of the description and the cleaning process, the specific working processes of the system, the device and the unit described above can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again. In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本发明实施例方案的目的。 The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。 In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分，或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备（可以是个人计算机，服务器，或者网络设备等）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括： U盘、移动硬盘、只读存储器（ROM, Read-Only Memory )、随机存取存储器 ( RAM, Random Access Memory )、磁碟或者光盘等各种可以存储程序代码的介质。 The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like, which can store program codes. .

以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。 The above is only the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any equivalent person can be easily conceived within the technical scope of the present invention. Modifications or substitutions are intended to be included within the scope of the invention. Therefore, the scope of the invention should be determined by the scope of the claims.

Claims

权利要求 Rights request

1、一种终端定位的方法，其特征在于，包括： 1. A terminal positioning method, characterized by including:

接收终端测量的 N个第一波达角，所述第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角，所述 N个第一波达角——对应于 N个传输点，其中， N为大于或等于 2的整数； Receive the N first wave arrival angles measured by the terminal. The first wave arrival angle is the angle between the direction in which the downlink signal reaches the terminal and the current direction of the terminal. The N first wave arrival angles - correspond to N Transmission point, where N is an integer greater than or equal to 2;

根据所述 N个第一波达角和所述 N个传输点的位置信息，确定所述终端的位置。 The location of the terminal is determined based on the N first angles of arrival and the location information of the N transmission points.

2、根据权利要求 1所述的方法，其特征在于，所述根据所述 N个第一波达角和所述 N个传输点的位置信息，确定所述终端的位置，包括： 2. The method according to claim 1, wherein determining the position of the terminal based on the N first angles of arrival and the position information of the N transmission points includes:

确定所述 N个第一波达角两两之间的角度差，得到 N(N-7) 2个角度差，其中， N为大于 2的整数； Determine the angle differences between the N first wave arrival angles, and obtain N(N-7) 2 angle differences, where N is an integer greater than 2;

根据所述 N(N-1 )/2个角度差和所述 N个传输点的位置信息，确定所述终端的位置。 The position of the terminal is determined based on the N(N-1)/2 angle differences and the position information of the N transmission points.

3、根据权利要求 2所述的方法，其特征在于，所述根据所述 N(N-7) 2 个角度差和所述 N个传输点的位置信息，确定所述终端的位置，包括： 3. The method according to claim 2, wherein determining the location of the terminal based on the N(N-7) 2 angle differences and the location information of the N transmission points includes:

根据所述 Ν(Ν-1)/2 个角度差和所述 N个传输点的位置信息，确定 N(N-1 )/2个圓的圓心坐标和半径，以及 N(N-1 )/2个圓两两之间的圓心距离；根据所述圓心坐标、所述半径和所述圓心距离，基于海伦定理，确定所述 N(N-1 2个圓两两之间的交点； According to the N(N-1)/2 angle differences and the position information of the N transmission points, determine the center coordinates and radii of N(N-1)/2 circles, and N(N-1)/ The circle center distance between two circles; According to the circle center coordinates, the radius and the circle center distance, and based on Heron's theorem, determine the intersection point between the N (N-1) 2 circles;

根据所述交点，确定所述终端的位置。 According to the intersection point, the position of the terminal is determined.

4、根据权利要求 2所述的方法，其特征在于，所述根据所述 N(W-7)/2 个角度差和所述 N个传输点的位置信息，确定所述终端的位置，包括： 4. The method according to claim 2, wherein determining the location of the terminal based on the N(W-7)/2 angle differences and the location information of the N transmission points includes: :

根据所述 Ν(Ν-1)/2 个角度差和所述 N个传输点的位置信息，确定 Ν(Ν-1)/2个圓； According to the N(N-1)/2 angle differences and the position information of the N transmission points, determine N(N-1)/2 circles;

根据所述 N(W-7)/2个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定所述终端的位置。 According to the center coordinates and radii of the N(W-7)/2 circles, a linear equation is established, and the position of the terminal is determined based on the least squares method.

5、根据权利要求 1所述的方法，其特征在于， N等于 2 , 所述方法还包括： 5. The method according to claim 1, wherein N is equal to 2, and the method further includes:

接收第一传输点测量的所述终端的第二波达角，所述第一传输点是所述 N个传输点中的一个，所述第二波达角是上行信号到达传输点的方向相对于正北方向的夹角；所述根据所述 N个第一波达角和所述 N个传输点的位置信息，确定所述终端的位置，包括： Receive the second angle of arrival of the terminal measured by the first transmission point. The first transmission point is one of the N transmission points. The second angle of arrival is relative to the direction in which the uplink signal reaches the transmission point. The angle between due north; Determining the location of the terminal based on the N first angles of arrival and the location information of the N transmission points includes:

根据所述 N个第一波达角两两之间的角度差、所述 N个传输点的位置信息和所述第二波达角，确定所述终端的位置。 The position of the terminal is determined based on the angle difference between the N first wave arrival angles, the position information of the N transmission points and the second wave arrival angle.

6、根据权利要求 1至 5中任一项所述的方法，其特征在于，在所述根据所述 N个第一波达角和所述 N个传输点的位置信息，确定所述终端的位置之后，所述方法还包括： 6. The method according to any one of claims 1 to 5, characterized in that: determining the location of the terminal based on the N first angles of arrival and the position information of the N transmission points. After the location, the method also includes:

根据所述 N个第一波达角中的至少一个第一波达角和所述终端的位置，确定所述终端当前的方向。 The current direction of the terminal is determined based on at least one first arrival angle among the N first arrival angles and the position of the terminal.

7、根据权利要求 1至 6中任一项所述的方法，其特征在于，在所述接收终端测量的 N个第一波达角之前，还包括： 7. The method according to any one of claims 1 to 6, characterized in that, before the N first wave arrival angles measured by the receiving terminal, it further includes:

接收终端发送的天线阵能力信息，所述天线阵能力信息用于指示所述终端能够测量波达角。 Receive antenna array capability information sent by the terminal, and the antenna array capability information is used to indicate that the terminal can measure the angle of arrival.

8、一种终端定位的方法，其特征在于，包括： 8. A terminal positioning method, characterized by including:

接收 N个下行信号，所述 N个下行信号——对应于 N个传输点，其中， Receive N downlink signals, the N downlink signals correspond to N transmission points, where,

N为大于或等于 2的整数； N is an integer greater than or equal to 2;

根据所述 N个下行信号，分别测量 N个第一波达角，所述第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角； According to the N downlink signals, N first wave arrival angles are respectively measured, and the first wave arrival angle is the angle between the direction in which the downlink signal reaches the terminal and the current direction of the terminal;

向定位服务器发送所述 N个第一波达角。 Send the N first angles of arrival to the positioning server.

9、根据权利要求 8所述的方法，其特征在于，所述 N个下行信号的序列不同，或所述 N个下行信号的频率不同，或所述 N个下行信号是传输点在不同时间发送的。 9. The method according to claim 8, characterized in that the N downlink signals have different sequences, or the N downlink signals have different frequencies, or the N downlink signals are sent by transmission points at different times. of.

10、根据权利要求 8或 9所述的方法，其特征在于，所述方法还包括：向所述定位服务器发送天线阵能力信息，所述天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 10. The method according to claim 8 or 9, characterized in that the method further includes: sending antenna array capability information to the positioning server, the antenna array capability information being used to indicate that the terminal can measure the angle of arrival and The frequency band in which the terminal can perform angle of arrival measurements.

11、一种定位服务器，其特征在于，包括： 11. A positioning server, characterized by including:

接收单元，用于接收终端测量的 N个第一波达角，所述第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角，所述 N个第一波达角一一对应于 N个传输点，其中， N为大于或等于 2的整数； The receiving unit is configured to receive N first wave arrival angles measured by the terminal. The first wave arrival angle is the angle between the direction in which the downlink signal reaches the terminal and the current direction of the terminal. The N first wave arrival angles are One corresponds to N transmission points, where N is an integer greater than or equal to 2;

确定单元，用于根据所述 N个第一波达角和所述 N个传输点的位置信息，确定所述终端的位置。 A determining unit, configured to determine the location of the terminal based on the N first angles of arrival and the location information of the N transmission points.

12、根据权利要求 11所述的定位服务器，其特征在于，所述确定单元具体用于， 12. The positioning server according to claim 11, characterized in that the determining unit is specifically used to:

确定所述 N个第一波达角两两之间的角度差，得到 N(N-1 )/2个角度差，其中， N为大于 2的整数； Determine the angle differences between the N first wave arrival angles to obtain N(N-1)/2 angle differences, where N is an integer greater than 2;

根据所述 N(N-7 2个角度差和所述 N个传输点的位置信息，确定所述终端的位置。 According to the N(N-7 2 angle differences and the position information of the N transmission points, the position of the terminal is determined.

13、根据权利要求 12所述的定位服务器，其特征在于，所述确定单元具体用于， 13. The positioning server according to claim 12, characterized in that the determining unit is specifically used to:

根据所述 Ν(Ν-1)/2 个角度差和所述 N个传输点的位置信息，确定 N(W-7)/2个圓的圓心坐标和半径，以及 N(W-7)/2个圓两两之间的圓心距离；据所述圓心坐标、所述半径和所述圓心距离，基于海伦定理，确定所述 N(N-1 2个圓两两之间的交点； According to the N(N-1)/2 angle differences and the position information of the N transmission points, determine the center coordinates and radii of N(W-7)/2 circles, and N(W-7)/ The center distance between two circles; According to the center coordinates, the radius and the center distance, and based on Heron's theorem, determine the intersection point between the N (N-1) 2 circles;

才艮据所述交点，确定所述终端的位置。 Based on the intersection point, the position of the terminal is determined.

14、根据权利要求 12所述的定位服务器，其特征在于，所述确定单元具体用于， 14. The positioning server according to claim 12, characterized in that the determining unit is specifically used to:

根据所述 N(N-7)/2个圓的圓心坐标和半径，建立线性方程，基于最小二乘法确定所述终端的位置。 According to the center coordinates and radii of the N(N-7)/2 circles, a linear equation is established, and the position of the terminal is determined based on the least squares method.

15、根据权利要求 11所述的定位服务器，其特征在于， N等于 2 , 所述接收单元还用于，接收第一传输点测量的所述终端的第二波达角，所述第一传输点是所述 N个传输点中的一个，所述第二波达角是上行信号到达传输点的方向相对于正北方向的夹角； 15. The positioning server according to claim 11, wherein N is equal to 2, and the receiving unit is further configured to receive the second angle of arrival of the terminal measured by the first transmission point, and the first transmission point The point is one of the N transmission points, and the second wave arrival angle is the angle between the direction in which the uplink signal reaches the transmission point and the true north direction;

所述确定单元具体用于，根据所述 N个第一波达角两两之间的角度差、所述 N个传输点的位置信息和所述第二波达角，确定所述终端的位置。 The determination unit is specifically configured to determine the position of the terminal based on the angle difference between the N first wave arrival angles, the position information of the N transmission points and the second wave arrival angle. .

16、根据权利要求 11至 15中任一项所述的定位服务器，所述确定单元还用于，根据所述 N个第一波达角中的至少一个第一波达角和所述终端的位置，确定所述终端当前的方向。 16. The positioning server according to any one of claims 11 to 15, the determining unit is further configured to determine according to at least one first angle of arrival among the N first angles of arrival and the Position, determine the current direction of the terminal.

17、根据权利要求 11至 16中任一项所述的定位服务器，所述接收单元还用于，接收终端发送的天线阵能力信息，所述天线阵能力信息用于指示所述终端能够测量波达角。 17. The positioning server according to any one of claims 11 to 16, the receiving unit is further configured to receive antenna array capability information sent by the terminal, and the antenna array capability information is used to indicate that the terminal can measure waves. Dajiao.

18、一种终端，其特征在于，包括： 18. A terminal, characterized in that it includes:

接收单元，用于接收 N个下行信号，所述 N个下行信号——对应于 N 个传输点，其中， N为大于或等于 2的整数； A receiving unit, configured to receive N downlink signals, the N downlink signals corresponding to N transmission points, where N is an integer greater than or equal to 2;

确定单元，用于根据所述 N个下行信号，分别测量 N个第一波达角，所述第一波达角是下行信号到达终端的方向相对于终端当前方向的夹角；发送单元，用于向定位服务器发送所述 N个第一波达角。 Determining unit, configured to measure N first wave arrival angles respectively according to the N downlink signals, where the first wave arrival angle is the angle between the direction in which the downlink signal reaches the terminal and the current direction of the terminal; the sending unit, with and sending the N first angles of arrival to the positioning server.

19、根据权利要求 18所述的终端，其特征在于，所述 N个下行信号的序列不同，或所述 N个下行信号的频率不同，或所述 N个下行信号是传输点在不同时间发送的。 19. The terminal according to claim 18, characterized in that the N downlink signals have different sequences, or the N downlink signals have different frequencies, or the N downlink signals are sent by transmission points at different times. of.

20、根据权利要求 18或 19所述的终端，其特征在于，所述发送单元还用于，向所述定位服务器发送天线阵能力信息，所述天线阵能力信息用于指示终端能够测量波达角以及终端可以进行波达角测量的频段。 20. The terminal according to claim 18 or 19, characterized in that the sending unit is further configured to send antenna array capability information to the positioning server, and the antenna array capability information is used to indicate that the terminal can measure wave arrival angle and the frequency band in which the terminal can measure the angle of arrival.