WO2022100594A1 - 定位方法、装置及处理器可读存储介质 - Google Patents
定位方法、装置及处理器可读存储介质 Download PDFInfo
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- WO2022100594A1 WO2022100594A1 PCT/CN2021/129698 CN2021129698W WO2022100594A1 WO 2022100594 A1 WO2022100594 A1 WO 2022100594A1 CN 2021129698 W CN2021129698 W CN 2021129698W WO 2022100594 A1 WO2022100594 A1 WO 2022100594A1
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- 238000005259 measurement Methods 0.000 claims abstract description 752
- 238000012545 processing Methods 0.000 claims abstract description 137
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Definitions
- 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.
- Time Difference of Arrival is a positioning method defined by the 3GPP protocol specification.
- 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.
- the present application provides a positioning method, an apparatus, and a processor-readable storage medium, so as to realize the positioning of a terminal.
- the present application provides a positioning method, comprising:
- the auxiliary measurement signal is sent by the positioning base station to the target terminal and the reference terminal;
- the positioning measurement information includes TDOA measurement information and carrier phase measurement information
- 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.
- 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:
- the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- 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:
- 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;
- 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
- 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:
- 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:
- the least squares model is established
- 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;
- the location information of the target terminal is determined.
- the present application provides a positioning method, comprising:
- the positioning measurement information Including TDOA measurement information and carrier phase measurement information
- 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.
- 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:
- the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- 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:
- 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;
- 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
- 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:
- 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:
- the least squares model is established
- the location information of the current terminal is determined.
- the present application provides a positioning device, including a memory, a transceiver, and a processor:
- 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:
- the auxiliary measurement signal is sent by the positioning base station to the target terminal and the reference terminal;
- the positioning measurement information includes TDOA measurement information and carrier phase measurement information
- 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.
- the processor 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.
- the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are single-difference TDOA measurement values
- the processor 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:
- 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.
- 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
- the processor 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:
- the processor 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:
- the least squares model is established
- 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;
- the location information of the target terminal is determined.
- the present application provides a positioning device, including a memory, a transceiver, and a processor:
- 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:
- the positioning measurement information Including TDOA measurement information and carrier phase measurement information
- 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.
- the processor 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: :
- the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- the processor 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:
- 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;
- 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
- the processor 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:
- the processor 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:
- the least squares model is established
- the current position information is determined.
- the present application provides a positioning device, comprising:
- 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.
- 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;
- 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.
- the present application provides a positioning device, comprising:
- 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;
- 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.
- 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 .
- 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 .
- 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.
- Fig. 1 is a kind of network architecture provided by this application.
- FIG. 2 is a schematic diagram of signaling interaction of a positioning method provided by the present application.
- FIG. 3 is a schematic flowchart of a positioning method provided by the present application.
- FIG. 4 is a schematic structural diagram of a positioning device provided by the application.
- FIG. 5 is a schematic structural diagram of another positioning device provided by the application.
- FIG. 6 is a schematic diagram of signaling interaction of another positioning method provided by the present application.
- FIG. 7 is a schematic flowchart of another positioning method provided by the present application.
- FIG. 8 is a schematic structural diagram of another positioning device provided by the application.
- FIG. 9 is a schematic structural diagram of still another positioning device provided by the present application.
- 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.
- 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.
- 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.
- GSM global system of mobile communication
- CDMA code division multiple access
- WCDMA wideband Code Division Multiple Access
- General packet Wireless service general packet Radio service
- GPRS general packet Wireless service
- LTE long term evolution
- LTE frequency division duplex frequency division duplex
- time division duplex time division duplex
- LTE-A Long term evolution advanced
- 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).
- terminals target terminal and reference terminal mentioned in this application
- network equipment location mentioned in this application
- location server location server
- 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.
- the name of the terminal device may be different.
- 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).
- Core Network Core Network
- RAN Radio Access Network
- "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.
- 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.
- 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.
- 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.
- IP Internet Protocol
- the location server in the network device can also coordinate the attribute management of the air interface.
- the prior art 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).
- TDOA Time Difference of Arrival
- terminal A will initiate a positioning request to the network device.
- the positioning base station in the network device will send a positioning assistance measurement signal to terminal A
- the positioning server in the network device will send the positioning assistance measurement configuration information to terminal A.
- 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.
- TOA Time of Arrival
- TDOA time difference of arrival
- 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.
- this application comes into being.
- 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.
- 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.
- 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.
- 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.
- 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.
- c represents the propagation speed of electromagnetic waves, 3.0e 8 , in m/s.
- ⁇ t i represents the clock error of positioning base station i, in seconds.
- ⁇ t l represents the clock error of terminal l, in seconds.
- ⁇ is the wavelength corresponding to the center frequency f of the corresponding carrier, in meters.
- 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:
- 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:
- Embodiment 1 provides a UE-assisted downlink positioning scheme based on the inventive concept of the present application.
- the positioning server in the network device in FIG. 1 will be used as the execution body to perform positioning operations.
- FIG. 2 is a schematic diagram of signaling interaction of a positioning method provided by the present application
- 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.
- FIG. 3 is a schematic flowchart of a positioning method provided by the present application.
- the execution subject of the embodiment of the present application is a network device, which may specifically be the positioning server in FIG. 1 .
- the positioning method provided by this embodiment includes the following steps:
- 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.
- 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.
- 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.
- 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.
- the target terminal and the reference terminal 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.
- 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.
- 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.
- 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.
- the positioning server 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 .
- 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.
- 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.
- 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 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.
- 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:
- the terminal 1 measures the TOA measurement value obtained by measuring the measurement signal of the PRS.
- the TOA measurement at time t It can be expressed as:
- ⁇ t i is the clock error of positioning base station i
- ⁇ t l is the clock error of terminal l
- TOA measurement multipath error is the TOA measurement measurement error.
- Gaussian noise is usually assumed, which is a random variable within a preset range.
- 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.
- c ⁇ t 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;
- the measurement noise in single differential will be zero mean Gaussian noise based on covariance.
- 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.
- 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.
- N is used to represent the unknown integer ambiguity in the carrier phase measurement.
- 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), ⁇ t i (clock error of positioning base station i), ⁇ t l (clock error of terminal 1), (Carrier phase measurement caused by the multipath error).
- 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).
- the carrier phase measured by the ith transmitting base station transmitted by terminal 1 can be expressed by formula (6):
- 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
- 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).
- 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.
- 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.
- the present application will mainly use carrier phase measurement to locate the target terminal.
- carrier phase measurement 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.
- the first is the process of processing TDOA measurement information and carrier phase measurement information (steps 1031 and 1032 ).
- 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 ).
- step 1031 describes the process of processing the TDOA measurement information:
- 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.
- step 1031 it may specifically include a double-difference processing stage, a single-difference restoration stage, and a linear equation construction stage.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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:
- formula (11) can be expressed in the form of scalar
- Equation (15) represents the TDOA linear equation obtained for step 1031.
- step 1032 describes the process of processing the carrier phase measurement information:
- 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.
- step 1032 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.
- 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.
- 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):
- the double differential measurement noise Specifically, the Gaussian noise of the covariance.
- 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).
- 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.
- 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.
- the UE location is approximated by equation (18) Perform linearization processing based on Taylor expansion, where ⁇ s is the approximation error, and obtain the linearization equation formula (19), that is, the carrier phase linear equation:
- 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.
- 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:
- 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.
- the least squares method in order to determine the integer ambiguity, 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.
- 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.
- ⁇ s a can be solved by using the LS algorithm or other methods.
- the least squares estimation of ⁇ s a can be expressed as
- H p is given by Approximately calculated, after each iteration, The whole process is repeated again until ⁇ s ⁇ is small enough.
- the least squares mathematical model established by ⁇ s a and N can be expressed as:
- H and N can be determined by Calculated, after each loop, and floating point estimates can be updated by:
- 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 .
- 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.
- 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
- a time synchronization error ie clock error
- 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:
- transceiver 800 configured to send and receive data under the control of the processor 810;
- the processor 810 is configured to read the computer program in the memory 820 and perform the following operations:
- the positioning assistance measurement configuration information 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;
- the positioning measurement information includes TDOA measurement information and carrier phase measurement information
- 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.
- the processor 810 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:
- the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are single-difference TDOA measurement values
- the processor 810 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:
- 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.
- 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
- the processor 810 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:
- the processor 810 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:
- the least squares model is established
- 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;
- the location information of the target terminal is determined.
- the transceiver 800 is used to receive and transmit data under the control of the processor 810 .
- 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.
- 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.
- 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.
- 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.
- CPU central processor
- ASIC Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- CPLD Complex Programmable Logic Device
- complex programmable logic devices complex programmable logic devices
- 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.
- 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:
- 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;
- the positioning measurement information includes TDOA measurement information and carrier phase measurement information;
- 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.
- the first positioning unit 11 is specifically used for:
- the TDOA measurement information of the target terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- the first positioning unit 11 is specifically used for:
- 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.
- 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
- the first positioning unit 11 is specifically used for:
- the first positioning unit 11 is specifically used for:
- the least squares model is established
- 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;
- the location information of the target terminal is determined.
- 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.
- 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.
- 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 .
- Embodiment 4 provides a UE-based downlink positioning scheme based on the inventive concept of the present application.
- the target terminal (described as the current terminal in this embodiment) in the network device of FIG. Execute the body for positioning operations.
- 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.
- 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.
- 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.
- the target terminal and the reference terminal 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.
- 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.
- the target terminal (current terminal) may also send the location information to the positioning server for its acquisition and use.
- FIG. 7 is a schematic flowchart of another positioning method provided by the present application.
- the execution subject of the embodiment of the present application is a target terminal, which may specifically be terminal A in FIG. 1 .
- the positioning method provided in this embodiment includes the following steps.
- 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.
- 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.
- 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.
- 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.
- 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.
- step 203 may specifically include:
- 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;
- 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;
- 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.
- the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- 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.
- step 2032 specifically includes:
- 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.
- 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.
- 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.
- 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
- a time synchronization error ie clock error
- 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:
- transceiver 900 configured to send and receive data under the control of the processor 910;
- the processor 910 is configured to read the computer program in the memory 920 and perform the following operations:
- the positioning measurement information Including TDOA measurement information and carrier phase measurement information
- 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.
- the processor 910 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:
- the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- the processor 910 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:
- 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;
- 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
- the processor 910 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:
- 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;
- the processor 910 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:
- the least squares model is established
- the current position information is determined.
- transceiver 900 is used to receive and transmit data under the control of the processor 910 .
- 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.
- 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.
- 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.
- 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.
- CPU central processor
- ASIC Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- CPLD Complex Programmable Logic Device
- complex programmable logic devices complex programmable logic devices
- 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.
- 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:
- 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;
- 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.
- the second positioning unit 21 is specifically used for:
- the TDOA measurement information of the current terminal and the TDOA measurement information of the reference terminal are both single-difference TDOA measurement values
- the second positioning unit 21 is specifically used for:
- 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;
- 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
- the second positioning unit 21 is specifically used for:
- the second positioning unit 21 is specifically used for:
- the least squares model is established
- the current position information is determined.
- 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.
- 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.
- 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 .
- the embodiment of the present application also provides a positioning system (as shown in FIG. 1 ), including a terminal and a positioning server;
- 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.
- the embodiment of the present application also provides a positioning system (as shown in FIG. 1 ), including a terminal and a positioning server;
- the terminal is configured to obtain the location information of the terminal according to the positioning method according to any one of Embodiment 4.
- 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.
- 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.
- magnetic storage eg, floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.
- optical storage eg, CD, DVD, BD, HVD, etc.
- semiconductor memory eg, ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state disk (SSD)
- 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.
- 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.
- 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.
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Abstract
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。
Description
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。
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。
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。
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。
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。
发明内容
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。
一方面,本申请体提供了一种定位方法,包括:
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;
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;
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。
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:
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;
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;
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。
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;
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:
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。
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;
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:
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;
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。
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:
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;
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,确定目标终端的位置信息。
另一方面,本申请提供了一种定位方法,包括:
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;
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。
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:
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;
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;
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。
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;
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:
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。
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;
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:
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。
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:
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。
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:
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:
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;
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;
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。
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:
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;
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;
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。
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;
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:
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。
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;
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:
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;
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。
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:
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;
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,确定目标终端的位置信息。
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:
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:
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;
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。
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:
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;
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;
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。
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;
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:
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。
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;
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:
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。
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:
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;
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,确定当前的位置信息。
再一方面,本申请提供了一种定位装置,包括:
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;
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。
又一方面,本申请提供了一种定位装置,包括:
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;
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。
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。
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。
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。
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。
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。
图1是本申请提供的一种网络架构;
图2是本申请提供的一种定位方法的信令交互示意图;
图3是本申请提供的一种定位方法的流程示意图;
图4为本申请提供的一种定位装置的结构示意图;
图5为本申请提供的又一种定位装置的结构示意图;
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7是本申请提供的另一种定位方法的流程示意图;
图8为本申请提供的另一种定位装置的结构示意图;
图9为本申请提供的再一种定位装置的结构示意图。
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。
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。
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。
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***。
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。
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。
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)。
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。
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。
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。
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。
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。
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。
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。
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。
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。
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。
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。
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。
以下将参照附图来具体描述本申请的实施例。
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:
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。
c:代表电磁波的传播速度,3.0e
8,单位为m/s。
δt
i:代表定位基站i的时钟误差,单位为秒。
δt
l:代表终端l的时钟误差,单位为秒。
λ:是相应载波中心频率f所对应的波长,单位为米。
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
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。
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:
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:
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:
实施例一
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。
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)。
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。
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:
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。
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。
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。
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。
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。
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。
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。
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。
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。
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。
其一,对于单差分TDOA测量值的获取。
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。
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:
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。
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;
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。
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;
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;
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。
其二,对于单差分载波相位测量值的获取。
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。
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)
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。
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:
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。
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。
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。
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:
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)。
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)。
下面将上述两个过程进行具体说明:
首先,步骤1031描述了对于TDOA测量信息进行处理的过程:
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。
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。
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。
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。
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。
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。
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:
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:
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。
r
p=d(s
a)+m
p+w
p 公式(11)
其中,可采用标量的形式进行公式(11)的表示
(i=1,…,M;i≠j;j是参考定位基站)
其中,
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。
可知:
因此有
通过上述公式,可以得到
因此,TDOA线性方程可以被表示为:
也就是,公式(15)表示着为步骤1031得到的TDOA线性方程。
而步骤1032描述了对于载波相位测量信息进行处理的过程:
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。
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。
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。
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)。
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。
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。
改写公式(17)得到公式(18):
其中,
(i=1,…,M;i≠j;j是参考定位基站)
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。
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:
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。
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。
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。
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。
对于TDOA线性方程公式(15)进行改写,得到公式(20)。
y
p=H
aδs
a+w
p 公式(20)
其中
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)。
其中,H
a的描述与公式(20)类似,在此不进行赘述。
(i=1,…,M;i≠j;j是参考定位基站)
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
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:
y(k)=H(k)x(k)+w
y(k) 公式(23)
其中,
δs
a和δN的线性估计(最小二乘模型)可以表示为
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:
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。
实施例二
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:
包括存储器820,收发机800,处理器810:
存储器820,用于存储计算机程序;
收发机800,用于在所述处理器810的控制下收发数据;
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:
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;
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;
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。
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:
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;
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;
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。
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;
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:
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。
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;
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:
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;
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。
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:
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;
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,确定目标终端的位置信息。
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。
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。
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。
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。
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。
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。
实施例三
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:
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;
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。
可选的,第一定位单元11具体用于:
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;
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;
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。
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;
第一定位单元11具体用于:
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。
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;
第一定位单元11具体用于:
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;
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。
可选的,第一定位单元11具体用于:
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;
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,确定目标终端的位置信息。
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。
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。
实施例四
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。
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)。
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。
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。
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。
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。
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。
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。
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。
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。
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。
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。
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。
可选的,步骤203具体可包括:
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;
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;
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。
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;
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。
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:
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。
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。
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。
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。
实施例五
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:
包括存储器920,收发机900,处理器910:
存储器920,用于存储计算机程序;
收发机900,用于在所述处理器910的控制下收发数据;
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:
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;
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。
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:
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;
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;
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。
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;
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:
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。
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;
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:
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。
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:
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;
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,确定当前的位置信息。
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。
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。
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。
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。
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。
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。
实施例六
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:
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;
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。
可选的,第二定位单元21,具体用于:
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;
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;
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。
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;
第二定位单元21,具体用于:
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。
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;
第二定位单元21,具体用于:
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。、
可选的,第二定位单元21,具体用于:
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;
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,确定当前的位置信息。
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。
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。
实施例七
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;
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。
实施例八
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;
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。
实施例九
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。
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。
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。
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。
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。
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。
Claims (24)
- 一种定位方法,其特征在于,该方法包括: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;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。
- 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: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;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;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。
- 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;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: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;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。
- 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;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: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;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。
- 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: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;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;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;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。
- 一种定位方法,其特征在于,该方法包括: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;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。
- 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: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;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;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。
- 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;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: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;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。
- 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;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: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;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。
- 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: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;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;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;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。
- 一种定位装置,其特征在于,包括存储器,收发机,处理器: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: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;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。
- 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: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;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;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。
- 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;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: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;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。
- 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;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: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;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。
- 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: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;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;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;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。
- 一种定位装置,其特征在于,包括存储器,收发机,处理器: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: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;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。
- 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: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;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;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。
- 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;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: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;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。
- 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;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: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;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。
- 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: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;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;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;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。
- 一种定位装置,其特征在于,包括: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;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。
- 一种定位装置,其特征在于,包括: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;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。
- 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。
- 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。
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