CN111866701B - Positioning method, communication system and positioning system - Google Patents
Positioning method, communication system and positioning system Download PDFInfo
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- CN111866701B CN111866701B CN201910261908.0A CN201910261908A CN111866701B CN 111866701 B CN111866701 B CN 111866701B CN 201910261908 A CN201910261908 A CN 201910261908A CN 111866701 B CN111866701 B CN 111866701B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/69—Types of network addresses using geographic information, e.g. room number
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The embodiment of the invention provides a positioning method, a communication system and a positioning system, wherein the method comprises the following steps: receiving a position information calling request sent by a third party application, wherein the position information calling request comprises an IP address of a terminal or a system unique identifier; determining a positioning tag ID which has binding relation with an IP address or a system unique identifier; determining terminal position information identified by the positioning tag ID; and sending the terminal position information to a third party application. In the embodiment of the invention, the communication system determines the binding positioning tag ID according to the IP address of the terminal or the unique system identifier in the position information calling request sent by the third party application, then determines the terminal position information identified by the positioning tag ID, and sends the terminal position information to the third party application, so that various applications can call the terminal position information through the IP address of the terminal or the unique system identifier.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a positioning method, a communication system and a positioning system.
Background
Referring to fig. 1, based on the existing Ultra Wideband (UWB) positioning method, a tag position that a positioning algorithm server can open to a third party application is a tag position based on a tag ID, the third party application can only request to call the position of a target terminal through the tag ID, the third party application must know the terminal tag ID to obtain the terminal position, and in the prior art, the positioning algorithm server can only open position information to a specific application.
Disclosure of Invention
The embodiment of the invention provides a positioning method, a communication system and a positioning system, which solve the problem that a positioning algorithm server in the prior art can only open position information to specific application.
According to a first aspect of an embodiment of the present invention, there is provided a positioning method applied to a communication system, the method including: receiving a position information calling request sent by a third party application, wherein the position information calling request comprises an IP address of a terminal or a system unique identifier; determining a positioning tag ID which has binding relation with the IP address or the unique system identifier; determining terminal position information identified by the positioning tag ID; and sending the terminal position information to the third party application.
Optionally, the binding relationship is a binding relationship pre-stored in the communication system.
Optionally, the method further comprises: and detecting the IP address or the system unique identification of the terminal through the MEC platform of the communication system.
Optionally, after the detecting, by the MEC platform of the communication system, the IP address or system unique identification of the terminal, the method further comprises: the MEC platform receives the location tag ID from the terminal.
Optionally, after the detecting, by the MEC platform of the communication system, the IP address or system unique identification of the terminal, the method further comprises: the small base station of the communication system determines the positioning tag ID according to a preset corresponding relation through a preamble used when the terminal accesses the small base station; the MEC platform receives the location tag ID from the small cell.
Optionally, the method further comprises: and the MEC platform establishes a binding relationship between the IP address or the unique system identifier and the positioning tag ID.
Optionally, the sending the terminal location information to the third party application includes; and sending the terminal position information to the third party application through the position service interface API.
According to a second aspect of embodiments of the present invention, there is provided a communication system comprising: the first receiving module is used for receiving a position information calling request sent by a third party application, wherein the position information calling request comprises an IP address of a terminal or a system unique identifier; the first determining module is used for determining a positioning tag ID which has binding relation with the IP address or the unique system identifier; a second determining module, configured to determine terminal location information identified by the positioning tag ID; and the sending module is used for sending the terminal position information to the third party application.
Optionally, the binding relationship is a binding relationship pre-stored in the communication system.
Optionally, the communication system further comprises: and the detection module is used for detecting the IP address or the system unique identifier of the terminal by the MEC platform of the communication system.
Optionally, the communication system further comprises: and the second receiving module is used for receiving the positioning tag ID from the terminal by the MEC platform.
Optionally, a third determining module, configured to determine, by using a small base station of the communication system according to a preset correspondence, the positioning tag ID through a preamble used when the terminal accesses the small base station; and a third receiving module, configured to receive, by the MEC platform, the positioning tag ID from the small base station.
Optionally, the communication system further comprises: and the establishing module is used for establishing a binding relation between the IP address or the unique system identifier and the positioning tag ID by the MEC platform.
Optionally, the sending module includes: and the sending unit is used for sending the terminal position information to the third party application through the position service interface API.
According to a third aspect of embodiments of the present invention, there is provided a positioning system further comprising a communication system as described in the second aspect.
Optionally, the positioning system further comprises: the system comprises a terminal, a positioning base station and a positioning server, wherein the terminal is provided with a positioning tag, and the positioning tag is used for transmitting a data frame to the positioning base station through ultra wideband UWB pulse; the positioning base station is used for receiving the data frame, measuring the arrival time of the data frame and then sending the arrival time of the data frame to the positioning server; the positioning server is configured to determine, according to the arrival time of the data frame, location information of the positioning tag through a preset positioning algorithm, determine the location information as terminal location information, and then send the terminal location information to the communication system, where the terminal location information is identified by a positioning tag ID of the positioning tag.
In the embodiment of the invention, the communication system determines the binding positioning tag ID according to the IP address of the terminal or the unique system identifier in the position information calling request sent by the third party application, then determines the terminal position information identified by the positioning tag ID, and sends the terminal position information to the third party application, so that various applications can call the terminal position information through the IP address of the terminal or the unique system identifier.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a conventional positioning system;
fig. 2 is a flow chart of a positioning method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a communication system according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the embodiment of the invention, the position information of the terminal can be obtained through the existing UWB positioning method, and specifically, the method comprises the following steps:
(1) The terminal is provided with positioning tags, and each positioning tag repeatedly and uninterruptedly transmits data frames by UWB pulses;
(2) The UWB pulse string sent by the positioning tag is received by the positioning base station;
(3) Each positioning base station measures the time of arrival of the data frame of each positioning tag at the receiver antenna by using a high-sensitivity short pulse detector;
(4) The positioning engine refers to the calibration data sent by the tag, determines the time difference between the tag and different positioning base stations, and calculates the position of the tag by using a three-point positioning technology and an optimization algorithm.
(5) The tag position is calculated using a single base station positioning generally using an Angle of Arrival (AOA) algorithm, and the terminal position information is determined using a multi-base station positioning generally using a time difference of Arrival (Time difference of Arrival, TDOA) algorithm.
In the embodiment of the invention, the terminal is accessed into the communication system, and after the UWB positioning function calculates the terminal position information, the terminal position information is sent to the communication system.
In the embodiment of the invention, the communication system can be a base station system, further, the communication system can be a small base station system, and the small base station system is adopted to facilitate indoor deployment, reduce deployment cost and improve deployment scale. The type of the communication system is not particularly limited in the embodiment of the present invention.
Referring to fig. 2, an embodiment of the present invention provides a positioning method, where an execution body of the method is a communication system, and the method includes the following specific steps:
step 201: receiving a position information calling request sent by a third party application;
in the embodiment of the invention, the position information calling request comprises the IP address of the terminal or the unique identification of the system;
step 202: determining a positioning tag ID which has binding relation with an IP address or a system unique identifier;
in the embodiment of the invention, the binding positioning tag ID is determined according to the IP address or the unique system identifier selected by the third party application.
Step 203: determining terminal position information identified by the positioning tag ID;
in the embodiment of the invention, when the position of the terminal is calculated through the UWB positioning function, the position information of the terminal is identified through the positioning tag ID. After determining a positioning tag ID corresponding to an IP address or a system unique identifier of the terminal, determining terminal position information according to the corresponding positioning tag ID.
Step 204: transmitting terminal position information to a third party application;
in an embodiment of the invention, the communication system provides a unified location service application programming interface (Application Programming Interface, API) to the third party application through which the terminal location information is sent to the third party application.
In the embodiment of the invention, the communication system determines the binding positioning tag ID according to the IP address of the terminal or the unique system identifier in the position information calling request sent by the third party application, then determines the terminal position information identified by the positioning tag ID, and sends the terminal position information to the third party application, so that various applications can call the terminal position information through the IP address of the terminal or the unique system identifier.
Optionally, the UWB positioning function sends the terminal location information to a mobile edge computing (Mobile Edge Computing, MEC) platform in the communication system, which responds to a location information invocation request by a third party application based on the terminal IP address or system uniform identification.
Specifically, the present invention provides the following examples:
example one: the target terminal is accessed into the communication system, the UWB positioning function sends the target terminal position information to an MEC platform of the communication system, and the MEC platform provides a unified position service API for third party applications. The binding relation between the tag ID and the IP address or the system uniform identification is preset.
The method comprises the following specific steps:
(1) The method comprises the steps that a target terminal is accessed to a communication system, and an MEC platform of the communication system detects an IP address of the target terminal or a unique identifier in the system;
(2) The positioning tag of the target terminal repeatedly and uninterruptedly transmits data frames by UWB pulse; the UWB pulse string sent by the positioning tag is received by the positioning base station;
(3) The positioning base station measures the time of a data frame of the target terminal positioning tag reaching the receiver antenna by using a high-sensitivity short pulse detector;
(4) The positioning base station transmits the arrival time information to a positioning server;
(5) The positioning server refers to the information sent by the positioning base stations, determines the time difference that the tag reaches different positioning base stations, and calculates the position of the tag by adopting an AOA algorithm for single base station positioning or a TDOA algorithm for multi-base station positioning, so as to determine the position information of the terminal;
(6) The positioning server sends the terminal position information identified by the tag ID to the MEC platform;
(7) The MEC platform determines the terminal position information indexed by the IP address or the system uniform identification through the binding relation of the tag ID and the IP address or the system uniform identification, responds to a position information calling request of the third party application based on the terminal IP address or the system uniform identification, and sends the terminal position information to the third party application.
Example two: the target terminal is accessed into the communication system, the UWB positioning function sends the target terminal position information to an MEC platform of the communication system, and the MEC platform provides a unified position service API for third party applications. And after the target terminal is accessed to the base station system, the tag ID is sent to the MEC platform.
(1) The method comprises the steps that a target terminal is accessed to a communication system, and an MEC platform of the communication system detects an IP address of the target terminal or a unique identifier in the system;
(2) The target terminal sends the positioning tag ID to an MEC platform, and the MEC platform establishes a binding relationship between the positioning tag ID and an IP address or a unique identifier in the system;
(3) The positioning tag of the target terminal repeatedly and uninterruptedly transmits data frames by UWB pulse; the UWB pulse string sent by the positioning tag is received by the positioning base station;
(4) The positioning base station measures the time of a data frame of the target terminal positioning tag reaching the receiver antenna by using a high-sensitivity short pulse detector;
(5) The positioning base station transmits the arrival time information to a positioning server;
(6) The positioning server refers to the information sent by the positioning base stations, determines the time difference that the tag reaches different positioning base stations, and calculates the position of the tag by adopting an AOA algorithm for single base station positioning or a TDOA algorithm for multi-base station positioning, so as to determine the position information of the terminal;
(7) The positioning server sends the target terminal position identified by the tag ID to the MEC platform;
(8) The MEC platform determines the terminal position information indexed by the IP address or the system uniform identification through the binding relation of the tag ID and the IP address or the system uniform identification, responds to a position information calling request of the third party application based on the terminal IP address or the system uniform identification, and sends the terminal position information to the third party application.
Example three: the target terminal is accessed into the communication system, the UWB positioning function sends the target terminal position information to an MEC platform of the communication system, and the MEC platform provides a unified position service API interface for third party applications. When the target terminal accesses the base station, a specific random access preamble (preamble) codeword is adopted for accessing, and the corresponding relationship between the tag ID and the preamble code is preset.
(1) When the target terminal is accessed to the communication system, the preamble code corresponding to the tag ID is adopted for accessing, so that the small base station determines the tag ID of the target terminal according to the preamble code and sends the tag ID of the target terminal to the MEC platform;
(2) After a target terminal is accessed to a small base station, an MEC platform of a communication system detects an IP address of the target terminal or a unique identifier in the system, and the MEC platform establishes a binding relationship between a positioning tag ID and the IP address or the unique identifier in the system;
(3) The positioning tag of the target terminal repeatedly and uninterruptedly transmits data frames by UWB pulse; the UWB pulse string sent by the positioning tag is received by the positioning base station;
(4) The positioning base station measures the time of a data frame of the target terminal positioning tag reaching the receiver antenna by using a high-sensitivity short pulse detector;
(5) The positioning base station transmits the arrival time information to a positioning server;
(6) The positioning server refers to the information sent by the positioning base stations, determines the time difference that the tag reaches different positioning base stations, and calculates the position of the tag by adopting an AOA algorithm for single base station positioning or a TDOA algorithm for multi-base station positioning, so as to determine the position information of the terminal;
(7) The positioning server sends the terminal position information identified by the tag ID to the MEC platform;
(8) The MEC platform determines the terminal position information indexed by the IP address or the system uniform identification through the binding relation of the tag ID and the IP address or the system uniform identification, responds to a position information calling request of the third party application based on the terminal IP address or the system uniform identification, and sends the terminal position information to the third party application.
Referring to fig. 3, an embodiment of the present invention provides a communication system 300, the communication system 300 comprising:
a first receiving module 301, configured to receive a location information call request sent by a third party application, where the location information call request includes an IP address of a terminal or a system unique identifier;
a first determining module 302, configured to determine a location tag ID having a binding relationship with the IP address or the system unique identifier;
a second determining module 303, configured to determine terminal location information identified by the location tag ID;
and the sending module 304 is configured to send the terminal location information to the third party application.
Optionally, the binding relationship is a binding relationship pre-stored in the communication system.
Optionally, the communication system 300 further includes:
the detection module 305 is configured to detect an IP address or a system unique identifier of the terminal by using an MEC platform of the communication system.
Optionally, the communication system 300 further includes:
a second receiving module 306, configured to receive the location tag ID from the terminal by the MEC platform.
Optionally, the communication system 300 further includes:
a third determining module 307, configured to determine, by using a preamble used when the terminal accesses the small base station according to a preset correspondence, the positioning tag ID;
a third receiving module 308 is configured to receive the location tag ID from the small base station by the MEC platform.
Optionally, the communication system 300 further includes:
an establishing module 309, configured to establish a binding relationship between the IP address or the unique system identifier and the location tag ID by using the MEC platform.
Optionally, the sending module 304 includes:
and a sending unit 3041, configured to send the terminal location information to the third party application through the location service interface API.
An embodiment of the present invention provides a positioning system including a communication system as shown in fig. 3.
Optionally, the positioning system further comprises: the system comprises a terminal, a positioning base station and a positioning server, wherein a positioning label is arranged in the terminal;
the positioning tag is used for transmitting a data frame to the positioning base station through ultra wideband UWB pulse;
the positioning base station is used for receiving the data frame, measuring the arrival time of the data frame and then sending the arrival time of the data frame to the positioning server;
the positioning server is configured to determine, according to the arrival time of the data frame, location information of the positioning tag through a preset positioning algorithm, determine the location information as terminal location information, and then send the terminal location information to the communication system, where the terminal location information is identified by a positioning tag ID of the positioning tag.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the processes of the above method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here. Wherein the computer readable storage medium is selected from Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (5)
1. A positioning method applied to a communication system, the method comprising:
the target terminal is accessed to the communication system, and the mobile edge of the communication system calculates an IP address or a unique identifier in the system of the target terminal detected by the MEC platform;
the target terminal sends a positioning tag ID to the MEC platform, and the MEC platform establishes a binding relationship between the positioning tag ID and the IP address or a unique identifier in the system;
the positioning tag of the target terminal transmits a data frame in an ultra wideband UWB pulse, and a UWB pulse string transmitted by the positioning tag is received by the positioning base station;
the positioning base station measures the time of the data frame of the positioning tag reaching a receiver antenna;
the positioning base station transmits the arrival time of the data frame of the positioning tag to a positioning server;
the positioning server determines the time difference that the positioning label reaches different positioning base stations according to the arrival time of the data frame, and calculates the position of the positioning label, so as to determine the position information of the target terminal;
the positioning server sends the position information of the target terminal identified by the positioning tag ID to the MEC platform;
and the MEC platform determines the position information of the target terminal indexed by the IP address or the system uniform identifier through the binding relation of the positioning tag ID and the IP address or the system uniform identifier, responds to a position information calling request of a third party application based on the IP address or the system uniform identifier of the target terminal, and sends the position information of the target terminal to the third party application.
2. A positioning method applied to a communication system, the method comprising:
when a target terminal is accessed to a communication system, a preamble code corresponding to a positioning tag ID is adopted for access, so that a small base station determines the positioning tag ID of the target terminal according to the preamble code, and the positioning tag ID of the target terminal is sent to an MEC platform;
after the target terminal is accessed to the small base station, the MEC platform detects the IP address of the target terminal or the unique identifier in the system, and the MEC platform establishes a binding relationship between the positioning tag ID and the IP address or the unique identifier in the system;
the positioning tag of the target terminal transmits a data frame in UWB pulse, and the UWB pulse train transmitted by the positioning tag is received by the positioning base station;
the positioning base station measures the time of the data frame of the positioning tag reaching a receiver antenna;
the positioning base station transmits the arrival time of the data frame of the positioning tag to a positioning server;
the positioning server determines the time difference that the positioning label reaches different positioning base stations according to the arrival time of the data frame, and calculates the position of the positioning label, so as to determine the position information of the target terminal;
the positioning server sends the position information of the target terminal identified by the positioning tag ID to the MEC platform;
and the MEC platform determines the position information of the target terminal indexed by the IP address or the system uniform identifier through the binding relation of the positioning tag ID and the IP address or the system uniform identifier, responds to a position information calling request of a third party application based on the IP address or the system uniform identifier of the target terminal, and sends the position information of the target terminal to the third party application.
3. A positioning system, comprising: the system comprises a target terminal, a communication system, a positioning base station and a positioning server, wherein a positioning label is arranged in the target terminal, and the communication system comprises an MEC platform;
the method comprises the steps that a target terminal is accessed to a communication system, and an MEC platform of the communication system is used for detecting an IP address of the target terminal or a unique identifier in the system;
the target terminal is used for sending the positioning tag ID to the MEC platform, and the MEC platform is used for establishing a binding relation between the positioning tag ID and the IP address or the unique identifier in the system;
the positioning tag of the target terminal is used for transmitting a data frame in ultra-wideband UWB pulse, and the positioning base station is used for receiving UWB pulse strings transmitted by the positioning tag;
the positioning base station is used for measuring the time of the data frame of the positioning tag reaching the receiver antenna;
the positioning base station is used for transmitting the arrival time of the data frame of the positioning tag to a positioning server;
the positioning server is used for determining the time difference between the arrival of the positioning label at different positioning base stations according to the arrival time of the data frame, and calculating the position of the positioning label so as to determine the position information of the target terminal;
the positioning server is used for sending the position information of the target terminal identified by the positioning tag ID to the MEC platform;
the MEC platform is used for determining the position information of the target terminal indexed by the IP address or the system uniform identification through the binding relation of the positioning tag ID and the IP address or the system uniform identification, responding to a position information calling request of a third party application based on the IP address or the system uniform identification of the target terminal, and sending the position information of the target terminal to the third party application.
4. A positioning system, comprising: the system comprises a target terminal, a communication system, a positioning base station and a positioning server, wherein a positioning label is arranged in the target terminal, and the communication system comprises a small base station and an MEC platform;
when a target terminal is accessed to a communication system, a preamble code corresponding to a positioning tag ID is adopted for accessing, and a small base station is used for determining the positioning tag ID of the target terminal according to the preamble code and transmitting the positioning tag ID of the target terminal to an MEC platform;
after the target terminal is accessed to the small base station, the MEC platform is used for detecting the IP address of the target terminal or the unique identifier in the system, and the MEC platform is used for establishing a binding relationship between the positioning tag ID and the IP address or the unique identifier in the system;
the positioning tag of the target terminal is used for transmitting a data frame in UWB pulse, and the positioning base station is used for receiving UWB pulse strings transmitted by the positioning tag;
the positioning base station is used for measuring the time of the data frame of the positioning tag reaching the receiver antenna;
the positioning base station is used for transmitting the arrival time of the data frame of the positioning tag to a positioning server;
the positioning server is used for determining the time difference between the arrival of the positioning label at different positioning base stations according to the arrival time of the data frame, and calculating the position of the positioning label so as to determine the position information of the target terminal;
the positioning server is used for sending the position information of the target terminal identified by the positioning tag ID to the MEC platform;
the MEC platform is used for determining the position information of the target terminal indexed by the IP address or the system uniform identification through the binding relation of the positioning tag ID and the IP address or the system uniform identification, responding to a position information calling request of a third party application based on the IP address or the system uniform identification of the target terminal, and sending the position information of the target terminal to the third party application.
5. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the positioning method according to any of claims 1 to 2.
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| CN114339992B (en) * | 2022-03-03 | 2022-07-15 | 网络通信与安全紫金山实验室 | Positioning method, apparatus, computer equipment and storage medium |
| CN114466452A (en) * | 2022-04-08 | 2022-05-10 | 天津恒达文博科技股份有限公司 | Indoor high-precision positioning system and method based on 5G |
| CN115460690B (en) * | 2022-09-09 | 2025-03-04 | 中国电信股份有限公司 | Positioning method, device, electronic device and computer readable storage medium |
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