CN108810875A - Merge the method and device of positioning - Google Patents

Abstract

The present invention provides a method and device for fusion positioning, wherein the method includes: UE receiving positioning assistance data; the UE uses the assistance data to perform fusion positioning including an inertial measurement unit (IMU) according to the LPP related capability. The invention solves the technical problem of low positioning sensitivity and positioning accuracy in the related art.

Description

Method and device for fusion positioning

technical field

The present invention relates to the communication field, in particular, to a method and device for fusion positioning.

Background technique

LTE (Long Term Evolution, long-term evolution) is the long-term evolution of the UMTS (Universal MobileTelecommunications System, Universal Mobile Communications System) technical standard formulated by 3GPP (The 3rd Generation Partnership Project, Third Generation Partnership Project), which was launched in December 2004 The project was formally established and launched at the 3GPP Toronto meeting.

5GNR, a global 5G standard based on OFDM's new aperture design, is also a very important foundation for the next generation of cellular mobile technology. The 5G NR network has three main characteristics, a very high rate enhanced mobile broadband (eMBB), a huge capacity Massive Machine Type Communication (mMTC), and an extremely low delay Ultra Reliable Low Latency Communications (URLLC).

Location Service (LCS, Location Service) is a new value-added service provided by the mobile communication network. This service uses wireless positioning technology to obtain terminal location information (latitude and longitude, moving speed, etc.), and provides it to the terminal, mobile communication network or other external entities to realize various location-related services. Currently, the LTE long-term evolution technology supports multiple positioning methods, including GPS, OTDOA (Observed Time Difference of Arrival, Observable Time Difference of Arrival), Wifi, and Bluetooth positioning. However, the current agreement has not yet defined and standardized how to support IMU positioning and integrated positioning including IMU positioning.

Most of the existing terminal devices include an inertial measurement unit (IMU for short) sensor. Using the IMU for fusion positioning can effectively improve the sensitivity and accuracy of positioning and improve user experience.

There is currently no solution to the problem of how to configure and support fusion positioning including the IMU in related technologies.

Contents of the invention

Embodiments of the present invention provide a method and device for fusion positioning, so as to at least solve the technical problems of low positioning sensitivity and positioning accuracy in related technologies, and the problem that fusion positioning including IMU cannot be configured and supported.

According to an embodiment of the present invention, a method for fused positioning is provided, including: a user equipment UE receives positioning assistance data; and the UE uses the assistance data to perform fused positioning including an inertial measurement unit (IMU) according to LPP-related capabilities.

Optionally, before the UE receives the positioning assistance data, the method further includes: the UE receives LPP information for requesting LPP related capabilities sent by the Evolved Serving Mobile Location Center E-SMLC, and the UE sends the Long Term Evolution The positioning protocol LPP-related capabilities are sent to the E-SMLC; or the UE sends the LPP-related capabilities to the E-SMLC.

Optionally, the LPP-related capabilities include IMU positioning capabilities and other positioning capabilities, wherein the other positioning capabilities include at least one of the following: Global Navigation and Positioning System GNSS positioning capabilities, Assisted Global Navigation and Positioning System A-GNSS positioning capabilities, Observe time difference of arrival OTDOA positioning capability, enhance cell ECID positioning capability, WIFI positioning capability, and Bluetooth positioning capability.

Optionally, the user equipment UE receiving the positioning assistance data includes: the UE sends a positioning assistance data request to the E-SMLC through LPP information, and the UE receives the positioning assistance data sent by the E-SMLC through LPP information data; or the UE receives the positioning assistance data sent by the E-SMLC through LPP information.

Optionally, the positioning assistance data includes positioning assistance data supporting IMU fusion positioning.

Optionally, the positioning assistance data includes at least one of the following: fusion period of IMU positioning and other positioning methods, fusion strategy of IMU positioning and other positioning methods, IMU positioning reference point, IMU positioning start time point, IMU sensor error Correction information; wherein, the other positioning methods include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, and Bluetooth positioning.

Optionally, the fusion positioning including IMU includes at least one of the following: IMU positioning, fusion positioning including other positioning methods and IMU positioning; wherein, the other positioning methods include one of the following: GNSS positioning, A-GNSS positioning , ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning,.

Optionally, the UE uses the assistance data to perform fusion positioning including an inertial measurement unit (IMU) according to the LPP-related capabilities, including: the UE acquires measurement information of sensors; the UE obtains the UE according to the measurement information Inertial information; the UE uses the inertial information and the auxiliary data, and according to the LPP-related capabilities, selects a positioning method other than IMU positioning and IMU positioning to perform fusion positioning including IMU positioning; wherein the sensor includes At least one of the following: accelerometer, gyroscope, magnetometer, the inertia information includes at least one of the following: speed, direction, gravity, relative position, the relative position is the relative position reported by the two IMUs.

Optionally, the obtaining, by the UE, the inertial information of the UE according to the measurement information includes: the UE obtains the inertial information by performing integral calculation and/or fitting on the measurement information.

Optionally, the UE obtaining the inertial information by integrating and/or fitting the sensor data includes: the UE performing an integration of the accelerometer measurement result to obtain the speed; the UE measuring the accelerometer As a result, the relative position information is obtained by performing two integrals; the UE obtains the information of the direction change and the speed change by fitting the data of the accelerometer and the gyroscope.

Optionally, the UE completes the fusion positioning according to the fusion strategy and the fusion cycle, wherein the configuration of the fusion positioning strategy and the fusion cycle includes one of the following: E-SMLC configuration, high-level configuration, system Predefined.

Optionally, the fusion positioning strategy includes one of the following:

Between the positioning output results P _n and P _n+1 of the other positioning methods, use the IMU to position and output the measurement results at time n+t P _n+t =P _n +P _IMU , where 0<t<1;

On the basis of the positioning results P _n and P _n-1 of the other positioning methods, using the IMU positioning to correct the current positioning result P _n ;

Wherein, the P _IMU is the relative vector value of the inertial information from 0 to t·T and/or the inertial information at the time corresponding to (n+t)·T measured and/or calculated by the UE according to the IMU A real-time vector value; the T is the time interval between the measurement and reporting of the other positioning methods, and n is the positioning times of the other positioning methods.

According to an embodiment of the present invention, another method for converged positioning is provided, including: an evolved serving mobile positioning center (E-SMLC) sends positioning assistance data to the UE; the E-SMLC receives the UE's long-term The Evolved Positioning Protocol LPP-related capabilities use the position information reported by the positioning assistance data; the E-SMLC performs fusion positioning including an inertial measurement unit (IMU) according to the position information.

Optionally, before the E-SMLC sends positioning assistance data to the UE, the method further includes: the E-SMLC sends LPP information for requesting a positioning capability to the UE, and the E-SMLC receiving the LPP-related capability sent by the UE; or the E-SMLC receiving the LPP-related capability sent by the UE.

Optionally, the LPP-related capabilities include IMU positioning capabilities and other positioning capabilities, wherein the other positioning capabilities include at least one of the following: Global Navigation and Positioning System GNSS positioning capabilities, Assisted Global Navigation and Positioning System A-GNSS positioning capabilities, Observe time difference of arrival OTDOA positioning capability, enhance cell ECID positioning capability, WIFI positioning capability, and Bluetooth positioning capability.

Optionally, the E-SMLC sending the positioning assistance data to the UE includes: the E-SMLC receiving the positioning assistance data request sent by the UE through LPP information, and the E-SMLC sending the positioning assistance data through LPP information The assistance data is sent to the UE; or the E-SMLC sends the positioning assistance data to the UE through LPP information.

Optionally, the positioning assistance data includes the positioning assistance data including the fused positioning of the IMU.

Optionally, the fused positioning assistance data including the IMU includes at least one of the following: a fusion cycle of IMU positioning and other positioning methods, a fusion strategy of IMU positioning and other positioning methods, an IMU positioning reference point, and an IMU positioning start time point , IMU sensor error correction information; wherein, the other positioning methods include one of the following: global positioning system GPS positioning, observable time difference of arrival OTDOA positioning, Wifi positioning, Bluetooth positioning, Beidou positioning, and Galileo positioning.

Optionally, the fusion positioning of the IMU includes at least one of the following: IMU positioning, fusion positioning including other positioning methods and IMU positioning; wherein, the other positioning methods include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning.

Optionally, the location information includes inertial information and measurement time reported by the UE, and inertial information estimation error, and the inertial information includes at least one of the following: speed, direction, gravity, and relative position, and the relative position is two The relative position of the secondary IMU interval, and the measurement time is the measurement time when the UE reports the inertial information.

Optionally, the E-SMLC completes the converged positioning according to the fusion strategy and the fusion cycle, wherein the configuration of the fusion positioning strategy and the fusion cycle includes: E-SMLC configuration or core network high-layer configuration.

Optionally, the fusion positioning strategy includes one of the following:

Between the positioning output results P _n and P _n+1 of the other positioning methods, use the IMU positioning output positioning results: P _n+t =P _n +P _IMU where 0<t<1;

On the basis of the positioning results _Pn and _Pn-1 of the other positioning methods, use the IMU positioning to correct the current positioning result _Pn and reduce the positioning error;

Wherein, the P _IMU is the relative vector value of the inertial information from 0 to t·T and/or the inertial information at the corresponding moment of (n+t)·T obtained by the UE according to the IMU measurement and/or calculation in real time A vector value; the T is the measurement and reporting time interval of the other positioning methods, and n is the positioning times of the other positioning methods.

According to another embodiment of the present invention, a device for fused positioning is provided, which is applied to user equipment UE, including: a receiving module for receiving positioning assistance data; a positioning module for using the assistance data according to the LPP Related capabilities perform fused positioning including inertial measurement units (IMUs).

According to another embodiment of the present invention, another device for converged positioning is provided, which is applied in an Evolved Serving Mobile Location Center (E-SMLC), and includes: a sending module, configured to send positioning assistance data to the UE; a receiving module, configured to receiving the position information reported by the UE using the positioning assistance data according to the LPP-related capabilities; a positioning module configured to perform fusion positioning including an inertial measurement unit (IMU) according to the position information.

According to still another embodiment of the present invention, a storage medium is also provided. The storage medium is configured to store program code for performing the following steps:

receive positioning assistance data;

Using the assistance data to perform fusion positioning including an inertial measurement unit (IMU) according to the LPP-related capabilities.

Through the present invention, the user equipment UE receives positioning assistance data; the UE uses the assistance data to perform fusion positioning including the inertial measurement unit IMU according to the LPP related capabilities, and supports IMU positioning and positioning including the IMU by designing signaling and procedures Fusion positioning can make better use of the sensors that most terminals have now for mobile network positioning services, solve the technical problems of low positioning sensitivity and positioning accuracy in related technologies, achieve optimized positioning results, positioning sensitivity and improve user experience Effect.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

FIG. 1 is a flowchart of a method for fused positioning according to an embodiment of the present invention;

FIG. 2 is a flow chart of another fusion positioning method according to an embodiment of the present invention;

FIG. 3 is a process diagram of fusion positioning based on UE mode including IMU positioning in this embodiment;

FIG. 4 is a process diagram of network mode-based fusion positioning including IMU positioning in this embodiment;

Fig. 5 is the structural representation of the E-SMLC of the present embodiment;

FIG. 6 is a schematic structural diagram of a terminal in this embodiment;

Fig. 7 is a structural block diagram of a fusion positioning device according to an embodiment of the present invention;

Fig. 8 is a structural block diagram of another fusion positioning device according to an embodiment of the present invention.

Detailed ways

Hereinafter, the present invention will be described in detail with reference to the drawings and examples. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

Example 1

In this embodiment, a method for fusion positioning is provided. FIG. 1 is a flowchart of a method for fusion positioning according to an embodiment of the present invention. As shown in FIG. 1 , the process includes the following steps:

Step S102, the UE receives positioning assistance data;

In step S104, the UE uses the assistance data to perform fusion positioning including an inertial measurement unit (IMU) according to LPP (LTE Positioning Protocol) related capabilities.

Through the above steps, the UE receives positioning assistance data; the UE uses the assistance data to perform fusion positioning including IMU according to LPP related capabilities, and supports IMU positioning and fusion positioning including IMU through designing signaling and procedures, which can make better use of most All terminals have sensors for mobile network positioning services, which solves the technical problems of low positioning sensitivity and positioning accuracy in related technologies, and achieves the effects of optimizing positioning results, positioning sensitivity and improving user experience.

Optionally, the execution subject of the above steps may be a terminal, such as a mobile phone, etc., but is not limited thereto.

Optionally, before the UE receives the positioning assistance data, the method further includes:

The UE receives the LPP information sent by the Evolved Serving Mobile Location Center E-SMLC for requesting LPP related capabilities, and the UE sends the Long Term Evolution Location Protocol LPP related capabilities to the E-SMLC; or

The UE sends LPP-related capabilities to the E-SMLC.

In this embodiment, LPP-related capabilities include IMU positioning capabilities and other positioning capabilities, wherein other positioning capabilities include at least one of the following: Global Navigation and Positioning System (GNSS) positioning capability, Assisted Global Navigation and Positioning System (A-GNSS) positioning capability, observable reachability Time difference OTDOA positioning capability, enhanced cell identification ECID positioning capability, WIFI positioning capability, Bluetooth positioning capability.

In this embodiment, the positioning assistance data includes positioning assistance data supporting IMU fusion positioning.

Optionally, the positioning assistance data can be but not limited to: the fusion period of IMU positioning and other positioning methods, the fusion strategy of IMU positioning and other positioning methods, the reference point of IMU positioning, the starting time point of IMU positioning, and the error correction information of IMU sensor Other positioning methods in this embodiment include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, observable time difference of arrival OTDOA positioning, Wifi positioning, Bluetooth positioning, Beidou positioning, Galileo positioning, or other positioning except IMU other than positioning.

In this embodiment, the fused positioning including IMU may be, but not limited to: IMU positioning, fused positioning including other positioning methods and IMU positioning.

Optionally, the UE uses the assistance data to perform fused positioning including IMU according to LPP-related capabilities, including:

S11, the UE obtains the measurement information of the sensor;

S12, the UE obtains the inertial information of the UE according to the measurement information;

S13, the UE uses inertial information and auxiliary data, and according to LPP-related capabilities, selects a positioning method other than IMU positioning and IMU positioning to perform fusion positioning including IMU;

Among them, the sensor can be but not limited to: accelerometer, gyroscope, magnetometer, and the inertial information can be but not limited to: speed, direction, gravity, relative position, and the relative position is the relative position reported by the two IMUs.

Specifically, obtaining the inertial information of the UE according to the measurement information includes: the UE obtains the inertial information by performing integral calculation and/or fitting on the measurement information. The UE obtains the inertial information by integrating and/or fitting the sensor data, including: the UE integrates the accelerometer measurement results once to obtain the velocity; the UE performs two integrations on the accelerometer measurement results to obtain relative position information; the UE obtains the relative position information through Fitting the accelerometer and gyroscope data yields orientation change and velocity change information.

Optionally, the UE completes the converged positioning according to the fusion strategy and the fusion period, wherein the configuration of the fusion positioning strategy and the fusion period includes one of the following: E-SMLC configuration, high-layer configuration, and system pre-defined.

Optionally, the integrated positioning strategy includes one of the following:

Between the positioning output results P _n and P _n+1 of other positioning methods, use the IMU to position and output the measurement results at time n+t P _n+t =P _n +P _IMU , where 0<t<1;

On the basis of the positioning results P _n and P _n-1 of other positioning methods, use the IMU positioning to correct the current positioning result P _n ;

Among them, P _IMU is the relative vector value of inertial information from 0 to t·T and/or the real-time vector value of inertial information at the time corresponding to (n+t)·T obtained by UE according to IMU measurement and/or reported information; T is the time interval between the measurement and reporting of other positioning methods, and n is the positioning times of other positioning methods.

In this embodiment, another fusion positioning method is provided. FIG. 2 is a flow chart of another fusion positioning method according to an embodiment of the present invention. As shown in FIG. 2, the process includes the following steps:

Step S202, the Evolved Serving Mobile Location Center E-SMLC sends positioning assistance data to the UE;

Step S204, the E-SMLC receives the location information reported by the UE using the positioning assistance data according to the LPP-related capabilities;

In step S206, the E-SMLC performs fusion positioning including the inertial measurement unit IMU according to the position information.

Optionally, before the E-SMLC sends positioning assistance data to the UE, the E-SMLC negotiates with the UE to determine that the UE has LPP-related capabilities, including two methods, namely:

E-SMLC sends LPP information for requesting positioning capability to UE, and E-SMLC receives LPP-related capabilities sent by UE;

The E-SMLC receives the LPP-related capabilities sent by the UE.

In this embodiment, LPP-related capabilities include IMU positioning capabilities and other positioning capabilities, wherein other positioning capabilities include at least one of the following: Global Navigation and Positioning System (GNSS) positioning capability, Assisted Global Navigation and Positioning System (A-GNSS) positioning capability, observable reachability Time difference OTDOA positioning capability, enhanced cell ECID positioning capability, WIFI positioning capability, and Bluetooth positioning capability. .

Optionally, the E-SMLC sends positioning assistance data to the UE in two ways, namely:

The E-SMLC receives the positioning assistance data request sent by the UE through the LPP information, and the E-SMLC sends the positioning assistance data to the UE through the LPP information; or

E-SMLC sends positioning assistance data to UE through LPP information.

In this embodiment, the positioning assistance data includes the positioning assistance data including the fused positioning of the IMU.

Optionally, the IMU fusion positioning assistance data can be, but not limited to: include the fusion cycle of IMU positioning and other positioning methods, the fusion strategy of IMU positioning and other positioning methods, IMU positioning reference point, IMU positioning start time point, IMU positioning Sensor error correction information; wherein, other positioning methods include one of the following: GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, Bluetooth positioning, or other positioning methods other than IMU positioning.

Optionally, the fusion positioning of IMU can be but not limited to: IMU positioning, fusion positioning including other positioning methods and IMU positioning;

Optionally, the location information includes the inertial information and measurement time reported by the UE, as well as the estimated error of the inertial information; where the inertial information can be but not limited to: speed, direction, gravity, relative position, and the relative position is two IMU intervals For relative position, the measurement time is the measurement time when the UE reports the inertial information.

Optionally, the E-SMLC completes the integrated location according to the integrated strategy and the integrated period, wherein the configuration of the integrated location strategy and the integrated period includes: E-SMLC configuration or core network high-layer configuration.

Optionally, the integrated positioning strategy includes one of the following:

Between the positioning output results P _n and P _n+1 of other positioning methods, use the IMU to position and output the positioning results: P _n+t =P _n +P _IMU where 0<t<1;

On the basis of the positioning results P _n and P _n-1 of other positioning methods, use the IMU positioning to correct the current positioning result P _n and reduce the positioning error;

Among them, P _IMU is the relative vector value of inertial information from 0 to t·T and/or the real-time vector value of inertial information at the time corresponding to (n+t)·T obtained by UE according to IMU measurement and/or reported information; T is the measurement and reporting time interval of other positioning methods, and n is the positioning times of other positioning methods.

Example 2

This embodiment is an optional embodiment of the present invention, which can be combined with or supplemented with the scheme of Embodiment 1 to describe the application in detail in conjunction with specific examples:

Example 1

This example includes E-SMLC and UE.

FIG. 3 is a process diagram of the fusion positioning based on UE mode including IMU positioning in this embodiment. As shown in FIG. 3 , it is a process diagram of fusion positioning based on UE mode including IMU positioning in Embodiment 1 of the present invention. include:

110: E-SMLC sends a positioning capability request to the UE through LPP information; the above positioning capability request includes at least an IMU positioning capability request, such as IMU-RequestCapabilities information;

120: The UE receives the positioning capability request information, generates a corresponding positioning capability response and sends it to the E-SMLC through LPP information; the above positioning capability response includes at least an IMU positioning capability response, such as IMU-ProvideCapabilities information;

130: The UE sends a positioning assistance data request to the E-SLMC through the LPP information;

140: E-SMLC sends positioning assistance data to UE through LPP information; such as positioning fusion period and/or fusion strategy information, etc.;

150: The UE completes other positioning according to the positioning assistance information (such as one or more of OTDOA, GPS, WiFi or Bluetooth positioning);

160: The UE combines the above positioning results and IMU positioning, and completes fusion positioning according to a certain fusion strategy and cycle;

170: The E-SMLC sends a location information request to the UE;

180: UE sends a location information response to the E-SMLC; the above information includes but not limited to: fusion positioning result, measurement time and measurement error of fusion positioning, etc.

Example 2

This example includes E-SMLC and UE.

FIG. 4 is a process diagram of the fusion positioning based on the network mode including IMU positioning in this embodiment. As shown in FIG. 4 , it is a process diagram of the fusion positioning based on the network mode including IMU positioning in Embodiment 2 of the present invention. include:

210: E-SMLC sends a positioning capability request to the UE through LPP information; the above positioning capability request includes at least an IMU positioning capability request, such as IMU-RequestCapabilities information;

220: The UE receives the positioning capability request information, generates a corresponding positioning capability response and sends it to the E-SMLC through the LPP message; the above positioning capability response includes at least an IMU positioning capability response, such as IMU-ProvideCapabilities information;

230: The UE sends a positioning assistance data request to the E-SLMC through the LPP information;

240: E-SMLC sends positioning assistance data to UE through LPP information; such as reporting information and reporting period of IMU measurement;

250: UE completes other positioning (such as one or more of OTDOA, GPS, WiFi or Bluetooth positioning) and IMU positioning measurement according to the positioning assistance information;

260: The E-SMLC sends a location information request to the UE; at least including: a measurement information request and/or a measurement error request;

270: The UE sends a location information response to the E-SMLC; including at least: the location or measurement information of the IMU, where the location or measurement information of the IMU includes the relative time, speed, direction, and gravity of the UE's measurement;

280: The E-SMLC completes positioning including IMU fusion according to a certain fusion strategy according to the location information.

Corresponding to the above-mentioned method embodiment, Fig. 5 is the structural representation of the E-SMLC of the present embodiment, the E-SMLC structural diagram of the embodiment of the present invention is as shown in Fig. 5, and above-mentioned E-SMLC comprises sending unit, receiving unit and processing unit;

For example 1, E-SMLC is mainly used as a sending unit and a receiving unit, including

The E-SMLC, as a sending unit, sends a positioning capability request and positioning assistance data to the UE;

The E-SMLC, as a receiving unit, receives the positioning capability response, the positioning assistance data request and the location information sent by the UE.

For example 2, E-SMLC uses sending unit, receiving unit and processing unit, including

The E-SMLC, as a sending unit, sends a positioning capability request and positioning assistance data to the UE;

The E-SMLC, as a receiving unit, receives the positioning capability response, the positioning assistance data request and the location information sent by the UE.

The E-SMLC, as a processing unit, completes fusion positioning in combination with the measurement information reported by the UE.

Corresponding to the above method embodiment, FIG. 6 is a schematic structural diagram of a terminal in this embodiment. The structure diagram of a UE in an embodiment of the present invention is as shown in FIG. 6. The UE includes a sending unit, a receiving unit, and a processing unit;

For example 1, the UE uses a sending unit, a receiving unit and a processing unit, including

The UE, as a sending unit, sends a positioning capability response and location information to the E-SMLC;

The UE, as a receiving unit, receives the positioning capability request, positioning assistance data and location information request sent by the E-SMLC.

The UE, as a processing unit, completes relevant measurement of a specific positioning mode, and completes fusion positioning in combination with positioning assistance information.

For instance 2, the UE uses a sending unit, a receiving unit and a processing unit, including

The UE, as a sending unit, sends a positioning capability response and location information to the E-SMLC;

The UE, as a receiving unit, receives the positioning capability request, positioning assistance data and location information request sent by the E-SMLC.

The UE, as a processing unit, completes relevant measurement of a specific positioning mode.

The solution of this embodiment supports IMU positioning and integrated positioning including IMU, and considers specific procedures and signaling for supporting two converged positioning modes based on UE and network. The sensors (such as accelerometers, gyroscopes, and magnetometers, etc.) that are available in most terminals can be better used for mobile network positioning services, so as to achieve the effects of optimizing positioning results, positioning sensitivity, and improving user experience.

Example 3

In this embodiment, a device for fusion positioning is also provided, which is used to implement the above embodiments and preferred implementation modes, and what has been described will not be repeated here. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

FIG. 7 is a structural block diagram of a device for fused positioning according to an embodiment of the present invention, which is applied to a user equipment UE. As shown in FIG. 7 , the device includes:

A receiving module 72, configured to receive positioning assistance data from the E-SMLC;

The positioning module 74 is configured to use the auxiliary data to perform fusion positioning including an inertial measurement unit (IMU) according to LPP related capabilities.

Fig. 8 is a structural block diagram of another device for converged positioning according to an embodiment of the present invention, which is applied in the E-SMLC of the evolved service mobile location center. As shown in Fig. 8, the device includes:

A sending module 82, configured to send positioning assistance data to the UE;

A receiving module 84, configured to receive location information reported by the UE using positioning assistance data according to LPP-related capabilities;

The positioning module 86 is configured to perform fusion positioning including an inertial measurement unit (IMU) according to the position information.

It should be noted that the above-mentioned modules can be realized by software or hardware. For the latter, it can be realized by the following methods, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules can be combined in any combination The forms are respectively located in different processors, or the corresponding functions are realized through a storage medium.

Example 4

The embodiment of the invention also provides a storage medium. Optionally, in this embodiment, the above-mentioned storage medium may be configured to store program codes for performing the following steps:

S1, receiving positioning assistance data from the slave;

S2, using the auxiliary data to perform fusion positioning including an inertial measurement unit (IMU) according to LPP-related capabilities.

Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk Various media that can store program codes such as discs or optical discs.

Optionally, in this embodiment, the processor executes receiving the positioning assistance data according to the program code stored in the storage medium;

Optionally, in this embodiment, the processor performs, according to the program codes stored in the storage medium, the fusion positioning including the inertial measurement unit (IMU) using auxiliary data according to LPP-related capabilities.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not repeated in this embodiment.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned present invention can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Alternatively, they may be implemented in program code executable by a computing device so that they may be stored in a storage device to be executed by a computing device, and in some cases in an order different from that shown here The steps shown or described are carried out, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present invention is not limited to any specific combination of hardware and software.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is Better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to enable a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (26)

1. a kind of method of fusion positioning, which is characterized in that including：

User equipment (UE) receives positioning assistance data；

The UE carries out the fusion comprising Inertial Measurement Unit IMU according to LPP related capabilities using the auxiliary data and positions.

2. according to the method described in claim 1, it is characterized in that, the UE receive positioning assistance data before, the side Method further includes：

The UE receives the LPP information for asking LPP related capabilities that evolution Serving Mobile Location Center E-SMLC is sent, institute It states UE and sends long term evaluation positioning protocol LPP related capabilities to the E-SMLC；Or

The UE sends the LPP related capabilities to the E-SMLC.

3. according to the method described in claim 1, it is characterized in that, the LPP related capabilities include IMU stationkeeping abilities and other Stationkeeping ability, wherein other stationkeeping abilities include at least one of：It is worldwide navigation positioning system GNSS stationkeeping abilities, auxiliary It helps worldwide navigation positioning system A-GNSS stationkeeping abilities, can be observed up to time difference OTDOA stationkeeping abilities, enhancing cell ECID Stationkeeping ability, WIFI stationkeeping abilities, bluetooth stationkeeping ability.

4. according to the method described in claim 1, it is characterized in that, user equipment (UE) reception positioning assistance data includes：

The UE is asked by the positioning assistance data that LPP information is sent to E-SMLC, and the UE receives the E-SMLC and passes through The positioning assistance data that LPP information is sent；Or

The UE receives the positioning assistance data that the E-SMLC is sent by LPP information.

5. according to the method described in claim 1, it is characterized in that, the positioning assistance data includes to support IMU fusion positioning Positioning assistance data.

6. according to the method described in claim 5, it is characterized in that, the positioning assistance data includes at least one of：IMU The fusion cycle of positioning and other positioning methods, the convergence strategy of IMU positioning and other positioning methods, IMU location reference points, IMU positions start time point, IMU sensor error control informations；Wherein, other positioning methods include following one： GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, bluetooth positioning.

7. according to the method described in claim 1, it is characterized in that, it is described comprising IMU fusion positioning include it is following at least it One：IMU positions the fusion positioning for including other positioning methods and IMU positioning；Wherein, other positioning methods include following One of：GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, bluetooth positioning.

8. according to the method described in claim 1, it is characterized in that, the UE uses the auxiliary data according to the LPP phases Pass ability carries out the fusion positioning comprising Inertial Measurement Unit IMU：

The UE obtains the metrical information of sensor；

The UE obtains the Inertia information of the UE according to the metrical information；

The UE uses the Inertia information and the auxiliary data, and according to the LPP related capabilities, selection positions it except IMU Outer positioning method carries out merging positioning comprising IMU with IMU positioning；

Wherein, the sensor includes at least one of：Accelerometer, gyroscope, magnetometer, the Inertia information include with It is at least one lower：Speed, direction, gravity, relative position, the relative position are the relative position that IMU is reported twice.

9. the method stated according to claim 8, which is characterized in that the UE obtains the inertia of the UE according to the metrical information Information includes：

The UE to metrical information by carrying out integral and calculating and/or the fitting acquisition Inertia information.

10. the method stated according to claim 9, which is characterized in that the UE carries out integral and calculating by the data to sensor And/or the fitting acquisition Inertia information includes：

The UE carries out primary integral to the measurement result of accelerometer and obtains speed；

The UE carries out integral twice to the measurement result of accelerometer and obtains relative position information；

The UE is fitted the information for obtaining direction change and velocity variations by the data to accelerometer and gyroscope.

11. according to the method described in claim 6, it is characterized in that, the UE is according to the convergence strategy and fusion week Phase completes the fusion positioning, wherein the configuration mode of the fusion positioning strategy and fusion cycle includes following one：E- SMLC is configured, high level configuration, and system is predefined.

12. according to the method for claim 11, which is characterized in that the fusion positioning strategy includes following one：

In the positioning output result P of other positioning methods_nAnd P_n+1Between, the survey at output n+t moment is positioned using the IMU Measure result P_n+t=P_n+P_IMU, wherein, 0 < t < 1；

In the positioning result P of other positioning methods_nAnd P_n-1On the basis of, it is corrected using IMU positioning and works as prelocalization knot Fruit P_n；

Wherein, the P_IMUTo be the UE measure and/or be calculated according to IMU from 0 to the Inertia information in the tT times Relative vector value and/or (n+t) T correspond to the real-time vector value of Inertia information at moment；The T is other positioning methods Time interval between measuring and reporting, n are the positioning numbers of other positioning methods.

13. a kind of method of fusion positioning, which is characterized in that including：

Evolution Serving Mobile Location Center E-SMLC sends positioning assistance data to UE；

The E-SMLC receives the UE and is used on the positioning assistance data according to long term evaluation positioning protocol LPP related capabilities The location information of report；

The E-SMLC carries out the fusion comprising Inertial Measurement Unit IMU and positions according to the positional information.

14. according to the method for claim 13, which is characterized in that send positioning assistance data to described in the E-SMLC Before UE, the method further includes：

The E-SMLC sends the LPP information for asking stationkeeping ability to the UE, and the E-SMLC receives the UE and sends LPP related capabilities；Or

The E-SMLC receives the LPP related capabilities that the UE is sent.

15. according to the method for claim 13, which is characterized in that the LPP related capabilities include IMU stationkeeping abilities and its Its stationkeeping ability, wherein other stationkeeping abilities include at least one of：Worldwide navigation positioning system GNSS stationkeeping abilities, Assisted global navigation positioning system A-GNSS stationkeeping abilities can be observed up to time difference OTDOA stationkeeping abilities, enhancing cell ECID stationkeeping abilities, WIFI stationkeeping abilities, bluetooth stationkeeping ability.

16. according to the method for claim 13, which is characterized in that the E-SMLC sends positioning assistance data to the UE Including：

The E-SMLC receives the UE and is asked by the positioning assistance data that LPP information is sent, and the E-SMLC is believed by LPP Breath sends the positioning assistance data to the UE；Or

The E-SMLC sends the positioning assistance data by LPP information to the UE.

17. according to the method for claim 13, which is characterized in that it includes IMU that the positioning assistance data, which includes described, Merge the positioning assistance data of positioning.

18. according to the method for claim 17, which is characterized in that the fusion positioning assistance data comprising IMU includes At least one of：IMU positions the fusion cycle with other positioning methods, and IMU positions the convergence strategy with other positioning methods, IMU location reference points, IMU position start time point, IMU sensor error control informations；Wherein, other positioning method packets Include following one：GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, bluetooth positioning.

19. according to the method for claim 13, which is characterized in that the fusion positioning of the IMU includes at least one of： IMU positions the fusion positioning for including other positioning methods and IMU positioning；Wherein, other positioning methods include it is following it One：GNSS positioning, A-GNSS positioning, ECID positioning, OTDOA positioning, Wifi positioning, bluetooth positioning.

20. according to the method for claim 13, which is characterized in that the location information include the Inertia informations that report of UE and Time of measuring and Inertia information predictor error, the Inertia information include at least one of：Speed, direction, gravity, phase To position, the relative position is the relative position at the intervals IMU twice, and the time of measuring is that UE reports the Inertia information Time of measuring.

21. according to the method for claim 18, which is characterized in that the E-SMLC is according to the convergence strategy and described melts It closes the period and completes fusion positioning, wherein is described to merge positioning strategy and the configuration mode of fusion cycle includes：E-SMLC matches It sets or core net high level configures.

22. according to the method for claim 21, which is characterized in that the fusion positioning strategy includes following one：

In the positioning output result P of other positioning methods_nAnd P_n+1Between, position output positioning result using the IMU： P_n+t=P_n+P_IMUWherein 0 < t < 1；

In the positioning result P of other positioning methods_nAnd P_n-1On the basis of, it is corrected using IMU positioning and works as prelocalization knot Fruit P_nWith reduction position error；

Wherein, the P_IMUTo be the UE measure and/or be calculated according to IMU from 0 to the Inertia information phase in the tT times The real-time vector value of Inertia information at moment is corresponded to vector value and/or (n+t) T；The T is the survey of other positioning methods It is the positioning number of other positioning methods to measure and report time interval, n.

23. a kind of device of fusion positioning, which is characterized in that it applies in user equipment (UE), including：

Receiving module, for receiving positioning assistance data；

Locating module, the fusion for according to LPP related capabilities include Inertial Measurement Unit IMU using the auxiliary data Positioning.

24. a kind of device of fusion positioning, which is characterized in that it applies in evolution Serving Mobile Location Center E-SMLC, including：

Sending module, for sending positioning assistance data to UE；

Receiving module uses the positioning auxiliary number for receiving the UE according to long term evaluation positioning protocol LPP related capabilities According to the location information reported；

Locating module is positioned for carrying out the fusion comprising Inertial Measurement Unit IMU according to the positional information.

25. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run Perform claim requires the method described in any one of 1 to 22.

26. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run Profit requires the method described in any one of 1 to 22.