WO2022100594A1

WO2022100594A1 - Positioning method, device, and processor readable storage medium

Info

Publication number: WO2022100594A1
Application number: PCT/CN2021/129698
Authority: WO
Inventors: 达人; 张振宇; 任斌; 李刚; 方荣一; 秦娟; 孙韶辉
Original assignee: 大唐移动通信设备有限公司
Priority date: 2020-11-10
Filing date: 2021-11-10
Publication date: 2022-05-19
Also published as: CN114466448B; CN114466448A

Abstract

Provided are a positioning method, a device, and a processor readable storage medium. The method comprises: first, a target terminal and a reference terminal respectively receiving positioning auxiliary measurement configuration information sent by a positioning server, and a positioning auxiliary signal sent by a positioning base station, and respectively performing positioning information measurement, so as to obtain corresponding TDOA measurement information and carrier phase measurement information; and then, performing positioning solution processing by combining the TDOA measurement information and the carrier phase measurement information of the target terminal and the reference terminal with the reference position information of the reference terminal, so as to obtain position information of the target terminal. As positioning processing is performed on the position information of the target terminal in conjunction with the TDOA measurement information and the carrier phase measurement information, with respect to the method in the prior art of performing positioning by using only TDOA measurement information, the positioning measurement error is suppressed, the positioning accuracy is effectively improved, and the requirement of high-accuracy positioning is satisfied.

Description

定位方法、装置及处理器可读存储介质Positioning method, apparatus, and processor-readable storage medium

本申请要求于2020年11月10日提交中国专利局、申请号为202011248751.7、申请名称为“定位方法、装置及处理器可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202011248751.7 and the application title "Location Method, Apparatus and Processor-readable Storage Medium" filed with the China Patent Office on November 10, 2020, the entire contents of which are incorporated by reference in this application.

技术领域technical field

本申请涉及无线通信技术领域，尤其涉及一种定位方法、装置及处理器可读存储介质。The present application relates to the field of wireless communication technologies, and in particular, to a positioning method, an apparatus, and a processor-readable storage medium.

背景技术Background technique

基于到达时间差(Time Difference of Arrival，简称TDOA)是一种3GPP协议规范所定义的定位方法。Time Difference of Arrival (TDOA) is a positioning method defined by the 3GPP protocol specification.

在现有的基于TDOA的定位方法中，通过终端将接收多个基站的定位信号，并根据定位信号计算信号的TDOA测量值，以根据TDOA测量值得到终端相对于各终端的距离，并确定终端的位置。In the existing TDOA-based positioning method, the terminal will receive the positioning signals of multiple base stations, and calculate the TDOA measurement value of the signal according to the positioning signal, so as to obtain the distance of the terminal relative to each terminal according to the TDOA measurement value, and determine the terminal. s position.

但是，基于TDOA的定位方法中存在多种测量误差，这将使得到终端的位置的误差范围较大，无法满足高精度定位需求。However, there are various measurement errors in the TDOA-based positioning method, which will make the error range of the obtained terminal position larger, and cannot meet the high-precision positioning requirements.

发明内容SUMMARY OF THE INVENTION

本申请提供一种定位方法、装置及处理器可读存储介质，用以实现对终端的定位。The present application provides a positioning method, an apparatus, and a processor-readable storage medium, so as to realize the positioning of a terminal.

一方面，本申请体提供了一种定位方法，包括：On the one hand, the present application provides a positioning method, comprising:

向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；Sending the positioning assistance measurement configuration information to the target terminal and the reference terminal respectively, so that the target terminal and the reference terminal can measure the positioning information according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal respectively; The auxiliary measurement signal is sent by the positioning base station to the target terminal and the reference terminal;

接收目标终端和参考终端发送的定位测量信息，以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；Receive the positioning measurement information sent by the target terminal and the reference terminal, and the reference position information sent by the reference terminal; wherein, the positioning measurement information includes TDOA measurement information and carrier phase measurement information;

结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息。Positioning solution processing is performed combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal to obtain the position information of the target terminal.

可选的，所述结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息，包括：Optionally, the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal are combined with the reference position information of the reference terminal to perform positioning calculation processing to obtain the position information of the target terminal, including:

对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；Perform linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtain a TDOA linear equation in combination with the reference position information;

对目标终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Perform linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

对TDOA线性方程以及载波相位线性方程进行解算处理，获得目标终端的整周模糊度，并根据所述整周模糊度确定目标终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determine the location information of the target terminal according to the integer ambiguity.

可选的，所述目标终端的TDOA测量信息以及参考终端的TDOA测量信息均为单差分TDOA测量值；Optionally, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values;

所述对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程，包括：The TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are linearized, and the TDOA linear equation is obtained in combination with the reference position information, including:

对所述目标终端的单差分TDOA测量值以及参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值；Double-difference processing is performed on the single-difference TDOA measurement value of the target terminal and the single-difference TDOA measurement value of the reference terminal to obtain a dual-difference time-of-arrival measurement value;

根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值；Perform restoration and calculation processing on the double-difference time-of-arrival measurement value according to the reference position information to obtain the restored single-difference TDOA measurement value;

利用所述还原后的单差分TDOA测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到TDOA线性方程。Using the restored single-difference TDOA measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain a TDOA linear equation.

可选的，所述目标终端的载波相位测量信息以及参考终端的载波相位测量信息均为单差分载波相位测量值；Optionally, the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

所述对目标终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程，包括：The carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are linearized, and the carrier phase linear equation is obtained in combination with the reference position information, including:

对所述目标终端的单差分载波相位测量值以及参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Perform double-difference processing on the single-difference carrier phase measurement value of the target terminal and the single-difference carrier phase measurement value of the reference terminal to obtain the double-difference carrier phase measurement value;

根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值；Perform restoration and calculation processing on the double-difference carrier phase measurement value according to the reference position information to obtain the restored single-difference carrier phase measurement value;

利用所述单差分载波相位测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到载波相位线性方程。Using the single-difference carrier phase measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain a carrier phase linear equation.

可选的，所述对TDOA线性方程以及载波相位线性方程进行解算处理，获得目标终端的整周模糊度，并根据所述整周模糊度确定目标终端的位置信息，包括：Optionally, the solution processing is performed on the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and the location information of the target terminal is determined according to the integer ambiguity, including:

根据TDOA线性方程以及载波相位线性方程，建立最小二乘模型；According to the TDOA linear equation and the carrier phase linear equation, the least squares model is established;

根据所述最小二乘模型，获得目标终端的整周模糊度与目标终端的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation relationship between the integer ambiguity of the target terminal and the change step size of the position information of the target terminal;

根据所述关联关系进行基于浮点估计的迭代运算，以确定整周模糊度；Performing an iterative operation based on floating point estimation according to the association relationship to determine the integer ambiguity;

根据载波相位线性方程和整周模糊度，确定目标终端的位置信息。According to the carrier phase linear equation and the integer ambiguity, the location information of the target terminal is determined.

另一方面，本申请提供了一种定位方法，包括：On the other hand, the present application provides a positioning method, comprising:

接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号；Receive the positioning assistance measurement configuration information sent by the positioning server, and receive the positioning assistance measurement signal sent by the positioning base station;

根据所述定位辅助测量配置信息以及定位辅助测量信号进行定位信息测量获得当前的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；Perform positioning information measurement according to the positioning assistance measurement configuration information and the positioning assistance measurement signal to obtain the current positioning measurement information; and receive the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the positioning measurement information Including TDOA measurement information and carrier phase measurement information;

结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息。Positioning solution processing is performed by combining the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the current terminal.

可选的，所述结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息，包括：Optionally, performing positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the current terminal, including:

对当前终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；Perform linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtain a TDOA linear equation in combination with the reference position information;

对当前终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Perform linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

对TDOA线性方程以及载波相位线性方程进行解算处理，获得当前终端的整周模糊度，并根据所述整周模糊度确定当前终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determine the position information of the current terminal according to the integer ambiguity.

可选的，所述当前终端的TDOA测量信息以及参考终端的TDOA测量信息均为单差分TDOA测量值；Optionally, the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values;

所述对当前终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程，包括：The TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are linearized, and the TDOA linear equation is obtained in combination with the reference position information, including:

可选的，所述当前终端的载波相位测量信息以及参考终端的载波相位测量信息均为单差分载波相位测量值；Optionally, the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

对所述当前终端的单差分载波相位测量值以及参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Perform double-difference processing on the single-difference carrier phase measurement value of the current terminal and the single-difference carrier phase measurement value of the reference terminal to obtain the double-difference carrier phase measurement value;

可选的，所述对TDOA线性方程以及载波相位线性方程进行解算处理，获得当前终端的整周模糊度，并根据所述整周模糊度确定当前终端的位置信息，包括：Optionally, the solution processing is performed on the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and the position information of the current terminal is determined according to the integer ambiguity, including:

根据所述最小二乘模型，获得当前终端的整周模糊度与当前终端的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation relationship between the integer ambiguity of the current terminal and the change step size of the position information of the current terminal;

根据载波相位线性方程和整周模糊度，确定当前终端的位置信息。According to the carrier phase linear equation and the integer ambiguity, the location information of the current terminal is determined.

再一方面，本申请提供了一种定位装置，包括存储器，收发机，处理器：In another aspect, the present application provides a positioning device, including a memory, a transceiver, and a processor:

存储器，用于存储计算机程序；收发机，用于在所述处理器的控制下收发数据；处理器，用于读取所述存储器中的计算机程序并执行以下操作：a memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; a processor for reading the computer program in the memory and performing the following operations:

可选的，所述处理器在执行结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息时，具体用于：Optionally, when the processor performs positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, and obtains the position information of the target terminal, it is specifically used for obtaining the position information of the target terminal. :

可选的所述目标终端的TDOA测量信息以及参考终端的TDOA测量信息均为单差分TDOA测量值；Optionally, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are single-difference TDOA measurement values;

所述处理器在执行对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程时，具体用于：When the processor performs linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtains the TDOA linear equation in combination with the reference position information, the processor is specifically used for:

对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程。The TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are linearized, and the TDOA linear equation is obtained in combination with the reference position information.

可选的所述目标终端的载波相位测量信息以及参考终端的载波相位测量信息均为单差分载波相位测量值；Optionally, the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are single-difference carrier phase measurement values;

所述处理器在执行对目标终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程时，具体用于：When the processor performs linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtains the carrier phase linear equation in combination with the reference position information, it is specifically used for:

可选的所述处理器在执行对TDOA线性方程以及载波相位线性方程进行解算处理，获得目标终端的整周模糊度，并根据所述整周模糊度确定目标终端的位置信息时，具体用于：Optionally, when the processor performs the solution processing on the TDOA linear equation and the carrier phase linear equation, obtains the integer ambiguity of the target terminal, and determines the location information of the target terminal according to the integer ambiguity, it specifically uses At:

可选的，所述处理器在执行结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息时，具体用于：Optionally, when the processor performs positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, and obtains the position information of the current terminal, it is specifically used for: :

所述处理器在执行对当前终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程时，具体用于：When the processor performs linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtains the TDOA linear equation in combination with the reference position information, it is specifically used for:

可选的，所述处理器在执行对TDOA线性方程以及载波相位线性方程进行解算处理，获得当前终端的整周模糊度，并根据所述整周模糊度确定当前终端的位置信息时，具体用于：Optionally, when the processor performs the processing of solving the TDOA linear equation and the carrier phase linear equation, obtains the integer ambiguity of the current terminal, and determines the position information of the current terminal according to the integer ambiguity, specifically: Used for:

根据所述最小二乘模型，获得当前的整周模糊度与当前的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation between the current integer ambiguity and the change step size of the current position information;

根据载波相位线性方程和整周模糊度，确定当前的位置信息。According to the carrier phase linear equation and the integer ambiguity, the current position information is determined.

再一方面，本申请提供了一种定位装置，包括：In another aspect, the present application provides a positioning device, comprising:

第一收发单元，用于向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；以及，接收目标终端和参考终端发送的定位测量信息，以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；a first transceiver unit, configured to send positioning assistance measurement configuration information to the target terminal and the reference terminal respectively, so that the target terminal and the reference terminal can perform positioning information according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal respectively. measurement; wherein, the positioning assistance measurement signal is sent by the positioning base station to the target terminal and the reference terminal; and, receiving the positioning measurement information sent by the target terminal and the reference terminal, and the reference position information sent by the reference terminal; wherein , the positioning measurement information includes TDOA measurement information and carrier phase measurement information;

第一定位单元，用于结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息。The first positioning unit is configured to perform positioning calculation processing by combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal and the reference position information of the reference terminal to obtain the position information of the target terminal.

又一方面，本申请提供了一种定位装置，包括：In another aspect, the present application provides a positioning device, comprising:

第二收发单元，用于接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号；以及，根据所述定位辅助测量配置信息以及定位辅助测量信号进行定位信息测量获得当前的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；The second transceiver unit is configured to receive the positioning assistance measurement configuration information sent by the positioning server, and receive the positioning assistance measurement signal sent by the positioning base station; and measure the positioning information according to the positioning assistance measurement configuration information and the positioning assistance measurement signal to obtain the current and, receiving the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the positioning measurement information includes TDOA measurement information and carrier phase measurement information;

第二定位单元，用于结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息。The second positioning unit is configured to perform positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal to obtain the position information of the current terminal.

再一方面，本申请提供了一种处理器可读存储介质，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行前述任一项所述的方法。In yet another aspect, the present application provides a processor-readable storage medium, where a computer program is stored in the processor-readable storage medium, and the computer program is used to cause the processor to execute the method described in any one of the foregoing .

最后一方面，本申请提供了一种处理器可读存储介质，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行前述任一项所述的方法。In a final aspect, the present application provides a processor-readable storage medium, where a computer program is stored in the processor-readable storage medium, and the computer program is used to cause the processor to execute the method described in any one of the foregoing .

本申请提供的一种定位方法、装置及处理器可读存储介质，首先，目标终端和参考终端分别接收定位服务器发送的定位辅助测量配置信息，以及定位基站发送的定位辅助信号，并分别进行定位信息测量，以获得相应的TDOA测量信息和载波相位测量信息；然后，利用结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息。由于在对目标终端的位置信息进行定位处理时，结合有TDOA测量信息和载波相位测量信息，其相对于现有技术中采用单一TDOA测量信息进行定位的方式来说，其定位测量误差得到了抑制，其定位精度得到有效提升，满足了高精度定位需求。In a positioning method, device, and processor-readable storage medium provided by the present application, first, the target terminal and the reference terminal respectively receive the positioning assistance measurement configuration information sent by the positioning server and the positioning assistance signal sent by the positioning base station, and perform positioning respectively. Information measurement to obtain the corresponding TDOA measurement information and carrier phase measurement information; then, use the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal to perform positioning solution processing to obtain the target terminal. The location information of the terminal. Since the TDOA measurement information and the carrier phase measurement information are combined when the location information of the target terminal is processed for positioning, compared with the prior art method of using a single TDOA measurement information for positioning, the positioning measurement error is suppressed. , its positioning accuracy has been effectively improved to meet the needs of high-precision positioning.

应当理解，上述发明内容部分中所描述的内容并非旨在限定本发明的实施例的关键或重要特征，亦非用于限制本发明的范围。本发明的其它特征将通过以下的描述变得容易理解。It should be understood that the content described in the above summary section is not intended to limit the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become apparent from the following description.

附图说明Description of drawings

为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the present application or the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the invention, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

图1是本申请提供的一种网络架构；Fig. 1 is a kind of network architecture provided by this application;

图2是本申请提供的一种定位方法的信令交互示意图；2 is a schematic diagram of signaling interaction of a positioning method provided by the present application;

图3是本申请提供的一种定位方法的流程示意图；3 is a schematic flowchart of a positioning method provided by the present application;

图4为本申请提供的一种定位装置的结构示意图；4 is a schematic structural diagram of a positioning device provided by the application;

图5为本申请提供的又一种定位装置的结构示意图；5 is a schematic structural diagram of another positioning device provided by the application;

图6是本申请提供的另一种定位方法的信令交互示意图；6 is a schematic diagram of signaling interaction of another positioning method provided by the present application;

图7是本申请提供的另一种定位方法的流程示意图；7 is a schematic flowchart of another positioning method provided by the present application;

图8为本申请提供的另一种定位装置的结构示意图；8 is a schematic structural diagram of another positioning device provided by the application;

图9为本申请提供的再一种定位装置的结构示意图。FIG. 9 is a schematic structural diagram of still another positioning device provided by the present application.

具体实施方式Detailed ways

以下结合附图对本申请的示范性实施例做出说明，其中包括本申请实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本申请的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present application are described below with reference to the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

针对目前3GPP定义的、通过测量无线通讯***本身参考信号来确定终端位置方法，而导致的定位精确度较低的问题，本申请提供一种定位方法，用以为3GPP无线通信***中的终端提供高精度定位，使得利用本申请获得的终端的位置信息的定位误差范围较小，定位精度得到有效提升。Aiming at the problem of low positioning accuracy caused by the current 3GPP-defined method for determining the terminal position by measuring the reference signal of the wireless communication system itself, the present application provides a positioning method, which is used to provide a high-precision positioning method for a terminal in a 3GPP wireless communication system. Accurate positioning, so that the positioning error range of the terminal position information obtained by using the present application is small, and the positioning accuracy is effectively improved.

其中，方法和装置是基于同一申请构思的，由于方法和装置解决问题的原理相似，因此装置和方法的实施可以相互参见，重复之处不再赘述。The method and the device are conceived based on the same application. Since the principles of the method and the device for solving the problem are similar, the implementation of the device and the method can be referred to each other, and repeated descriptions will not be repeated here.

需要说明的是，本申请实施例提供的技术方案可以适用于多种无线通信***。It should be noted that the technical solutions provided in the embodiments of the present application may be applicable to various wireless communication systems.

例如适用的***可以是全球移动通讯(global system of mobile communication，GSM)***、码分多址(code division multiple access，CDMA)***、宽带码分多址(Wideband Code Division Multiple Access，WCDMA)通用分组无线业务(general packet radio service，GPRS)***、长期演进(long term evolution，LTE)***、LTE频分双工(frequency division duplex，FDD)***、LTE时分双工(time division duplex，TDD)***、高级长期演进(long term evolution advanced，LTE-A)***、通用移动***(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)***、5G新空口(New Radio,NR)***等。这多种***中均包括终端设备和网络设备。***中还可以包括核心网部分，例如演进的分组***(Evloved Packet System,EPS)、5G***(5GS)等。For example, the applicable system may be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) general packet Wireless service (general packet radio service, GPRS) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, Long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (New Radio, NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (Evloved Packet System, EPS), a 5G system (5GS), and the like.

为了清楚理解本申请的技术方案，首先对现有技术的方案进行详细介绍。In order to clearly understand the technical solutions of the present application, the solutions of the prior art are first introduced in detail.

图1是本申请提供的一种网络架构，如图1所示的，该网络架构中包括有终端(本申请所提及的目标终端和参考终端)、网络设备(本申请所提及的定位基站以及定位服务器)。FIG. 1 is a network architecture provided by this application. As shown in FIG. 1 , the network architecture includes terminals (target terminal and reference terminal mentioned in this application), network equipment (location mentioned in this application) base station and location server).

其中，图1中的终端，也称为终端设备，其可以是指向用户提供语音和/或数据连通性的设备，具有无线连接功能的手持式设备、或连接到无线调制解调器的其他处理设备等。The terminal in FIG. 1, also referred to as a terminal device, may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem.

在不同的***中，终端设备的名称可能也不相同，例如在5G***中，终端设备可以称为用户设备(User Equipment，UE)。无线终端设备可以经无线接入网(Radio Access Network,RAN)与一个或多个核心网(Core Network,CN)进行通信，无线终端设备可以是移动终端设备，如移动电话(或称为“蜂窝”电话)和具有移动终端设备的计算机，例如，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言和/或数据。In different systems, the name of the terminal device may be different. For example, in the 5G system, the terminal device may be called user equipment (User Equipment, UE). Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a radio access network (Radio Access Network, RAN). "telephone) and computers with mobile terminal equipment, eg portable, pocket-sized, hand-held, computer-built or vehicle-mounted mobile devices, which exchange language and/or data with the radio access network.

例如，个人通信业务(Personal Communication Service，PCS)电话、无绳电话、会话发起协议(Session Initiated Protocol，SIP)话机、无线本地环路(Wireless Local Loop，WLL)站、个人数字助理(Personal Digital Assistant，PDA)等设备。无线终端设备也可以称为***、订户单元(subscriber unit)、订户站(subscriber station)，移动站(mobile station)、移动台(mobile)、远程站(remote station)、接入点(access point)、远程终端设备(remote terminal)、接入终端设备(access terminal)、用户终端设备(user terminal)、用户代理(user agent)、用户装置(user device)，本申请实施例中并不限定。For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (Personal Digital Assistants), PDA) and other devices. Wireless terminal equipment may also be referred to as system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point , a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in the embodiments of the present application.

而图1中的网络设备，具体可包括定位基站和定位服务器。其中，定位基站可以包括多个为终端提供服务的小区。根据具体应用场合不同，基站又可以称为接入点，或者可以是接入网中在空中接口上通过一个或多个扇区与无线终端设备通信的设备，或者其它名称。网络设备可用于将收到的空中帧与网际协议(Internet Protocol，IP)分组进行相互更换，作为无线终端设备与接入网的其余部分之间的路由器，其中接入网的其余部分可包括网际协议(IP)通信网络。而网络设备中的定位服务器还可协调对空中接口的属性管理。The network device in FIG. 1 may specifically include a positioning base station and a positioning server. The positioning base station may include a plurality of cells serving the terminal. Depending on the specific application, the base station may also be called an access point, or may be a device in the access network that communicates with wireless terminal equipment through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, and act as a router between the wireless terminal device and the rest of the access network, which can include the Internet. Protocol (IP) communication network. The location server in the network device can also coordinate the attribute management of the air interface.

在如图1所示的无线通信***中，当需要对终端A(目标终端)进行定位时，现有技术一般将采用基于到达时间差(Time Difference of Arrival，简称TDOA)的定位方式实现。In the wireless communication system shown in FIG. 1 , when the terminal A (target terminal) needs to be positioned, the prior art generally adopts a positioning method based on Time Difference of Arrival (TDOA for short).

具体来说，终端A会向网络设备发起定位请求，此时，网络设备中的定位基站会向终端A发送定位辅助测量信号，而网络设备中的定位服务器会向终端A发送定位辅助测量配置信息，以供终端A利用定位辅助测量信号以及定位辅助测量配置信息进行信号的定位测量，获得到达时间(Time of Arrival，简称TOA)以确定相应的到达时间差(Time difference of Arrival，简称TDOA)的测量值。然后，终端A或定位服务器将作为定位处理的处理主体，对到TDOA测量值进行定位处理，以结合终端B(参考终端)的参考位置以及定位基站的基站位置求得终端A的位置，完成对终端A的定位。Specifically, terminal A will initiate a positioning request to the network device. At this time, the positioning base station in the network device will send a positioning assistance measurement signal to terminal A, and the positioning server in the network device will send the positioning assistance measurement configuration information to terminal A. , for the terminal A to use the positioning aided measurement signal and the positioning aided measurement configuration information to perform the positioning measurement of the signal, and obtain the time of arrival (Time of Arrival, referred to as TOA) to determine the corresponding time difference of arrival (Time difference of Arrival, referred to as TDOA) measurement value. Then, the terminal A or the positioning server will be the processing subject of the positioning processing, and perform positioning processing on the TDOA measurement value to obtain the position of the terminal A in combination with the reference position of the terminal B (reference terminal) and the base station position of the positioning base station, and complete the matching Positioning of terminal A.

但是，在利用到达时间差(Time difference of Arrival，简称TDOA)的测量值计算终端A的位置的过程中，由于***误差、时钟误差等多种误差的影响，根据终端A测量所获得的到达时间差(Time difference of Arrival，简称TDOA)的测量值所得到的终端A的位置，与终端A的实际位置之间存在一定的定位误差。而基于误差而造成的定位不准的问题，使得利用TDOA进行终端定位的方式的定位精度的上限受限，无法满足终端的高精度定位需求。However, in the process of calculating the position of the terminal A by using the measured value of the time difference of arrival (TDOA), due to the influence of various errors such as system errors and clock errors, the time difference of arrival ( There is a certain positioning error between the position of terminal A obtained by the measurement value of Time difference of Arrival (TDOA for short) and the actual position of terminal A. However, the problem of inaccurate positioning caused by errors makes the upper limit of the positioning accuracy of the terminal positioning method using TDOA limited, and cannot meet the high-precision positioning requirements of the terminal.

基于此，本申请应运而生，为了提高无线通信***中的终端的定位精度，发明人考虑可引入基于其他测量值的定位方式以与现有的定位方式同时进行终端的定位，进而提高终端的定位精度。Based on this, this application comes into being. In order to improve the positioning accuracy of the terminal in the wireless communication system, the inventor considers that a positioning method based on other measurement values can be introduced to perform the terminal positioning at the same time as the existing positioning method, thereby improving the terminal's positioning method. positioning accuracy.

在此构思的基础上，发明人发现可将载波相位测量方法结合基于TDOA测量方法，以提高无线通信***的终端定位精度。On the basis of this concept, the inventor finds that the carrier phase measurement method can be combined with the TDOA-based measurement method to improve the terminal positioning accuracy of the wireless communication system.

其中，载波相位观测量是一种测定GPS接收机所接收的卫星载波信号与接收机振荡器产生的参考载波信号之间的相位差的高精度定位方法，其一般运用在卫星定位场景中，在载波相位测量中存在整周模糊度，当载波相位测量值中的误差项均被减小，整周模糊度能够被求解，进而载波相位测量可通过运算得到精确定位。Among them, carrier phase observation is a high-precision positioning method that measures the phase difference between the satellite carrier signal received by the GPS receiver and the reference carrier signal generated by the receiver oscillator. It is generally used in satellite positioning scenarios. There is an integer ambiguity in the carrier phase measurement. When the error terms in the carrier phase measurement value are reduced, the integer ambiguity can be solved, and the carrier phase measurement can be accurately positioned through operations.

为了能够得到整周模糊度，发明人发现，可利用现有的TDOA测量方法对于终端位置进行一定的预估计，以根据该估计值来确定载波相位测量中的整周模糊度，进而利用得到的整周模糊度得到精准定位。In order to obtain the integer ambiguity, the inventor found that the existing TDOA measurement method can be used to perform a certain pre-estimation for the terminal position, so as to determine the integer ambiguity in the carrier phase measurement according to the estimated value, and then use the obtained The ambiguity of the whole week is precisely localized.

与现有技术相比，由于在对终端的位置信息进行定位处理时，结合有TDOA测量信息和载波相位测量信息，其相对于现有技术中采用单一TDOA测量信息进行定位的方式来说，其定位测量误差得到了抑制，其定位精度得到有效提升，满足了高精度定位需求。Compared with the prior art, since the TDOA measurement information and the carrier phase measurement information are combined when the location information of the terminal is processed for positioning, compared with the prior art method in which a single TDOA measurement information is used for positioning, the The positioning measurement error is suppressed, the positioning accuracy is effectively improved, and the high-precision positioning requirements are met.

以下将参照附图来具体描述本申请的实施例。The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

在描述各实施例之前，首先将对本申请中出现的字母以及其含义进行简单说明：Before describing each embodiment, the letters appearing in this application and their meanings will be briefly explained first:

表示TOA测量值,其中i代表第i个定位基站，其中i＝(1,…,M),M是定位基站的总个数；而l则可以为l＝(a,b)，其中，l＝a代表未知位置的用户，即本申请中的目标终端；l＝b代表已知位置的终端，即本申请中的参考终端。

Represents the TOA measurement value, where i represents the ith positioning base station, where i=(1,...,M), M is the total number of positioning base stations; and l can be l=(a,b), where l =a represents a user with an unknown location, that is, a target terminal in this application; l=b represents a terminal with a known location, that is, a reference terminal in this application.

是终端l到定位基站i的实际距离，单位为米。

is the actual distance from terminal 1 to positioning base station i, in meters.

c:代表电磁波的传播速度,3.0e ⁸，单位为m/s。 c: represents the propagation speed of electromagnetic waves, 3.0e ⁸ , in m/s.

δt ⁱ:代表定位基站i的时钟误差，单位为秒。 δt ⁱ : represents the clock error of positioning base station i, in seconds.

δt _l:代表终端l的时钟误差，单位为秒。 δt _l : represents the clock error of terminal l, in seconds.

代表TOA测量

的多径误差，单位为米。

Represents TOA measurement

multipath error in meters.

代表TOA测量

的测量误差，单位为米。

Represents TOA measurement

The measurement error in meters.

代表终端l从定位基站i发射的测量信号中测出的载波相位测量值，单位为周。

Represents the measured value of the carrier phase measured by the terminal 1 from the measurement signal transmitted by the positioning base station i, and the unit is a cycle.

λ:是相应载波中心频率f所对应的波长，单位为米。λ: is the wavelength corresponding to the center frequency f of the corresponding carrier, in meters.

是终端l的初始相位，单位为周。

is the initial phase of terminal l in cycles.

是定位基站i的初始相位，单位为周。

is the initial phase of positioning base station i, in cycles.

是载波相位测量值

所对应的响应的未知的整周模糊度，单位为周。

is the carrier phase measurement

The unknown integer ambiguity of the corresponding response, in weeks.

是载波相位测量值

所对应的多径误差，单位为米。

is the carrier phase measurement

The corresponding multipath error, in meters.

是载波相位测量值

的测量误差，单位为米。

is the carrier phase measurement

The measurement error in meters.

s ⁱ＝(x ⁱ,y ⁱ,z ⁱ) ^T:是定位基站i＝(1,…,M)的已知坐标信息。 s ⁱ =(x ⁱ , y ⁱ , z ⁱ ) ^T : is the known coordinate information of the positioning base station i=(1, . . . , M).

s _l＝(x _l,y _l,z _l) ^T:代表终端的坐标，其中l＝(a,b)，即s _a代表未知的用户位置，即目标终端的位置；s _b代表已知的参考终端的位置，即参考终端的位置。 s _l =(x _l , y _l , z _l ) ^T : represents the coordinates of the terminal, where l=(a, b), that is, s _a represents the unknown user location, that is, the location of the target terminal; s _b represents the known location The position of the reference terminal, that is, the position of the reference terminal.

双上标“ij”代表对定位基站i和定位基站j之间的值进行单差分操作，例如：The double superscript "ij" represents the single difference operation on the value between the positioning base station i and the positioning base station j, for example:

双下标“ab”代表终端a(目标终端)和终端b(参考终端)之间的值进行单差分操作，可以表示为:The double subscript "ab" represents the value between terminal a (target terminal) and terminal b (reference terminal) for single-difference operation, which can be expressed as:

结合双上标“ij”和双下标“ab”代表着定位基站i和定位基站j,以及终端a和终端b之间的双差分操作，可以表示为:Combining the double superscript "ij" and double subscript "ab" represents the positioning base station i and positioning base station j, and the double differential operation between terminal a and terminal b, it can be expressed as:

实施例一Example 1

实施例一中提供了一种基于本申请发明构思的UE-assisted的下行定位方案，在该下定定位方案中，图1网络设备中的定位服务器将作为执行主体，以进行定位运算。 Embodiment 1 provides a UE-assisted downlink positioning scheme based on the inventive concept of the present application. In the predetermined positioning scheme, the positioning server in the network device in FIG. 1 will be used as the execution body to perform positioning operations.

具体的，图2是本申请提供的一种定位方法的信令交互示意图，图2示出了基于UE-assisted的下行定位方案中的网络设备与终端的交互情况，其中，如图2所示的，在本申请提供的定位方法中，如图1网络构架所述的，为了对目标终端(终端A)进行定位，还需要利用到参考终端(终端B)。Specifically, FIG. 2 is a schematic diagram of signaling interaction of a positioning method provided by the present application, and FIG. 2 shows the interaction between a network device and a terminal in a UE-assisted downlink positioning solution, wherein, as shown in FIG. 2 Yes, in the positioning method provided by the present application, as described in the network architecture of FIG. 1 , in order to locate the target terminal (terminal A), a reference terminal (terminal B) needs to be used.

图3是本申请提供的一种定位方法的流程示意图，如图3所示的，本申请实施例的执行主体为网络设备，其具体可为图1中的定位服务器。FIG. 3 is a schematic flowchart of a positioning method provided by the present application. As shown in FIG. 3 , the execution subject of the embodiment of the present application is a network device, which may specifically be the positioning server in FIG. 1 .

结合图2以及图3，本实施例提供的定位方法包括以下几个步骤：2 and 3, the positioning method provided by this embodiment includes the following steps:

步骤101、向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的。Step 101: Send positioning assistance measurement configuration information to a target terminal and a reference terminal respectively, so that the target terminal and the reference terminal respectively perform positioning information measurement according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal; wherein, The positioning assistance measurement signal is sent by the positioning base station to the target terminal and the reference terminal.

具体的，首先，当目标终端向网络设备发出定位请求之后，目标终端所属蜂窝网中的各定位基站会将包括基站位置信息、以及信号频率等定位辅助测量配置信息发送至定位服务器，以供定位服务器对各定位基站进行协作，同时，定位基站还会将定位辅助测量信号发送至其覆盖蜂窝网中的目标终端以及参考终端。以及，定位服务器会将定位辅助测量配置信息一并发送至目标终端和参考终端。Specifically, first, after the target terminal sends a positioning request to the network device, each positioning base station in the cellular network to which the target terminal belongs will send the positioning assistance measurement configuration information including base station location information and signal frequency to the positioning server for positioning. The server cooperates with each positioning base station, and at the same time, the positioning base station also sends the positioning assistance measurement signal to the target terminal and the reference terminal in the cellular network covered by the positioning base station. And, the positioning server will send the positioning assistance measurement configuration information to the target terminal and the reference terminal together.

其中，目标终端和参考终端所接收到的定位辅助测量配置信息中包括定位参考信号(Positioning Referenece Signal，简称PRS)的配置信息和载波相位定位参考信号(Carrier phase Positioning Referenece Signal，简称C-PRS)的配置信息；目标终端和参考终端所接收到的定位辅助测量信号中包括PRS的参考信号和C-PRS的参考信号。Among them, the positioning assistance measurement configuration information received by the target terminal and the reference terminal includes the configuration information of the positioning reference signal (Positioning Referenece Signal, referred to as PRS) and the carrier phase positioning reference signal (Carrier phase Positioning Referenece Signal, referred to as C-PRS) configuration information; the positioning aided measurement signals received by the target terminal and the reference terminal include the reference signal of the PRS and the reference signal of the C-PRS.

步骤102、接收目标终端和参考终端发送的定位测量信息，以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息。Step 102: Receive the positioning measurement information sent by the target terminal and the reference terminal, and the reference position information sent by the reference terminal; wherein, the positioning measurement information includes TDOA measurement information and carrier phase measurement information.

当目标终端以及参考终端接收到定位辅助测量信号以及定位辅助测量配置信息之后，将分别执行定位信息的测量，以得到各自的定位测量信息。其中，如前所述的，在测量得到的定位测量信息中将包括有结合有目标终端以及参考终端的TDOA测量信息和载波相位测量信息。After the target terminal and the reference terminal receive the positioning assistance measurement signal and the positioning assistance measurement configuration information, they will perform the measurement of the positioning information respectively to obtain the respective positioning measurement information. Wherein, as mentioned above, the positioning measurement information obtained by measurement will include the TDOA measurement information and carrier phase measurement information combined with the target terminal and the reference terminal.

随后，目标终端会将TDOA测量信息和载波相位测量信息发送至定位服务器，而同步或异步的，参考终端会将TDOA测量信息、载波相位测量信息以及其参考位置信息发送至定位服务器。其中，需要说明的，由于参考终端的位置是不变且已知的，因此，参考终端可将预置与其中的用于表示其参考终端位置的参考位置信息一并发送至定位服务器，以供其进行处理。Then, the target terminal will send the TDOA measurement information and carrier phase measurement information to the positioning server, and synchronously or asynchronously, the reference terminal will send the TDOA measurement information, carrier phase measurement information and its reference position information to the positioning server. It should be noted that since the position of the reference terminal is unchanged and known, the reference terminal can send the preset and the reference position information used to indicate the position of the reference terminal to the positioning server for the reference terminal. its processed.

步骤103、结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息。 Step 103 , performing positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the target terminal.

具体来说，当定位服务器接收到目标终端的定位测量信息，以及参考终端的定位测量信息以及其参考位置信息之后，将按照步骤103的方式执行定位解算。通过结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理可包括对TDOA测量信息的运算，以及对载波相位测量信息的运算，该两种运算可同步进行也可异步进行。当完成这两种运算后，还会对其二者的运算结果进行解算处理，以得到最终的目标终端的位置信息。Specifically, after the positioning server receives the positioning measurement information of the target terminal, and the positioning measurement information of the reference terminal and its reference position information, it will perform positioning calculation in the manner of step 103 . By combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, the positioning calculation processing may include the operation of the TDOA measurement information and the operation of the carrier phase measurement information. Operations can be performed synchronously or asynchronously. After the two operations are completed, the calculation results of the two operations are also processed to obtain the final position information of the target terminal.

可选的，为了提高定位精度，在本申请提供的定位方法中，目标终端的TDOA测量信息以及参考终端的TDOA测量信息均为单差分TDOA测量值，以及目标终端的载波相位测量信息以及参考终端的载波相位测量信息均为单差分载波相位测量值。而定位服务器通过对于单差分测量值进行双差分运算，可有效消除测量值中的时钟误差，进而提升定位精度。Optionally, in order to improve the positioning accuracy, in the positioning method provided by this application, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values, and the carrier phase measurement information of the target terminal and the reference terminal. The carrier phase measurement information of all is the single-difference carrier phase measurement value. The positioning server can effectively eliminate the clock error in the measurement value by performing double-difference operation on the single-difference measurement value, thereby improving the positioning accuracy.

其一，对于单差分TDOA测量值的获取。First, for the acquisition of single-difference TDOA measurement values.

在本申请实施例中，TDOA测量信息具体可指终端对TOA测量值进行差分处理后得到的单差分TDOA测量值，即，目标终端的TDOA测量信息以及参考终端的TDOA测量信息均为单差分TDOA测量值。In this embodiment of the present application, the TDOA measurement information may specifically refer to a single-difference TDOA measurement value obtained after the terminal performs differential processing on the TOA measurement value, that is, the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA Measurements.

详细来说，由于TOA测量值可表示为实际距离与各类误差之和，为了保证定位精度，在目标终端(参考终端)进行定位测量时，还可对定位测量得到的TOA测量值进行单差分处理，以消除来自于定位基站的时钟误差，该过程可描述为：In detail, since the TOA measurement value can be expressed as the sum of the actual distance and various errors, in order to ensure the positioning accuracy, when the target terminal (reference terminal) performs the positioning measurement, the TOA measurement value obtained by the positioning measurement can also be single-differenced. process to eliminate the clock error from the positioning base station, the process can be described as:

首先，以终端l为例，终端l测量PRS的测量信号得到的TOA测量值。First, taking the terminal 1 as an example, the terminal 1 measures the TOA measurement value obtained by measuring the measurement signal of the PRS.

其中，对于下行定位,在时刻t的TOA测量值

可以表示为： Among them, for downlink positioning, the TOA measurement at time t

It can be expressed as:

其中,

用于表示时刻t的终端l对于定位基站i的信号进行测量得到的TOA测量值；其中i代表第i个基站，i＝(1,…,M),M是定位基站的总个数；而l可以表示为l＝(a,b)，l＝a时，终端l表示目标终端；l＝b时，终端l表示为参考终端； in,

It is used to represent the TOA measurement value obtained by measuring the signal of the positioning base station i by the terminal l at time t; wherein i represents the ith base station, i=(1,...,M), and M is the total number of positioning base stations; and l can be expressed as l=(a,b), when l=a, terminal 1 represents the target terminal; when l=b, terminal 1 represents the reference terminal;

是终端l到定位基站i的实际距离；c是电磁波的传播速度；δt ⁱ是定位基站i的时钟误差；δt _l是终端l的时钟误差，

是TOA测量值

的多径误差；

是TOA测量

的测量误差。

is the actual distance from terminal l to positioning base station i; c is the propagation speed of electromagnetic waves; δt ⁱ is the clock error of positioning base station i; δt _l is the clock error of terminal l,

is the TOA measurement

multipath error;

is TOA measurement

measurement error.

在上述各误差中，

通常假设为高斯噪声，其为预设范围内的随机变量。 Among the above errors,

Gaussian noise is usually assumed, which is a random variable within a preset range.

由于定位基站一般为多个，利用将对多个定位基站中任意两个定位基站的信号进行测量得到的两个TOA测量值做差，能够消除终端l自身的时钟误差，该过程可用公式(2)描述。Since there are generally multiple positioning base stations, the difference between the two TOA measurement values obtained by measuring the signals of any two positioning base stations in the multiple positioning base stations can eliminate the clock error of the terminal 1 itself. This process can be done using the formula (2 )describe.

其中，

为时刻t的终端l对于定位基站i的信号进行测量得到的TOA测量值，与对定位基站j的信号进行测量得到的TOA测量值的差值；其中i代表第i个基站，i＝(1,…,M),M是定位基站的总个数；而l可以表示为l＝(a,b)，l＝a时，终端l表示目标终端；l＝b时，终端l表示为参考终端； in,

is the difference between the TOA measurement value obtained by measuring the signal of the positioning base station i by the terminal l at time t and the TOA measurement value obtained by measuring the signal of the positioning base station j; wherein i represents the ith base station, i=(1 ,...,M), M is the total number of positioning base stations; and l can be expressed as l=(a,b), when l=a, terminal l represents the target terminal; when l=b, terminal 1 represents the reference terminal ;

是终端l到定位基站i的实际距离与终端l到定位基站j的实际距离之间的差值；cδt ^ij(t)是定位基站i的时钟误差与定位基站j的时钟误差之差；

是TOA测量值的差值的多径误差；

是TOA测量值的差值的测量误差；

is the difference between the actual distance from terminal 1 to positioning base station i and the actual distance from terminal 1 to positioning base station j; cδt ^ij (t) is the difference between the clock error of positioning base station i and the clock error of positioning base station j;

is the multipath error of the difference in TOA measurements;

is the measurement error of the difference between TOA measurements;

其中，单差分中测量噪声

将为基于协方差的零均值高斯噪声。 Among them, the measurement noise in single differential

will be zero mean Gaussian noise based on covariance.

通过公式(2)获得的单差分TDOA测量值将被其终端发送至定位服务器中，以供定位服务器基于该单差分TDOA测量值执行步骤1031。The single-difference TDOA measurement value obtained by formula (2) will be sent by the terminal to the positioning server, so that the positioning server can perform step 1031 based on the single-difference TDOA measurement value.

其二，对于单差分载波相位测量值的获取。Second, for the acquisition of the measured value of the single-difference carrier phase.

终端l可通过测量PRS和/或者C-PRS信号得到的载波相位测量值，即，目标终端的载波相位测量信息以及参考终端的载波相位测量信息均为单差分载波相位测量值。The carrier phase measurement value obtained by the terminal 1 by measuring the PRS and/or C-PRS signal, that is, the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values.

其中，在t＝0时刻在终端l的锁相环对载波相位信号进行初始锁定后，终端l在t＝0时刻的初始相位可以被表示为公式(3)Wherein, after the phase-locked loop of terminal 1 initially locks the carrier phase signal at time t=0, the initial phase of terminal 1 at time t=0 can be expressed as formula (3)

其中，N用于表示载波相位测量中未知的整周模糊度，具体的，假设锁相环保持载波信号的锁定，那么锁相环可以跟踪载波相位的变化，相位变化这可能是由

(终端l到定位基站i的实际距离)，δt ⁱ(定位基站i的时钟误差)，δt _l(终端l的时钟误差)，

(载波相位测量值

的多径误差)引起的。 Among them, N is used to represent the unknown integer ambiguity in the carrier phase measurement. Specifically, assuming that the phase-locked loop keeps the carrier signal locked, the phase-locked loop can track the change of the carrier phase, which may be caused by

(actual distance from terminal 1 to positioning base station i), δt ⁱ (clock error of positioning base station i), δt _l (clock error of terminal 1),

(Carrier phase measurement

caused by the multipath error).

而随着时间t的变化，载波相位测量值将出现变化，即，在之后的时刻t，可得到时刻t的载波相位测量值

表示为公式(5)。 With the change of time t, the measured value of the carrier phase will change, that is, at the subsequent time t, the measured value of the carrier phase at time t can be obtained

Expressed as formula (5).

而根据公式(3)和公式(5)，在第i个发射基站测量到由终端l发射的载波相位可以用公式(6)表示：And according to formula (3) and formula (5), the carrier phase measured by the ith transmitting base station transmitted by terminal 1 can be expressed by formula (6):

其中，

为测量噪声，可被表示为： in,

To measure noise, it can be expressed as:

在上述过程中，载波相位定位通常在视距(LOS，Line of Sight)可用的环境中使用，在下面的讨论中可以忽略测量中的多径误差,例如可以认为

In the above process, carrier phase positioning is usually used in environments where Line of Sight (LOS) is available, and the multipath error in the measurement can be ignored in the following discussion. For example, it can be considered that

整周模糊度

被引入是由于在锁相环初始锁定信号时，载波相位的初始值在范围[0,2π)。并且如果锁相环保持锁定在输入载波上，则整周模糊度为常数，始终保持不变。 Whole week ambiguity

It is introduced because the initial value of the carrier phase is in the range [0, 2π) when the phase-locked loop initially locks the signal. And if the PLL remains locked to the input carrier, the integer ambiguity is constant and always remains the same.

随后，由终端l以及定位基站i和定位基站j的载波相位进行单差分得到的单差分载波相位测量值

可以通过公式(7)进行表示。 Then, the single-difference carrier phase measurement value obtained by the single-difference of the carrier phases of terminal 1 and positioning base station i and positioning base station j

It can be expressed by formula (7).

其中测量误差

仍是具有协方差的高斯噪声： where measurement error

Still Gaussian noise with covariance:

通过公式(7)获得的单差分载波相位测量值将被其终端发送至定位服务器中，以供定位服务器基于该单差分载波相位测量值执行步骤1032。The single-difference carrier phase measurement value obtained by formula (7) will be sent by the terminal to the positioning server, so that the positioning server can perform step 1032 based on the single-difference carrier phase measurement value.

当然，上述获得的单差分载波相位测量值以及TDOA测量值还可采用现有技术中的其他算法实现，本申请对其不在进行赘述。Of course, the obtained single-difference carrier phase measurement value and the TDOA measurement value may also be implemented by other algorithms in the prior art, which will not be described in detail in this application.

可选的，为了得到更为精准的目标终端的位置信息，本申请将主要利用载波相位测量，来进行目标终端的定位。但是，在这一过程中，在载波相位测量中存在整周模糊度这一参数，且该参数是无法通过载波相位测量过程本身进行求解的。因此，为了获得该整周模糊度这一参数，本申请将结合现的TDOA测量方法，以先对终端位置进行一定的预估计，进而根据该估计值来确定载波相位测量中的整周模糊度，并利用得到的整周模糊度得到精准定位。Optionally, in order to obtain more accurate location information of the target terminal, the present application will mainly use carrier phase measurement to locate the target terminal. However, in this process, there is an integer ambiguity parameter in the carrier phase measurement, and this parameter cannot be solved by the carrier phase measurement process itself. Therefore, in order to obtain the parameter of the integer ambiguity, the present application will combine the current TDOA measurement method to perform a certain pre-estimation of the terminal position, and then determine the integer ambiguity in the carrier phase measurement according to the estimated value. , and use the obtained integer ambiguity to obtain precise positioning.

基于上述原理，在执行结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理的过程中，具体分为两个过程：Based on the above principles, in the process of performing the positioning calculation processing combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, it is divided into two processes:

首先为对TDOA测量信息以及载波相位测量信息的处理的过程(步骤1031以及1032)。The first is the process of processing TDOA measurement information and carrier phase measurement information (steps 1031 and 1032 ).

其次为基于TDOA测量信息以及载波相位测量信息的处理结果进行整周模糊度，以获得目标终端的位置信息的过程(步骤1033)。The second is the process of performing integer ambiguity based on the processing results of the TDOA measurement information and the carrier phase measurement information to obtain the location information of the target terminal (step 1033 ).

下面将上述两个过程进行具体说明：The above two processes are described in detail below:

首先，步骤1031描述了对于TDOA测量信息进行处理的过程：First, step 1031 describes the process of processing the TDOA measurement information:

步骤1031、对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程。Step 1031: Perform linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtain a TDOA linear equation in combination with the reference position information.

在步骤1031中，具体可包括双差分处理阶段，单差分还原阶段以及线性方程构造阶段。In step 1031, it may specifically include a double-difference processing stage, a single-difference restoration stage, and a linear equation construction stage.

具体的，为了保证测量精度，消除时钟误差对结果的影响，首先，定位服务器对所述目标终端的单差分TDOA测量值以及参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值。Specifically, in order to ensure the measurement accuracy and eliminate the influence of the clock error on the result, first, the positioning server performs double-difference processing on the single-difference TDOA measurement value of the target terminal and the single-difference TDOA measurement value of the reference terminal to obtain the double-difference arrival time Measurements.

在双差分处理阶段，通过对于获取的目标终端的TDOA测量值和参考终端的TDOA测量值这两个单差分的测量值进行双差分运算，以彻底消除其中的时钟偏差，如公式(8)，得到双差分到达时间测量值。In the double-difference processing stage, the double-difference operation is performed on the two single-difference measurement values of the acquired TDOA measurement value of the target terminal and the TDOA measurement value of the reference terminal to completely eliminate the clock deviation, as shown in formula (8), Get a double-differential time-of-arrival measurement.

其中，定位基站j被选为参考基站,双差分测量噪声

是协方差的零均值高斯噪声。也就是说，上述的双差分操作可用于消除与终端和定位基站相关的测量偏差，例如终端时钟偏移和定位基站时钟偏移。 Among them, the positioning base station j is selected as the reference base station, and the double differential measurement noise

is the zero-mean Gaussian noise of the covariance. That is, the double differential operation described above can be used to eliminate measurement biases associated with the terminal and the positioning base station, such as terminal clock offset and positioning base station clock offset.

但是，双差分操作无法抵消多径误差

的影响。因此，对于具有双差分操作厘米级定位，基于视线(LOS)信号的TOA和载波相位测量非常重要，这样使得公式中的多径误差

的影响可以忽略，即可理解为在本申请情况下公式(8)中的

为0。 However, double differential operation cannot cancel out multipath errors

Impact. Therefore, for centimeter-level positioning with double differential operation, TOA and carrier phase measurements based on line-of-sight (LOS) signals are important so that the multipath error in the formula

The influence of can be ignored, which can be understood as the formula (8) in the case of this application

is 0.

随后，由于TDOA测量过程中需要使用的是单差分的TDOA测量值，因此，为了得到该测量值，还需要对双差分到达时间测量值进行还原解算处理，而还原后的单差分TDOA测量值中将消除时钟误差。Subsequently, since the single-difference TDOA measurement value needs to be used in the TDOA measurement process, in order to obtain the measurement value, the double-difference time-of-arrival measurement value needs to be restored and solved, and the restored single-difference TDOA measurement value will eliminate clock errors.

也就是，当完成对于双差分到达时间测量值的获取之后，定位服务器还将根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值：That is, after completing the acquisition of the double-difference time-of-arrival measurement value, the positioning server will also perform restoration and calculation processing on the double-difference time-of-arrival measurement value according to the reference position information, and obtain the restored single-difference TDOA measurement value. :

具体的参考公式(8)和公式(9)，其中

是双差分到达时间测量值。根据已知的参考终端的参考位置信息可得到，参考终端与定位基站i的实际距离以及参考终端与定位基站j的实际距离的距离差

Specifically refer to formula (8) and formula (9), where

is a double-differential time-of-arrival measurement. According to the known reference location information of the reference terminal, the actual distance between the reference terminal and the positioning base station i and the distance difference between the actual distance between the reference terminal and the positioning base station j can be obtained.

利用该距离差

对公式(9)进行变形，并代入公式(8)可以还原得到还原后的单差分TDOA测量值

如公式(10)所示： Use this distance difference

Deforming formula (9) and substituting it into formula (8) can restore the restored single-difference TDOA measurement value

As shown in formula (10):

通过上述公式可以看出

没有收到终端和定位基站时钟偏差的影响。 From the above formula, it can be seen that

It is not affected by the clock deviation of the terminal and the positioning base station.

最后，定位服务器利用所述还原后的单差分TDOA测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到TDOA线性方程：Finally, the positioning server uses the restored single-difference TDOA measurement value and the reference position information to perform linearization processing based on Taylor expansion to obtain the TDOA linear equation:

首先，改写上述公式得到公式(11),将其改写为向量的形式用来求解未知的用户坐标s _a。 First, rewrite the above formula to obtain formula (11), which is rewritten in the form of a vector to solve the unknown user coordinate s _a .

r _p＝d(s _a)+m _p+w _p 公式(11) r _p =d(s _a )+m _p +w _p Formula (11)

其中，可采用标量的形式进行公式(11)的表示Among them, formula (11) can be expressed in the form of scalar

(i＝1,…,M；i≠j；j是参考定位基站)(i=1,...,M; i≠j; j is the reference positioning base station)

其中，in,

需要说明的是，在信号传播属于LOS径的情况下，多径误差m _p可以忽略。 It should be noted that, when the signal propagation belongs to the LOS path, the multipath error _mp can be ignored.

对于未知的用户坐标s _a来说是一个非线性方程。求解未知目标终端的位置s _a的方程的一种常用方法是通过泰勒级数展开，在近似目标终端的位置(例如

)附近线性化，然后用LS算法迭代求解

It is a nonlinear equation for the unknown user coordinate s _a . A common way to solve the equation for the unknown target terminal position s _a is by Taylor series expansion, at the approximate target terminal position (e.g.

), and then use the LS algorithm to iteratively solve

假设

其中δs _a是目标终端的位置s _a近似位置

的误差。 Assumption

where δs _a is the approximate position of the target terminal’s position s _a

error.

可知：It is known that:

因此有Therefore there is

其中，

以及

in,

as well as

通过上述公式,可以得到From the above formula, we can get

因此，TDOA线性方程可以被表示为:Therefore, the TDOA linear equation can be expressed as:

其中，

是从目标终端的估计位置到第i和第j个定位基站计算的几何距离的差，

和

是目标终端指向第i和第j个定位基站的归一化方向(LOS)矢量。 in,

is the difference between the geometric distances calculated from the estimated position of the target terminal to the i-th and j-th positioning base stations,

and

is the normalized direction (LOS) vector of the target terminal pointing to the i-th and j-th positioning base stations.

也就是，公式(15)表示着为步骤1031得到的TDOA线性方程。That is, Equation (15) represents the TDOA linear equation obtained for step 1031.

而步骤1032描述了对于载波相位测量信息进行处理的过程：And step 1032 describes the process of processing the carrier phase measurement information:

步骤1032、对目标终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程。Step 1032: Perform linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information.

与步骤1031类似的是，在步骤1032中，也将包括双差分处理阶段，单差分还原阶段以及线性方程构造阶段。Similar to step 1031, in step 1032, a double-difference processing stage, a single-difference restoration stage, and a linear equation construction stage will also be included.

首先，定位服务器对所述目标终端的单差分载波相位测量值以及参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值。First, the positioning server performs double-difference processing on the single-difference carrier phase measurement value of the target terminal and the single-difference carrier phase measurement value of the reference terminal to obtain the double-difference carrier phase measurement value.

具体来说，在双差分处理阶段，首先，对定位基站i和定位基站j,以及目标终端a和参考终端b之间的双差分操作得到双差分载波相位测量值

可表示为公式(16)： Specifically, in the double-difference processing stage, first, the double-difference operation between the positioning base station i and the positioning base station j, and the target terminal a and the reference terminal b is performed to obtain the double-difference carrier phase measurement value

It can be expressed as formula (16):

其中，双差分测量噪声

具体为协方差的高斯噪声。 where the double differential measurement noise

Specifically, the Gaussian noise of the covariance.

通过双差分处理，可得到消除时钟误差的双差分载波相位测量值(原理与前述步骤1031类似，不做赘述)。Through the double-difference processing, the measured value of the double-difference carrier phase with which the clock error is eliminated can be obtained (the principle is similar to that of the foregoing step 1031, and details are not repeated).

然后，类似的，还需要对双差分载波相位测量值进行还原解算，以满足载波相位测量需求。即，定位服务器根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值。Then, similarly, the double-difference carrier phase measurement value also needs to be restored and solved to meet the carrier phase measurement requirements. That is, the positioning server performs restoration and calculation processing on the double-difference carrier phase measurement value according to the reference position information, and obtains the restored single-difference carrier phase measurement value.

具体的，对双差分载波相位测量值

进行还原处理，以得到还原后的单差分载波相位测量值

通过公式(9)和(16)，可构造出单差分测量值

Specifically, for the measured value of the double differential carrier phase

Perform restoration processing to obtain restored single-difference carrier phase measurements

Using equations (9) and (16), single-difference measurements can be constructed

可知的是，通过公式(17)计算出的

是没有受到时钟偏差影响的。 It can be known that, calculated by formula (17),

is not affected by clock skew.

最后，定位服务器利用所述单差分载波相位测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到载波相位线性方程。Finally, the positioning server uses the single-difference carrier phase measurement value and the reference position information to perform linearization processing based on Taylor expansion to obtain a carrier phase linear equation.

改写公式(17)得到公式(18)：Rewrite equation (17) to get equation (18):

其中，in,

由于公式(18)近似UE位置

进行基于泰勒展开的线性化处理，其中δs是近似误差,得到了线性化方程公式(19)，即载波相位线性方程： The UE location is approximated by equation (18)

Perform linearization processing based on Taylor expansion, where δs is the approximation error, and obtain the linearization equation formula (19), that is, the carrier phase linear equation:

其中，(i＝1,…,M；i≠j)，其中

和

在公式(15)中已描述。 where, (i=1,...,M; i≠j), where

and

is described in formula (15).

当然，需要说明的是，上述的步骤1031和步骤1032的执行顺序可为先行执行步骤1031，再执行步骤1032；也可为先行执行步骤1032，再执行步骤1031；或者，还可同步执行，本申请对其执行顺序不进行任何限制。Of course, it should be noted that the execution sequence of the above steps 1031 and 1032 may be to execute step 1031 first, then execute step 1032; or to execute step 1032 first, and then execute step 1031; or, it may also be executed synchronously. The application does not impose any restrictions on its execution order.

最后，步骤1033描述了如何基于前述的线性方程，确定整周模糊度，进而确定目标终端的位置信息的过程：Finally, step 1033 describes how to determine the integer ambiguity based on the aforementioned linear equation, and then determine the process of the location information of the target terminal:

步骤1033、对TDOA线性方程以及载波相位线性方程进行解算处理，获得目标终端的整周模糊度，并根据所述整周模糊度确定目标终端的位置信息。Step 1033: Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determine the location information of the target terminal according to the integer ambiguity.

在该步骤中为了确定整周模糊度，可利用最小二乘法建立整周模糊度与目标终端的位置信息的变化步长之间的匹配关系，进而将在目标终端的位置信息的变化步长最佳时对应的那个整周模糊度作为最优的整周模糊度。In this step, in order to determine the integer ambiguity, the least squares method can be used to establish a matching relationship between the integer ambiguity and the change step size of the position information of the target terminal, and then the change step size of the position information of the target terminal is maximized. The integer ambiguity corresponding to the best time is taken as the optimal integer ambiguity.

具体来说，定位服务器需要根据TDOA线性方程以及载波相位线性方程，建立最小二乘模型，然后，根据所述最小二乘模型，获得目标终端的整周模糊度与目标终端的位置信息的变化步长之间的关联关系。Specifically, the positioning server needs to establish a least squares model according to the TDOA linear equation and the carrier phase linear equation, and then, according to the least squares model, obtain the change step of the integer ambiguity of the target terminal and the position information of the target terminal relationship between lengths.

为此，首先需要先对TDOA线性方程以及载波相位线性方程分别进行改写，以建立最小二乘模型。To this end, it is necessary to rewrite the TDOA linear equation and the carrier phase linear equation respectively to establish the least squares model.

对于TDOA线性方程公式(15)进行改写，得到公式(20)。The formula (15) of the TDOA linear equation is rewritten to obtain the formula (20).

y _p＝H _aδs _a+w _p 公式(20) y _p =H _a δs _a +w _p Formula (20)

其中in

然后，还需要对载波相位线性方程公式(19)进行改写，得到公式(21)。Then, the carrier phase linear equation formula (19) needs to be rewritten to obtain the formula (21).

其中，H _a的描述与公式(20)类似，在此不进行赘述。 The description of H _a is similar to that of formula (20), and details are not repeated here.

上述过程中，基于公式20通过向量形式的线性化测量方程，可用使用LS算法或其他方法求解其中的δs _a，相应的，δs _a的最小二乘估计可以被表示为 In the above process, based on the linearized measurement equation in vector form based on Equation 20, δs _{a can be solved by using the LS algorithm or other methods. Correspondingly, the least squares estimation of δs a} _can be expressed as

开始时，H _p由

近似计算得到，每次迭代后，

整个过程再次重复，直到‖δs‖足够小。 At the beginning, H _p is given by

Approximately calculated, after each iteration,

The whole process is repeated again until ‖δs‖ is small enough.

然后，根据TDOA线性方程以及载波相位线性方程,δs _a和N建立的最小二乘数学模型，可以表示为： Then, according to the TDOA linear equation and the carrier phase linear equation, the least squares mathematical model established by δs _a and N can be expressed as:

y(k)＝H(k)x(k)+w _y(k) 公式(23) y(k)=H(k)x(k)+w _y (k) Equation (23)

其中，in,

δs _a和δN的线性估计(最小二乘模型)可以表示为 The linear estimates of δs _a and δN (the least squares model) can be expressed as

由于已在公式(23)中建立有目标终端的整周模糊度与目标终端的位置信息的变化步长之间的关联关系

Since the correlation relationship between the integer ambiguity of the target terminal and the change step size of the position information of the target terminal has been established in formula (23)

在公式(24)中，可根据所述关联关系进行基于浮点估计的迭代运算，以确定整周模糊度：In formula (24), an iterative operation based on floating-point estimation can be performed according to the relationship to determine the integer ambiguity:

当迭代运算开始时，H和N可以由

计算出来，之后的每一次循环,

和浮点估计值

可以由下式进行更新： When the iterative operation starts, H and N can be determined by

Calculated, after each loop,

and floating point estimates

can be updated by:

在‖δs‖足够小时，迭代运算会停止(例如：小于预先定义的一个门限值)。浮点估计

的估计误差对应的协方差矩阵将会被用作整周模糊度解算模块的输入

The iteration stops when ‖δs‖ is sufficiently small (eg, less than a predefined threshold). floating point estimation

The covariance matrix corresponding to the estimated error of , will be used as the input of the integer ambiguity solving module

最后，根据载波相位线性方程和整周模糊度，确定目标终端的位置信息，即在获得整周模糊度解

后，而利用Chan算法去获得更加准确的用户位置s _a。 Finally, according to the carrier phase linear equation and the integer ambiguity, the location information of the target terminal is determined, that is, after obtaining the integer ambiguity solution

Then, use the Chan algorithm to obtain a more accurate user position s _a .

当然，也可循环上述过程，以不停得到新的整周模糊度解

以利用Chan算法去获得更加准确的用户位置s _a。 Of course, the above process can also be repeated to continuously obtain new integer ambiguity solutions

To use the Chan algorithm to obtain a more accurate user location s _a .

本实施例提供的定位方法中，由于定位解算过程中结合了TDOA测量值和载波相位测量值的方式，在测量值和用户位置存在非线性关系的前提下，对TDOA测量值和载波相位测量值进行了处理，以得到相应的线性方程，使目标终端的位置与TDOA测量值和载波相位测量值分别采用线性化方程的形式进行表示，而基于泰勒展开的最小二乘法能够对终端位置进行估计和预测，进而得到准确的终端位置，实现终端的在无线通信***中的高精度定位。同时，在整个定位解算过程中，本申请还考虑到测量时，基站和基站之间，基站和终端之间存在时间同步误差(即时钟误差)的情况，而利用双差分算法可有效消除时钟误差对定位解算的影响，进一步提高定位精度。In the positioning method provided in this embodiment, since the TDOA measurement value and the carrier phase measurement value are combined in the positioning calculation process, under the premise that the measurement value and the user position have a nonlinear relationship, the TDOA measurement value and the carrier phase measurement value are not measured. value is processed to obtain the corresponding linear equation, so that the position of the target terminal and the TDOA measurement value and the carrier phase measurement value are respectively expressed in the form of linearized equations, and the least squares method based on Taylor expansion can estimate the terminal position. and prediction, and then obtain the accurate terminal position, and realize the high-precision positioning of the terminal in the wireless communication system. At the same time, in the whole positioning solution process, this application also considers the situation that there is a time synchronization error (ie clock error) between the base station and the base station, and between the base station and the terminal during the measurement, and the double difference algorithm can effectively eliminate the clock The influence of the error on the positioning solution further improves the positioning accuracy.

实施例二Embodiment 2

图4为本申请提供的一种定位装置的结构示意图。其中，如图4所示的，该定位装置包括有:FIG. 4 is a schematic structural diagram of a positioning device provided by the present application. Wherein, as shown in Figure 4, this positioning device includes:

包括存储器820，收发机800，处理器810：Including memory 820, transceiver 800, processor 810:

存储器820，用于存储计算机程序；a memory 820 for storing computer programs;

收发机800，用于在所述处理器810的控制下收发数据；a transceiver 800, configured to send and receive data under the control of the processor 810;

处理器810，用于读取所述存储器820中的计算机程序并执行以下操作：The processor 810 is configured to read the computer program in the memory 820 and perform the following operations:

向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；Sending the positioning assistance measurement configuration information to the target terminal and the reference terminal respectively, so that the target terminal and the reference terminal respectively perform positioning information measurement according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal; wherein, the positioning The auxiliary measurement signal is sent by the positioning base station to the target terminal and the reference terminal;

可选的，所述处理器810在执行结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息时，具体用于：Optionally, when the processor 810 performs positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, as well as the reference position information of the reference terminal, and obtains the position information of the target terminal, it specifically uses: At:

所述处理器810在执行对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程时，具体用于：When the processor 810 performs linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtains the TDOA linear equation in combination with the reference position information, it is specifically used for:

所述处理器810在执行对目标终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程时，具体用于：When the processor 810 performs linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtains the carrier phase linear equation in combination with the reference position information, it is specifically used for:

可选的所述处理器810在执行对TDOA线性方程以及载波相位线性方程进行解算处理，获得目标终端的整周模糊度，并根据所述整周模糊度确定目标终端的位置信息时，具体用于：Optionally, when the processor 810 performs the solution processing on the TDOA linear equation and the carrier phase linear equation, obtains the integer ambiguity of the target terminal, and determines the location information of the target terminal according to the integer ambiguity, specifically: Used for:

进一步来说，收发机800，用于在处理器810的控制下接收和发送数据。Further, the transceiver 800 is used to receive and transmit data under the control of the processor 810 .

其中，在图4中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器810代表的一个或多个处理器和存储器820代表的存储器的各种电路链接在一起。总线架构还可以将诸如***设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机800可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括，这些传输介质包括无线信道、有线信道、光缆等传输介质。针对不同的用户设备，用户接口z30还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。4, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 810 and various circuits of memory represented by memory 820 are linked together. The bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein. The bus interface provides the interface. Transceiver 800 may be a number of elements, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like Transmission medium. For different user equipments, the user interface z30 may also be an interface capable of externally connecting the required equipment, and the connected equipment includes but is not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

处理器810负责管理总线架构和通常的处理，存储器820可以存储处理器600在执行操作时所使用的数据。The processor 810 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 600 in performing operations.

可选的，处理器810可以是CPU(中央处埋器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)或CPLD(Complex Programmable Logic Device，复杂可编程逻辑器件)，处理器也可以采用多核架构。Optionally, the processor 810 may be a CPU (central processor), an ASIC (Application Specific Integrated Circuit, an application-specific integrated circuit), an FPGA (Field-Programmable Gate Array, a field programmable gate array) or a CPLD (Complex Programmable Logic Device) , complex programmable logic devices), the processor can also use a multi-core architecture.

处理器810通过调用存储器存储的计算机程序，用于按照获得的可执行指令执行本申请实施例提供的任一所述方法。处理器与存储器也可以物理上分开布置。The processor 810 is configured to execute any one of the methods provided by the embodiments of the present application according to the obtained executable instructions by invoking the computer program stored in the memory. The processor and memory may also be physically separated.

在此需要说明的是，本申请提供的上述装置，能够实现上述方法实施例一所实现的所有方法步骤，且能够达到相同的技术效果，在此不再对本实施例中与方法实施例相同的部分及有益效果进行具体赘述。It should be noted here that the above-mentioned device provided in this application can implement all the method steps implemented in the above-mentioned method embodiment 1, and can achieve the same technical effect. Parts and beneficial effects are described in detail.

实施例三Embodiment 3

图5为本申请提供的又一种定位装置的结构示意图。其中，如图5所示的，该定位装置包括有:FIG. 5 is a schematic structural diagram of another positioning device provided by the present application. Wherein, as shown in Figure 5, this positioning device includes:

第一收发单元10，用于向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；以及，接收目标终端和参考终端发送的定位测量信息，以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；The first transceiver unit 10 is configured to send positioning assistance measurement configuration information to the target terminal and the reference terminal respectively, so that the target terminal and the reference terminal can perform positioning according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal respectively. Information measurement; wherein, the positioning assistance measurement signal is sent by the positioning base station to the target terminal and the reference terminal; and, receiving the positioning measurement information sent by the target terminal and the reference terminal, and the reference position information sent by the reference terminal; Wherein, the positioning measurement information includes TDOA measurement information and carrier phase measurement information;

第一定位单元11，用于结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得目标终端的位置信息。The first positioning unit 11 is configured to perform positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the target terminal.

可选的，第一定位单元11具体用于：Optionally, the first positioning unit 11 is specifically used for:

对TDOA线性方程以及载波相位线性方程进行解算处理，获得目标终端的整周模糊度，并根据所述整周模糊度确定目标终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determine the position information of the target terminal according to the integer ambiguity.

第一定位单元11具体用于：The first positioning unit 11 is specifically used for:

需要说明的是，本申请实施例中对单元的划分是示意性的，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。另外，在本申请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。It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and other division methods may be used in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

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，可以存储在一个处理器可读取存储介质中。基于这样的理解，本申请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)或处理器(processor)执行本申请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(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

实施例四Embodiment 4

实施例四中提供了一种基于本申请发明构思的UE-based的下行定位方案，在该下定定位方案中，图1网络设备中的目标终端(在本实施例中描述为当前终端)将作为执行主体，以进行定位运算。Embodiment 4 provides a UE-based downlink positioning scheme based on the inventive concept of the present application. In the predetermined positioning scheme, the target terminal (described as the current terminal in this embodiment) in the network device of FIG. Execute the body for positioning operations.

具体的，图6是本申请提供的另一种定位方法的信令交互示意图，图6示出了基于UE-based的下行定位方案中的网络设备与终端的交互情况，其中，如6所示的，在本申请提供的定位方法中，如图1网络构架所述的，为了对目标终端(终端A)进行定位，还需要利用到参考终端(终端B)。Specifically, FIG. 6 is a schematic diagram of signaling interaction of another positioning method provided by the present application. FIG. 6 shows the interaction between a network device and a terminal in a UE-based downlink positioning solution, wherein, as shown in 6 Yes, in the positioning method provided by the present application, as described in the network architecture of FIG. 1 , in order to locate the target terminal (terminal A), a reference terminal (terminal B) needs to be used.

其中，目标终端和参考终端所接收到的定位辅助测量配置信息中包括定位参考信号(Positioning Referenece Signal，简称PRS)的配置信息和C-PRS的配置信息；目标终端和参考终端所接收到的定位辅助测量信号中包括PRS的参考信号和C-PRS的参考信号。The positioning assistance measurement configuration information received by the target terminal and the reference terminal includes the configuration information of the Positioning Reference Signal (Positioning Referenece Signal, PRS for short) and the configuration information of the C-PRS; the positioning information received by the target terminal and the reference terminal The auxiliary measurement signal includes a PRS reference signal and a C-PRS reference signal.

当目标终端以及参考终端接收到定位辅助测量信号以及定位辅助测量配置信息之后，将执行定位信息的测量，以得到各自的定位测量信息。在测量得到的定位测量信息中将包括有结合有目标终端以及参考终端的TDOA测量信息和载波相位测量信息。After the target terminal and the reference terminal receive the positioning assistance measurement signal and the positioning assistance measurement configuration information, they will perform positioning information measurement to obtain their respective positioning measurement information. The positioning measurement information obtained by measurement will include TDOA measurement information and carrier phase measurement information combined with the target terminal and the reference terminal.

其中，与实施例一不同的是，参考终端会将TDOA测量信息、载波相位测量信息以及其参考位置信息发送至目标终端(当前终端)，以供目标终端根据自身测量得到的TDOA测量信息、载波相位测量信息，以及接收到的参考终端的TDOA测量信息、载波相位测量信息以及其参考位置信息，进行定位解算处理，得到自身的位置信息。可选的，当获得目标终端(当前终端)的位置信息之后，目标终端(当前终端)还可将位置信息发送至定位服务器，以供其获取和使用。The difference from the first embodiment is that the reference terminal will send the TDOA measurement information, carrier phase measurement information and its reference position information to the target terminal (current terminal), so that the target terminal can obtain the TDOA measurement information, carrier The phase measurement information, as well as the received TDOA measurement information of the reference terminal, the carrier phase measurement information and its reference position information, are subjected to positioning solution processing to obtain its own position information. Optionally, after obtaining the location information of the target terminal (current terminal), the target terminal (current terminal) may also send the location information to the positioning server for its acquisition and use.

图7是本申请提供的另一种定位方法的流程示意图，如图7所示的，本申请实施例的执行主体为目标终端，其具体可为图1中的终端A。FIG. 7 is a schematic flowchart of another positioning method provided by the present application. As shown in FIG. 7 , the execution subject of the embodiment of the present application is a target terminal, which may specifically be terminal A in FIG. 1 .

结合图6以及图7，本实施例提供的定位方法包括以下几个步骤。With reference to FIG. 6 and FIG. 7 , the positioning method provided in this embodiment includes the following steps.

步骤201、接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号。Step 201: Receive positioning assistance measurement configuration information sent by a positioning server, and receive a positioning assistance measurement signal sent by a positioning base station.

步骤202、根据所述定位辅助测量配置信息以及定位辅助测量信号进行定位信息测量获得当前的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息。Step 202: Perform positioning information measurement according to the positioning assistance measurement configuration information and the positioning assistance measurement signal to obtain current positioning measurement information; and, receive the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the The positioning measurement information includes TDOA measurement information and carrier phase measurement information.

步骤203、结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息。Step 203: Perform positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the current terminal.

具体来说，当当前终端(目标终端)获得自身的定位测量信息，并接收到参考终端的定位测量信息以及其参考位置信息之后，将按照步骤203的方式执行定位解算。通过结合目标终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理可包括对TDOA测量信息的运算，以及对载波相位测量信息的运算，该两种运算可同步进行也可异步进行。当完成这两种运算后，还会对其二者的运算结果进行解算处理，以得到最终的目标终端的位置信息。Specifically, when the current terminal (target terminal) obtains its own positioning measurement information, and receives the positioning measurement information of the reference terminal and its reference position information, it will perform positioning calculation in the manner of step 203 . By combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, the positioning calculation processing may include the operation of the TDOA measurement information and the operation of the carrier phase measurement information. Operations can be performed synchronously or asynchronously. After the two operations are completed, the calculation results of the two operations are also processed to obtain the final position information of the target terminal.

本实施例步骤203中，当前终端(目标终端)进行定位解算的方式，与实施例一中步骤103中，定位服务器进行定位解算类似，本实施例对其中的公式和原理不在进行赘述。In step 203 of this embodiment, the way that the current terminal (target terminal) performs the positioning calculation is similar to that in step 103 in the first embodiment, the positioning server performs the positioning calculation, and the formulas and principles therein will not be repeated in this embodiment.

可选的，步骤203具体可包括：Optionally, step 203 may specifically include:

步骤2031、对当前终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；Step 2031: Perform linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtain a TDOA linear equation in combination with the reference position information;

步骤2032、对当前终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Step 2032: Perform linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

步骤2033、对TDOA线性方程以及载波相位线性方程进行解算处理，获得当前终端的整周模糊度，并根据所述整周模糊度确定当前终端的位置信息。Step 2033: Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determine the location information of the current terminal according to the integer ambiguity.

步骤2031具体包括对所述目标终端的单差分TDOA测量值以及参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值；根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值；利用所述还原后的单差分TDOA测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到TDOA线性方程。Step 2031 specifically includes performing double-difference processing on the single-difference TDOA measurement value of the target terminal and the single-difference TDOA measurement value of the reference terminal to obtain a double-difference time-of-arrival measurement value; The measured value is restored and solved to obtain the restored single-difference TDOA measurement value; using the restored single-difference TDOA measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain a TDOA linear equation.

可选的，所述当前终端的载波相位测量信息以及参考终端的载波相位测量信息均为单差分载波相位测量值；步骤2032具体包括：Optionally, the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values; step 2032 specifically includes:

对所述当前终端的单差分载波相位测量值以及参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值；利用所述单差分载波相位测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到载波相位线性方程。Perform double-difference processing on the single-difference carrier phase measurement value of the current terminal and the single-difference carrier phase measurement value of the reference terminal to obtain a double-difference carrier phase measurement value; Perform a reduction and calculation process to obtain the restored single-difference carrier phase measurement value; use the single-difference carrier phase measurement value and the reference position information to perform linearization processing based on Taylor expansion to obtain a carrier phase linear equation.

可选的，步骤2033具体包括：根据TDOA线性方程以及载波相位线性方程，建立最小二乘模型；根据所述最小二乘模型，获得当前终端的整周模糊度与当前终端的位置信息的变化步长之间的关联关系；根据所述关联关系进行基于浮点估计的迭代运算，以确定整周模糊度；根据载波相位线性方程和整周模糊度，确定当前终端的位置信息。Optionally, step 2033 specifically includes: establishing a least squares model according to the TDOA linear equation and the carrier phase linear equation; obtaining, according to the least squares model, the integer ambiguity of the current terminal and the change step of the position information of the current terminal. The correlation relationship between the long distances is performed; the iterative operation based on floating point estimation is performed according to the correlation relationship to determine the integer ambiguity; the position information of the current terminal is determined according to the carrier phase linear equation and the integer ambiguity.

实施例五Embodiment 5

图8为本申请提供的另一种定位装置的结构示意图。其中，如图8所示的，该定位装置包括有:FIG. 8 is a schematic structural diagram of another positioning device provided by the present application. Wherein, as shown in Figure 8, the positioning device includes:

包括存储器920，收发机900，处理器910：Including memory 920, transceiver 900, processor 910:

存储器920，用于存储计算机程序；a memory 920 for storing computer programs;

收发机900，用于在所述处理器910的控制下收发数据；a transceiver 900, configured to send and receive data under the control of the processor 910;

处理器910，用于读取所述存储器920中的计算机程序并执行以下操作：The processor 910 is configured to read the computer program in the memory 920 and perform the following operations:

所述处理器910在执行结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息时，具体用于：When the processor 910 performs positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal to obtain the position information of the current terminal, the processor 910 is specifically used for:

所述处理器910在执行对当前终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程时，具体用于：When the processor 910 performs linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtains the TDOA linear equation in combination with the reference position information, it is specifically used for:

所述处理器910在执行对目标终端的载波相位测量信息、参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程时，具体用于：When the processor 910 performs linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtains the carrier phase linear equation in combination with the reference position information, it is specifically used for:

对所述当前终端的单差分载波相位测量值以及参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Double-difference processing is carried out to the single-difference carrier phase measurement value of the current terminal and the single-difference carrier phase measurement value of the reference terminal to obtain the double-difference carrier phase measurement value;

可选的，所述处理器910在执行对TDOA线性方程以及载波相位线性方程进行解算处理，获得当前终端的整周模糊度，并根据所述整周模糊度确定当前终端的位置信息时，具体用于：Optionally, when the processor 910 performs the solution processing on the TDOA linear equation and the carrier phase linear equation, obtains the integer ambiguity of the current terminal, and determines the position information of the current terminal according to the integer ambiguity, Specifically for:

进一步来说，收发机900，用于在处理器910的控制下接收和发送数据。Further, the transceiver 900 is used to receive and transmit data under the control of the processor 910 .

其中，在图8中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器910代表的一个或多个处理器和存储器920代表的存储器的各种电路链接在一起。总线架构还可以将诸如***设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机900可以是多个元件，即包括发送机和接收机，提供用于在传输介质上与各种其他装置通信的单元，这些传输介质包括，这些传输介质包括无线信道、有线信道、光缆等传输介质。针对不同的用户设备，用户接口z30还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。8, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 910 and various circuits of memory represented by memory 920 are linked together. The bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein. The bus interface provides the interface. Transceiver 900 may be a number of elements, including a transmitter and a receiver, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like Transmission medium. For different user equipments, the user interface z30 may also be an interface capable of externally connecting the required equipment, and the connected equipment includes but is not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

处理器910负责管理总线架构和通常的处理，存储器920可以存储处理器600在执行操作时所使用的数据。The processor 910 is responsible for managing the bus architecture and general processing, and the memory 920 may store data used by the processor 600 in performing operations.

可选的，处理器910可以是CPU(中央处埋器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)或CPLD(Complex Programmable Logic Device，复杂可编程逻辑器件)，处理器也可以采用多核架构。Optionally, the processor 910 may be a CPU (central processor), an ASIC (Application Specific Integrated Circuit, an application-specific integrated circuit), an FPGA (Field-Programmable Gate Array, a field programmable gate array) or a CPLD (Complex Programmable Logic Device) , complex programmable logic devices), the processor can also use a multi-core architecture.

处理器910通过调用存储器存储的计算机程序，用于按照获得的可执行指令执行本申请实施例提供的任一所述方法。处理器与存储器也可以物理上分开布置。The processor 910 is configured to execute any one of the methods provided by the embodiments of the present application according to the obtained executable instructions by invoking the computer program stored in the memory. The processor and memory may also be physically separated.

实施例六Embodiment 6

图9为本申请提供的再一种定位装置的结构示意图。其中，如图9所示的，该定位装置包括有:FIG. 9 is a schematic structural diagram of still another positioning device provided by the present application. Wherein, as shown in Figure 9, this positioning device includes:

第二收发单元20，用于接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号；以及，根据所述定位辅助测量配置信息以及定位辅助测量信号进行定位信息测量获得当前的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；The second transceiver unit 20 is configured to receive the positioning assistance measurement configuration information sent by the positioning server and receive the positioning assistance measurement signal sent by the positioning base station; and, according to the positioning assistance measurement configuration information and the positioning assistance measurement signal, perform positioning information measurement to obtain current positioning measurement information; and, receiving the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the positioning measurement information includes TDOA measurement information and carrier phase measurement information;

第二定位单元21，用于结合当前终端和参考终端的TDOA测量信息和载波相位测量信息，以及参考终端的参考位置信息进行定位解算处理，获得当前终端的位置信息。The second positioning unit 21 is configured to perform positioning calculation processing by combining the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal and the reference position information of the reference terminal to obtain the position information of the current terminal.

可选的，第二定位单元21，具体用于：Optionally, the second positioning unit 21 is specifically used for:

第二定位单元21，具体用于：The second positioning unit 21 is specifically used for:

利用所述单差分载波相位测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到载波相位线性方程。、Using the single-difference carrier phase measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain a carrier phase linear equation. ,

实施例七Embodiment 7

本申请实施例还提供了一种定位***(如图1所示的)，包括终端、以及定位服务器；The embodiment of the present application also provides a positioning system (as shown in FIG. 1 ), including a terminal and a positioning server;

所述定位服务器用于根据实施例一任一项所述的定位方法，执行对所述终端的定位处理，获得所述终端的位置信息。The positioning server is configured to execute the positioning process of the terminal according to the positioning method of any one of the embodiments, and obtain the position information of the terminal.

实施例八Embodiment 8

所述终端用于根据实施例四任一项所述的定位方法，获得所述终端的位置信息。The terminal is configured to obtain the location information of the terminal according to the positioning method according to any one of Embodiment 4.

实施例九Embodiment 9

本申请还提供了处理器可读存储介质，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行权利要求前述实施例一或实施例四所述的方法。The present application further provides a processor-readable storage medium, where the processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the first or fourth embodiment of the claim. method.

所述处理器可读存储介质可以是处理器能够存取的任何可用介质或数据存储设备，包括但不限于磁性存储器(例如软盘、硬盘、磁带、磁光盘(MO)等)、光学存储器(例如CD、DVD、BD、HVD等)、以及半导体存储器(例如ROM、EPROM、EEPROM、非易失性存储器(NAND FLASH)、固态硬盘(SSD))等。The processor-readable storage medium can be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic storage (eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (eg, CD, DVD, BD, HVD, etc.), and semiconductor memory (eg, ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state disk (SSD)), etc.

本领域内的技术人员应明白，本申请的实施例可提供为方法、***、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.

本申请是参照根据本申请实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机可执行指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机可执行指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowcharts and/or block diagrams, and combinations of flows and/or blocks in the flowcharts and/or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

这些处理器可执行指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的处理器可读存储器中，使得存储在该处理器可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These processor-executable instructions may also be stored in a processor-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the processor-readable memory result in the manufacture of means including the instructions product, the instruction means implements the functions specified in the flow or flow of the flowchart and/or the block or blocks of the block diagram.

这些处理器可执行指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These processor-executable instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process that Execution of the instructions provides steps for implementing the functions specified in the flowchart or blocks and/or the block or blocks of the block diagrams.

Claims

一种定位方法，其特征在于，该方法包括：A positioning method, characterized in that the method comprises:

向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和所述参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；Sending positioning assistance measurement configuration information to the target terminal and the reference terminal, respectively, for the target terminal and the reference terminal to perform positioning information measurement according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal, respectively; The positioning assistance measurement signal is sent by the positioning base station to the target terminal and the reference terminal;

接收所述目标终端和所述参考终端发送的定位测量信息，以及所述参考终端发送的参考位置信息；其中，所述定位测量信息包括到达时间差TDOA测量信息和载波相位测量信息；receiving the positioning measurement information sent by the target terminal and the reference terminal, and the reference position information sent by the reference terminal; wherein the positioning measurement information includes time difference of arrival TDOA measurement information and carrier phase measurement information;

结合所述目标终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述目标终端的位置信息。Positioning solution processing is performed by combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the target terminal.
根据权利要求1所述的定位方法，其特征在于，所述结合所述目标终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述目标终端的位置信息，包括：The positioning method according to claim 1, wherein the positioning solution processing is performed by combining the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal , obtain the location information of the target terminal, including:

对所述目标终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；linearizing the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and combining the reference position information to obtain a TDOA linear equation;

对所述目标终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Perform linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述目标终端的整周模糊度，并根据所述整周模糊度确定所述目标终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determine the location information of the target terminal according to the integer ambiguity.
根据权利要求2所述的定位方法，其特征在于，所述目标终端的TDOA测量信息以及所述参考终端的TDOA测量信息均为单差分TDOA测量值；The positioning method according to claim 2, wherein the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values;

所述对所述目标终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程，包括：The linearization processing is performed on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and the TDOA linear equation is obtained in combination with the reference position information, including:

对所述目标终端的单差分TDOA测量值以及所述参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值；performing double-difference processing on the single-difference TDOA measurement value of the target terminal and the single-difference TDOA measurement value of the reference terminal to obtain a double-difference time-of-arrival measurement value;

根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值；Perform restoration and calculation processing on the double-difference time-of-arrival measurement value according to the reference position information to obtain the restored single-difference TDOA measurement value;

利用所述还原后的单差分TDOA测量值以及所述参考位置信息，进行基于泰勒展开的线性化处理，得到所述TDOA线性方程。Using the restored single-difference TDOA measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain the TDOA linear equation.
根据权利要求2所述的定位方法，其特征在于，所述目标终端的载波相位测量信息以及所述参考终端的载波相位测量信息均为单差分载波相位测量值；The positioning method according to claim 2, wherein the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

所述对所述目标终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程，包括：The linearization processing is performed on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and the carrier phase linear equation is obtained in combination with the reference position information, including:

对所述目标终端的单差分载波相位测量值以及所述参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Double-difference processing is carried out to the single-difference carrier phase measurement value of the target terminal and the single-difference carrier phase measurement value of the reference terminal to obtain the double-difference carrier phase measurement value;

根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值；Perform restoration and calculation processing on the double-difference carrier phase measurement value according to the reference position information to obtain the restored single-difference carrier phase measurement value;

利用所述还原后的单差分载波相位测量值以及所述参考位置信息，进行基于泰勒展开的线性化处理，得到所述载波相位线性方程。Using the restored single-difference carrier phase measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain the carrier phase linear equation.
根据权利要求2-4任一项所述的定位方法，其特征在于，所述对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述目标终端的整周模糊度，并根据所述整周模糊度确定所述目标终端的位置信息，包括：The positioning method according to any one of claims 2-4, characterized in that, by performing calculation processing on the TDOA linear equation and the carrier phase linear equation, the integer ambiguity of the target terminal is obtained, and determining the location information of the target terminal according to the integer ambiguity, including:

根据所述TDOA线性方程以及所述载波相位线性方程，建立最小二乘模型；establishing a least squares model according to the TDOA linear equation and the carrier phase linear equation;

根据所述最小二乘模型，获得所述目标终端的整周模糊度与所述目标终端的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation relationship between the integer ambiguity of the target terminal and the change step size of the position information of the target terminal;

根据所述关联关系进行基于浮点估计的迭代运算，以确定所述整周模糊度；Performing an iterative operation based on floating point estimation according to the association relationship to determine the integer ambiguity;

根据所述载波相位线性方程和所述整周模糊度，确定所述目标终端的位置信息。The location information of the target terminal is determined according to the carrier phase linear equation and the integer ambiguity.
一种定位方法，其特征在于，该方法包括：A positioning method, characterized in that the method comprises:

接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号；Receive the positioning assistance measurement configuration information sent by the positioning server, and receive the positioning assistance measurement signal sent by the positioning base station;

根据所述定位辅助测量配置信息以及所述定位辅助测量信号进行定位信息测量获得当前终端的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；Performing positioning information measurement according to the positioning assistance measurement configuration information and the positioning assistance measurement signal to obtain the positioning measurement information of the current terminal; and, receiving the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the The positioning measurement information includes TDOA measurement information and carrier phase measurement information;

结合所述当前终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述当前终端的位置信息。Positioning solution processing is performed by combining the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the current terminal.
根据权利要求6所述的定位方法，其特征在于，所述结合所述当前终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述当前终端的位置信息，包括：The positioning method according to claim 6, wherein the positioning solution processing is performed by combining the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal , obtain the location information of the current terminal, including:

对所述当前终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；linearizing the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and combining the reference position information to obtain a TDOA linear equation;

对所述当前终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Perform linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述当前终端的整周模糊度，并根据所述整周模糊度确定所述当前终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determine the location information of the current terminal according to the integer ambiguity.
根据权利要求7所述的定位方法，其特征在于，所述当前终端的TDOA测量信息以及所述参考终端的TDOA测量信息均为单差分TDOA测量值；The positioning method according to claim 7, wherein the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values;

所述对当前终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程，包括：The linearization processing is performed on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and the TDOA linear equation is obtained in combination with the reference position information, including:

对所述当前终端的单差分TDOA测量值以及所述参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值；performing double-difference processing on the single-difference TDOA measurement value of the current terminal and the single-difference TDOA measurement value of the reference terminal to obtain a double-difference time-of-arrival measurement value;

根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值；Perform restoration and calculation processing on the double-difference time-of-arrival measurement value according to the reference position information to obtain the restored single-difference TDOA measurement value;

利用所述还原后的单差分TDOA测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到TDOA线性方程。Using the restored single-difference TDOA measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain a TDOA linear equation.
根据权利要求7所述的定位方法，其特征在于，所述当前终端的载波相位测量信息以及所述参考终端的载波相位测量信息均为单差分载波相位测量值；The positioning method according to claim 7, wherein the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

所述对所述当前终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程，包括：The linearization processing is performed on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and a carrier phase linear equation is obtained in combination with the reference position information, including:

对所述当前终端的单差分载波相位测量值以及所述参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Perform double-difference processing on the single-difference carrier phase measurement value of the current terminal and the single-difference carrier phase measurement value of the reference terminal to obtain a double-difference carrier phase measurement value;

根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值；Perform restoration and calculation processing on the double-difference carrier phase measurement value according to the reference position information to obtain the restored single-difference carrier phase measurement value;

利用所述还原后的单差分载波相位测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到载波相位线性方程。Using the restored single-difference carrier phase measurement value and reference position information, a linearization process based on Taylor expansion is performed to obtain a carrier phase linear equation.
根据权利要求7-9任一项所述的定位方法，其特征在于，所述对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述当前终端的整周模糊度，并根据所述整周模糊度确定所述当前终端的位置信息，包括：The positioning method according to any one of claims 7-9, characterized in that, by performing calculation processing on the TDOA linear equation and the carrier phase linear equation, the integer ambiguity of the current terminal is obtained, and determining the location information of the current terminal according to the whole-week ambiguity, including:

根据所述TDOA线性方程以及所述载波相位线性方程，建立最小二乘模型；establishing a least squares model according to the TDOA linear equation and the carrier phase linear equation;

根据所述最小二乘模型，获得所述当前终端的整周模糊度与所述当前终端的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation relationship between the integer ambiguity of the current terminal and the change step size of the position information of the current terminal;

根据所述关联关系进行基于浮点估计的迭代运算，以确定所述整周模糊度；Performing an iterative operation based on floating point estimation according to the association relationship to determine the integer ambiguity;

根据所述载波相位线性方程和所述整周模糊度，确定所述当前终端的位置信息。The location information of the current terminal is determined according to the carrier phase linear equation and the integer ambiguity.
一种定位装置，其特征在于，包括存储器，收发机，处理器：A positioning device, characterized in that it includes a memory, a transceiver, and a processor:

存储器，用于存储计算机程序；收发机，用于在所述处理器的控制下收发数据；处理器，用于读取所述存储器中的计算机程序并执行以下操作：a memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; a processor for reading the computer program in the memory and performing the following operations:

向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和所述参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；Sending the positioning assistance measurement configuration information to the target terminal and the reference terminal respectively, so that the target terminal and the reference terminal respectively perform positioning information measurement according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal; The positioning assistance measurement signal is sent by the positioning base station to the target terminal and the reference terminal;

接收所述目标终端和所述参考终端发送的定位测量信息，以及所述参考终端发送的参考位置信息；其中，所述定位测量信息包括到达时间差TDOA测量信息和载波相位测量信息；receiving the positioning measurement information sent by the target terminal and the reference terminal, and the reference position information sent by the reference terminal; wherein the positioning measurement information includes time difference of arrival TDOA measurement information and carrier phase measurement information;

结合所述目标终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述目标终端的位置信息。Perform positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the target terminal.
根据权利要求11所述的定位装置，其特征在于，所述处理器在结合所述目标终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述目标终端的位置信息时，具体用于：The positioning apparatus according to claim 11, wherein the processor performs positioning in combination with TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and reference position information of the reference terminal The solution processing, when obtaining the location information of the target terminal, is specifically used for:

对所述目标终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；linearizing the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and combining the reference position information to obtain a TDOA linear equation;

对所述目标终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Perform linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述目标终端的整周模糊度，并根据所述整周模糊度确定所述目标终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the target terminal, and determine the location information of the target terminal according to the integer ambiguity.
根据权利要求12所述的定位装置，其特征在于，所述目标终端的TDOA测量信息以及所述参考终端的TDOA测量信息均为单差分TDOA测量值；The positioning apparatus according to claim 12, wherein the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values;

所述处理器在对目标终端的TDOA测量信息、参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程时，具体用于：When the processor performs linearization processing on the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal, and obtains the TDOA linear equation in combination with the reference position information, the processor is specifically used for:

对所述目标终端的单差分TDOA测量值以及所述参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值；performing double-difference processing on the single-difference TDOA measurement value of the target terminal and the single-difference TDOA measurement value of the reference terminal to obtain a double-difference time-of-arrival measurement value;

根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值；Perform restoration and calculation processing on the double-difference time-of-arrival measurement value according to the reference position information to obtain the restored single-difference TDOA measurement value;

利用所述还原后的单差分TDOA测量值以及所述参考位置信息，进行基于泰勒展开的线性化处理，得到所述TDOA线性方程。Using the restored single-difference TDOA measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain the TDOA linear equation.
根据权利要求12所述的定位装置，其特征在于，所述目标终端的载波相位测量信息以及所述参考终端的载波相位测量信息均为单差分载波相位测量值；The positioning device according to claim 12, wherein the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal are both single-difference carrier phase measurement values;

所述处理器在对所述目标终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程时，具体用于：When the processor performs linearization processing on the carrier phase measurement information of the target terminal and the carrier phase measurement information of the reference terminal, and obtains a carrier phase linear equation in combination with the reference position information, it is specifically used for:

对所述目标终端的单差分载波相位测量值以及所述参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Perform double-difference processing on the single-difference carrier phase measurement value of the target terminal and the single-difference carrier phase measurement value of the reference terminal to obtain a double-difference carrier phase measurement value;

根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值；Perform restoration and calculation processing on the double-difference carrier phase measurement value according to the reference position information to obtain the restored single-difference carrier phase measurement value;

利用所述还原后的单差分载波相位测量值以及所述参考位置信息，进行基于泰勒展开的线性化处理，得到所述载波相位线性方程。Using the restored single-difference carrier phase measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain the carrier phase linear equation.
根据权利要求12-14任一项所述的定位装置，其特征在于，所述处理器在对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述目标终端的整周模糊度，并根据所述整周模糊度确定所述目标终端的位置信息时，具体用于：The positioning device according to any one of claims 12 to 14, wherein the processor is performing a solution process on the TDOA linear equation and the carrier phase linear equation, and obtains the whole cycle of the target terminal. ambiguity, and when determining the location information of the target terminal according to the integer ambiguity, it is specifically used for:

根据所述TDOA线性方程以及所述载波相位线性方程，建立最小二乘模型；establishing a least squares model according to the TDOA linear equation and the carrier phase linear equation;

根据所述最小二乘模型，获得所述目标终端的整周模糊度与所述目标终端的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation relationship between the integer ambiguity of the target terminal and the change step size of the position information of the target terminal;

根据所述关联关系进行基于浮点估计的迭代运算，以确定所述整周模糊度；Performing an iterative operation based on floating point estimation according to the association relationship to determine the integer ambiguity;

根据所述载波相位线性方程和所述整周模糊度，确定所述目标终端的位置信息。The location information of the target terminal is determined according to the carrier phase linear equation and the integer ambiguity.
一种定位装置，其特征在于，包括存储器，收发机，处理器：A positioning device, characterized in that it includes a memory, a transceiver, and a processor:

存储器，用于存储计算机程序；收发机，用于在所述处理器的控制下收发数据；处理器，用于读取所述存储器中的计算机程序并执行以下操作：a memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; a processor for reading the computer program in the memory and performing the following operations:

接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号；Receive the positioning assistance measurement configuration information sent by the positioning server, and receive the positioning assistance measurement signal sent by the positioning base station;

根据所述定位辅助测量配置信息以及所述定位辅助测量信号进行定位信息测量获得当前终端的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；Performing positioning information measurement according to the positioning assistance measurement configuration information and the positioning assistance measurement signal to obtain the positioning measurement information of the current terminal; and, receiving the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the The positioning measurement information includes TDOA measurement information and carrier phase measurement information;

结合所述当前终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述当前终端的位置信息。Positioning solution processing is performed by combining the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the current terminal.
根据权利要求16所述的定位装置，其特征在于，所述处理器在结合所述当前终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述当前终端的位置信息时，具体用于：The positioning apparatus according to claim 16, wherein the processor performs positioning by combining TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and reference position information of the reference terminal The solution processing, when obtaining the location information of the current terminal, is specifically used for:

对所述当前终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程；linearizing the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and combining the reference position information to obtain a TDOA linear equation;

对所述当前终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程；Perform linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtain a carrier phase linear equation in combination with the reference position information;

对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述当前终端的整周模糊度，并根据所述整周模糊度确定所述当前终端的位置信息。Solve the TDOA linear equation and the carrier phase linear equation to obtain the integer ambiguity of the current terminal, and determine the location information of the current terminal according to the integer ambiguity.
根据权利要求17所述的定位装置，其特征在于，所述当前终端的TDOA测量信息以及所述参考终端的TDOA测量信息均为单差分TDOA测量值；The positioning apparatus according to claim 17, wherein the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values;

所述处理器在对当前终端的TDOA测量信息、所述参考终端的TDOA测量信息进行线性化处理，并结合所述参考位置信息得到TDOA线性方程时，具体用于：When the processor performs linearization processing on the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal, and obtains the TDOA linear equation in combination with the reference position information, the processor is specifically used for:

对所述当前终端的单差分TDOA测量值以及所述参考终端的单差分TDOA测量值进行双差分处理，获得双差分到达时间测量值；performing double-difference processing on the single-difference TDOA measurement value of the current terminal and the single-difference TDOA measurement value of the reference terminal to obtain a double-difference time-of-arrival measurement value;

根据所述参考位置信息对所述双差分到达时间测量值进行还原解算处理，得到还原后的单差分TDOA测量值；Perform restoration and calculation processing on the double-difference time-of-arrival measurement value according to the reference position information to obtain the restored single-difference TDOA measurement value;

利用所述还原后的单差分TDOA测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到TDOA线性方程。Using the restored single-difference TDOA measurement value and the reference position information, a linearization process based on Taylor expansion is performed to obtain a TDOA linear equation.
根据权利要求17所述的定位装置，其特征在于，所述当前终端的载波相位测量信息以及所述参考终端的载波相位测量信息均为单差分载波相位测量值；The positioning device according to claim 17, wherein the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal are single-difference carrier phase measurement values;

所述处理器在对所述当前终端的载波相位测量信息、所述参考终端的载波相位测量信息进行线性化处理，并结合所述参考位置信息得到载波相位线性方程时，具体用于：When the processor performs linearization processing on the carrier phase measurement information of the current terminal and the carrier phase measurement information of the reference terminal, and obtains a carrier phase linear equation in combination with the reference position information, it is specifically used for:

对所述当前终端的单差分载波相位测量值以及所述参考终端的单差分载波相位测量值进行双差分处理，获得双差分载波相位测量值；Perform double-difference processing on the single-difference carrier phase measurement value of the current terminal and the single-difference carrier phase measurement value of the reference terminal to obtain a double-difference carrier phase measurement value;

根据所述参考位置信息对所述双差分载波相位测量值进行还原解算处理，得到还原后的单差分载波相位测量值；Perform restoration and calculation processing on the double-difference carrier phase measurement value according to the reference position information to obtain the restored single-difference carrier phase measurement value;

利用所述还原后的单差分载波相位测量值以及参考位置信息，进行基于泰勒展开的线性化处理，得到载波相位线性方程。Using the restored single-difference carrier phase measurement value and reference position information, a linearization process based on Taylor expansion is performed to obtain a carrier phase linear equation.
根据权利要求17-19任一项所述的定位装置，其特征在于，所述处理器在对所述TDOA线性方程以及所述载波相位线性方程进行解算处理，获得所述当前终端的整周模糊度，并根据所述整周模糊度确定所述当前终端的位置信息时，具体用于：The positioning device according to any one of claims 17-19, wherein the processor is performing a solution process on the TDOA linear equation and the carrier phase linear equation, and obtains the whole cycle of the current terminal. ambiguity, and when determining the location information of the current terminal according to the integer ambiguity, it is specifically used for:

根据所述TDOA线性方程以及所述载波相位线性方程，建立最小二乘模型；establishing a least squares model according to the TDOA linear equation and the carrier phase linear equation;

根据所述最小二乘模型，获得所述当前终端的整周模糊度与所述当前终端的位置信息的变化步长之间的关联关系；According to the least squares model, obtain the correlation relationship between the integer ambiguity of the current terminal and the change step size of the position information of the current terminal;

根据所述关联关系进行基于浮点估计的迭代运算，以确定所述整周模糊度；Performing an iterative operation based on floating point estimation according to the association relationship to determine the integer ambiguity;

根据所述载波相位线性方程和所述整周模糊度，确定所述当前终端的位置信息。The location information of the current terminal is determined according to the carrier phase linear equation and the integer ambiguity.
一种定位装置，其特征在于，包括：A positioning device, characterized in that it includes:

第一收发单元，用于向目标终端和参考终端分别发送定位辅助测量配置信息，以供所述目标终端和所述参考终端分别根据所述定位辅助测量配置信息以及接收到的定位辅助测量信号进行定位信息测量；其中，所述定位辅助测量信号是定位基站发送至所述目标终端和所述参考终端的；接收所述目标终端和所述参考终端发送的定位测量信息，以及所述参考终端发送的参考位置信息；其中，所述定位测量信息包括到达时间差TDOA测量信息和载波相位测量信息；The first transceiver unit is configured to send the positioning assistance measurement configuration information to the target terminal and the reference terminal respectively, so that the target terminal and the reference terminal can perform the positioning assistance measurement configuration information according to the positioning assistance measurement configuration information and the received positioning assistance measurement signal respectively. Positioning information measurement; wherein, the positioning assistance measurement signal is sent by the positioning base station to the target terminal and the reference terminal; receiving the positioning measurement information sent by the target terminal and the reference terminal, and the reference terminal sending The reference position information; wherein, the positioning measurement information includes time difference of arrival TDOA measurement information and carrier phase measurement information;

第一定位单元，用于结合所述目标终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述目标终端的位置信息。a first positioning unit, configured to perform positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the target terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the target terminal .
一种定位装置，其特征在于，包括：A positioning device, characterized in that it includes:

第二收发单元，用于接收定位服务器发送的定位辅助测量配置信息，以及接收定位基站发送的定位辅助测量信号；根据所述定位辅助测量配置信息以及所述定位辅助测量信号进行定位信息测量获得当前终端的定位测量信息；以及，接收参考终端发送的定位测量信息以及参考终端发送的参考位置信息；其中，所述定位测量信息包括TDOA测量信息和载波相位测量信息；The second transceiver unit is configured to receive the positioning assistance measurement configuration information sent by the positioning server, and receive the positioning assistance measurement signal sent by the positioning base station; perform positioning information measurement according to the positioning assistance measurement configuration information and the positioning assistance measurement signal to obtain the current Positioning measurement information of the terminal; and, receiving the positioning measurement information sent by the reference terminal and the reference position information sent by the reference terminal; wherein, the positioning measurement information includes TDOA measurement information and carrier phase measurement information;

第二定位单元，用于结合所述当前终端和所述参考终端的TDOA测量信息和载波相位测量信息，以及所述参考终端的参考位置信息进行定位解算处理，获得所述当前终端的位置信息。a second positioning unit, configured to perform positioning calculation processing in combination with the TDOA measurement information and carrier phase measurement information of the current terminal and the reference terminal, and the reference position information of the reference terminal, to obtain the position information of the current terminal .
一种处理器可读存储介质，其特征在于，所述处理器可读存储介质存储有计算机程序，所述计算机程序用于使所述处理器执行权利要求1至10任一项所述的方法。A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the method according to any one of claims 1 to 10 .
一种计算机程序，其特征在于，包括程序代码，当计算机运行所述计算机程序时，所述程序代码执行如权利要求1至10任一项所述的方法。A computer program, characterized by comprising program codes, when a computer runs the computer program, the program codes execute the method according to any one of claims 1 to 10.