CN114521017A - Method and device for positioning, electronic equipment and storage medium - Google Patents

Abstract

The present disclosure relates to a method and apparatus for positioning, an electronic device, and a storage medium, the method including: calculating the time delay error between the terminal with the known position and the known base station; calculating a round trip time measurement value between the terminal with the unknown position and the known base station; calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value; the position of the unknown position terminal is calculated according to the real value of the round trip time between the unknown position terminal and the known base station, and the time delay error between the unknown position terminal and the known base station is eliminated or compensated through the time delay error between the known position terminal and the known base station, so that the positioning accuracy of the unknown position terminal can be improved.

Description

Method and apparatus for positioning, electronic device and storage medium

technical field

The present disclosure relates to the field of positioning technology, and in particular, to a method and apparatus for positioning, an electronic device, and a storage medium.

Background technique

The fifth-generation mobile communication technology is a new generation of broadband mobile communication technology featuring high speed, low latency and large connection, and is the network infrastructure for realizing the interconnection of human, machine and things. Since my country opened its first 5G test site in Shenzhen in October 2017, the 5G industry chain has developed rapidly. 5G will enable diversified applications in all walks of life, while a large number of application scenarios such as Internet of Vehicles, autonomous driving, intelligent manufacturing, smart logistics, drones, and asset tracking require higher positioning capabilities. For example, vehicles in the Internet of Vehicles queue up , Active collision avoidance requires positioning accuracy of up to 30cm, and requires positioning capabilities that support high-speed movement and ultra-low latency; remote control of drones requires 10-50 cm. At the same time, such as asset tracking, unmanned AGV (Automated Guided Vehicle, automatic guided vehicle, refers to equipped with electromagnetic or optical and other automatic navigation devices, can travel along the specified navigation path, with safety protection and various transfer functions) Transport vehicles), A large number of applications such as AR/VR are concentrated indoors and cannot be covered by satellite positioning systems. Therefore, 5G must enhance network positioning technology to improve positioning accuracy.

Based on the previous cellular network positioning technology, 5G R16 introduced a new positioning reference signal (Positioning Reference Signal, PRS). The positioning method is mainly divided into the scheme of measuring time and measuring angle. In the scheme of measuring time, including DL-TDOA (uplink). Time difference of arrival), UL-TDOA (downlink time difference of arrival), Multi-cell RTT (multi-station round trip time) scheme, the scheme of measurement angle includes DL-AOD (downlink departure angle), UL-AOA (uplink arrival angle) angle) scheme. In addition to this, there is the E-CID (Enhanced Cell ID) scheme. The E-CID scheme requires UE (Use Equipment, user equipment) to measure the RRM (Radio Resource Management, radio resource management) of each gNB (base station) (such as DL RSRP, downlink reference signal received power), and measure the The report is sent to the location server for positioning purposes. At the same time, due to the increase in the number and diversity of reference points in the ultra-dense network in the 5G era, Massive MIMO (massive antenna) multi-beam can make AoA (Angel Of Arrival, angle of arrival) estimation more accurate, and the introduction of PRS positioning reference signals can also be used. The accuracy of time measurement is further improved, and these advantages can further enhance 5G positioning capabilities. In the future, the 5G positioning capability will be further enhanced, and the R17 version will also improve the 5G positioning accuracy to sub-meter level.

In recent years, many researchers have carried out research on the positioning technology related to the measurement time scheme. At present, the positioning technology related to the measurement time scheme is mainly divided into three categories: one is DL-TDOA, and the 5G R16 version introduces a new reference signal. - PRS (Positioning Reference Signal) for the UE to perform Downlink Reference Signal Time Difference (DL RSTD) measurements on the PRS of each base station. These measurement results will be reported to the location server, and then the measured time difference value is used to calculate the hyperbola where the UE is located by using the properties of the hyperbola, and the two intersecting hyperbolas determine a position to complete the positioning. The second type is UL-TDOA. This method allows each base station to measure the uplink relative time of arrival (UL-RTOA) and report the measurement result to the location server. After the value is reported to the server, the data processing method is similar to the first type . The third category is Multi-cell RTT, in which the gNB and UE perform Rx-Tx (receive-transmit) time difference measurements on the signals of each cell. The measurement reports from the UE and the gNB will be reported to the location server, so as to obtain the distance radius between the UE and the gNB, draw a circle with the gNB as the center, and use the relationship between the UE and the three gNBs. The three circles intersect at a point or The three circles intersect each other to generate a common area, and the intersection or the common area is the position of the UE to achieve the purpose of positioning.

The existing positioning technology based on the measurement time scheme, whether it is UL-TDOA, DL-TDOA, or Multi-cellRTT method, will affect the accuracy of arrival time due to the timing delay of UE Rx/Tx and gNB Rx/Tx. The low accuracy will lead to large positioning errors, which directly affect the positioning accuracy of TDOA and RTT positioning.

SUMMARY OF THE INVENTION

In order to solve the above technical problem or at least partially solve the above technical problem, the embodiments of the present disclosure provide a method and apparatus for positioning, an electronic device and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a method for positioning, comprising the following steps:

Calculate the delay error between the known location terminal and the known base station;

Calculate the round-trip time measurement between the unknown location terminal and the known base station;

Calculate the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value;

The location of the unknown location terminal is calculated from the true value of the round-trip time between the unknown location terminal and the known base station.

In a possible implementation manner, the calculating the delay error between the known location terminal and the known base station includes:

Calculate the true value of the round-trip time between the known position terminal and the known base station by using the distance between the known position terminal and the known base station and the speed of light;

Calculate the round-trip time measurement between a known location terminal and a known base station;

The delay error between the known position terminal and the known base station is calculated according to the true value of the round trip time and the measured value of the round trip time between the known position terminal and the known base station.

In a possible implementation manner, calculating the real value of the round-trip time between the known position terminal and the known base station by using the distance between the known position terminal and the known base station and the speed of light, including:

Take the ratio between the distance between the known location terminal and the known base station and the speed of light as the true value of the one-way time between the known location terminal and the known base station;

Two times the true value of the one-way time is taken as the true value of the round-trip time between the known location terminal and the known base station.

In a possible implementation manner, calculating the delay error between the known position terminal and the known base station according to the true value of the round trip time and the round trip time measurement value between the known position terminal and the known base station, including:

The difference between the true value of the round-trip time and the measured value of the round-trip time between the known-position terminal and the known base station is taken as the delay error between the known-position terminal and the known base station.

In a possible implementation manner, the calculating the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value includes:

The difference between the round-trip time measurement value between the unknown-position terminal and the known base station and the delay error is taken as the true value of the round-trip time between the unknown-position terminal and the known base station.

In a possible implementation manner, the calculating the location of the unknown location terminal according to the true value of the round-trip time between the unknown location terminal and the known base station includes:

Based on a triangulation algorithm, the location of the unknown location terminal is calculated according to the true value of the round-trip time between the unknown location terminal and at least three known base stations.

In one possible implementation, the round-trip time measurement between the terminal and the known base station is calculated by the following expression:

为测到的已知基站发送信号的时刻，

为测到的终端接收到信号的时刻，

为测到的终端发送信号的时刻，

为测到的已知基站接收到信号的时刻。in,

is the measured moment when the known base station transmits the signal,

is the moment when the measured terminal receives the signal,

is the moment when the measured terminal sends the signal,

is the measured time when the known base station receives the signal.

In a second aspect, embodiments of the present disclosure provide an apparatus for positioning, including:

a first calculation module, which is used to calculate the delay error between the known location terminal and the known base station;

a second calculation module for calculating the round-trip time measurement between the unknown location terminal and the known base station;

a third calculation module, configured to calculate the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value;

The positioning module is used to calculate the position of the unknown position terminal according to the real value of the round-trip time between the unknown position terminal and the known base station.

In a third aspect, embodiments of the present disclosure provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

memory for storing computer programs;

The processor is configured to implement the above-mentioned method for positioning when executing the program stored in the memory.

In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned method for positioning.

Compared with the prior art, the above-mentioned technical solutions provided by the embodiments of the present disclosure have at least some or all of the following advantages:

The method for positioning described in the embodiment of the present disclosure calculates the time delay error between the known position terminal and the known base station; calculates the round-trip time measurement value between the unknown position terminal and the known base station; according to the time delay Calculate the true value of the round-trip time between the unknown location terminal and the known base station based on the difference and the measured value of the round-trip time; calculate the location of the unknown location terminal according to the true value of the round-trip time between the unknown location terminal and the known The time delay error between the terminal and the known base station is eliminated or the time delay error between the unknown position terminal and the known base station is eliminated, and the positioning accuracy of the unknown position terminal can be improved.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or related technologies. It is obvious to those skilled in the art that , on the premise of no creative labor, other drawings can also be obtained from these drawings.

FIG. 1 schematically shows a schematic flowchart of a method for positioning according to an embodiment of the present disclosure;

FIG. 2 schematically shows a detailed flowchart of step S1 according to an embodiment of the present disclosure;

FIG. 3 schematically shows a detailed flowchart of step S21 according to an embodiment of the present disclosure;

FIG. 4 schematically shows a schematic diagram of a position relationship among a known location terminal, a known base station, and an unknown location terminal according to an embodiment of the present disclosure;

FIG. 5 schematically shows a schematic diagram of a calculation process of a round-trip time measurement value according to an embodiment of the present disclosure;

FIG. 6 schematically shows a schematic diagram of a calculation process of a round-trip time measurement value considering a delay error according to an embodiment of the present disclosure;

FIG. 7 schematically shows a structural block diagram of an apparatus for positioning according to an embodiment of the present disclosure; and

FIG. 8 schematically shows a structural block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some, but not all, embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

The RTT positioning method does not require synchronization between the UE and the gNB, and has higher positioning accuracy than the TDOA method that requires high-precision synchronization. However, due to the timing delay between the base station and the user during RTT measurement , therefore, the measured RTT value often contains delay errors. The method for positioning of the present disclosure obtains the timing error during RTT measurement by introducing a calibration terminal with a known position, and then transmits the measurement timing error from the 5G access network node to the NRPPa (NR Position Protocola, NR definition protocol A). The LMF (Location Management Function, location management function server) is then transmitted from the LMF to the UE through the LPP (LTE Position Protocol, LTE positioning protocol), thereby obtaining an RTT value with a smaller error, so as to obtain a higher positioning accuracy.

Referring to FIG. 1, an embodiment of the present disclosure provides a method for positioning, including the following steps:

S1, calculate the delay error between the known location terminal and the known base station;

S2, calculate the round-trip time measurement value between the unknown location terminal and the known base station;

S3, calculating the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value;

In practical applications, in step S3, the calculation of the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value includes:

The difference between the round-trip time measurement value between the unknown-position terminal and the known base station and the delay error is taken as the true value of the round-trip time between the unknown-position terminal and the known base station.

S4: Calculate the location of the unknown location terminal according to the true value of the round-trip time between the unknown location terminal and the known base station.

In practical applications, in step S4, the calculation of the position of the unknown location terminal according to the true value of the round-trip time between the unknown location terminal and the known base station includes:

Based on a triangulation algorithm, the location of the unknown location terminal is calculated according to the true value of the round-trip time between the unknown location terminal and at least three known base stations.

Referring to FIG. 2, in step S1, the calculation of the delay error between the known location terminal and the known base station includes:

S21, using the distance between the known position terminal and the known base station and the speed of light to calculate the true value of the round-trip time between the known position terminal and the known base station;

S22, calculate the round-trip time measurement value between the known location terminal and the known base station;

S23: Calculate the delay error between the known position terminal and the known base station according to the real value of the round trip time and the measured value of the round trip time between the known position terminal and the known base station.

In practical applications, in step S23, calculating the delay error between the known position terminal and the known base station according to the true value of the round trip time and the round trip time measurement value between the known position terminal and the known base station, including:

The difference between the true value of the round-trip time and the measured value of the round-trip time between the known-position terminal and the known base station is taken as the delay error between the known-position terminal and the known base station.

Referring to FIG. 3, in step S21, calculating the real value of the round-trip time between the known position terminal and the known base station by using the distance between the known position terminal and the known base station and the speed of light, including:

S31, taking the ratio between the distance between the known position terminal and the known base station and the speed of light as the true value of the one-way time between the known position terminal and the known base station;

S32, taking twice the true value of the one-way time as the true value of the round-trip time between the terminal at the known location and the known base station.

In this embodiment, the round-trip time measurement between the terminal and the known base station is calculated by the following expression:

为测到的已知基站发送信号的时刻，

为测到的终端接收到信号的时刻，

为测到的终端发送信号的时刻，

为测到的已知基站接收到信号的时刻，其中，这里的终端可以是已知位置终端或未知位置终端。in,

is the measured moment when the known base station transmits the signal,

is the moment when the measured terminal receives the signal,

is the moment when the measured terminal sends the signal,

is the measured time when the known base station receives the signal, where the terminal here may be a terminal with a known position or a terminal with an unknown position.

In practical applications, a schematic diagram of the positional relationship between the known position terminal, the known base station and the unknown position terminal, as shown in Figure 4, is calculated according to the distance d between the _known position terminal and the known base station. The delay error is used to calculate the distance between the unknown position terminal and the known base station d _{unknown position} . When the distances between at least three known base stations and the unknown position terminal are known, the triangulation method can be used to determine the unknown position terminal. Location.

In this embodiment, the calculation relationship between the delay error, the measured value of the round-trip time and the true value of the round-trip time is determined by the following steps:

The positioning method in this embodiment is a combination of 5G R16 uplink positioning and downlink positioning, which has high positioning accuracy. As shown in Figure 5, for the downlink signal, the base station uses the base station local clock to record the transmission time t ₀ , and the user terminal The UE uses the terminal's local clock to measure the arrival time t ₁ of the downlink signal; for the uplink signal, the terminal uses the terminal's local clock to record the transmission time t ₂ , and the base station uses the base station's local clock to measure the arrival time t ₃ of the uplink signal.

As can be seen from Figure 5, the round-trip time measurement value RTT is calculated by the following expression:

RTT=(t ₃ -t ₀ ) – (t ₂ – t ₁ )

When the delay error is considered, a schematic diagram of the relationship between the delay error, the measured value of the round-trip time and the true value of the round-trip time is shown in Figure 6.

表示可观测到的基站侧发送信号时刻，

表示基站侧真实的发送信号时刻，

表示基站侧发送信号时的时延，

表示UE真实收到信号的时刻，

表示可观测到的UE收到信号的时刻，

表示UE侧接收信号时的时延，

表示可观测到的UE发送信号时刻，

表示UE真实发送信号的时刻，

表示UE侧发送信号时的时延，

表示基站侧真实收到信号的时刻，

表示可观测到的基站侧接收到信号的时刻，

表示基站侧接收信号时的时延。In Figure 6,

Indicates the observable time when the base station side sends the signal,

Indicates the real signal transmission time on the base station side,

represents the delay when the base station side sends the signal,

Indicates the moment when the UE actually received the signal,

Represents the observable moment when the UE receives the signal,

represents the delay when the UE side receives the signal,

represents the observable moment when the UE sends a signal,

Indicates the moment when the UE actually sends a signal,

represents the delay when the UE side sends a signal,

Indicates the moment when the base station side actually receives the signal,

represents the observable moment when the base station side receives the signal,

Indicates the delay when the base station side receives the signal.

According to the expression for the round-trip time measurement RTT, the observed RRT value is expressed as

As can be seen from Figure 6, the relationship between the observable time and the real send/receive value is as follows:

的表达式中，可以得到Substitute the above relationship into

in the expression, we can get

make

Simplified available

。同时，又因为位置已知终端的位置已知，可以获得该位置已知终端和所在服务区基站之间的距离，再由光速与距离的关系，理论计算出真实的RTT值，即

，因此，可以计算得到该延时误差数据。At this time, a terminal with a known location is introduced, which can be obtained by normal RTT measurement

. At the same time, because the position of the known terminal is known, the distance between the known terminal and the base station in the service area can be obtained, and then the real RTT value can be theoretically calculated from the relationship between the speed of light and the distance, that is,

, therefore, the delay error data can be obtained by calculation.

After obtaining the delay error data, the unknown location terminal UE can be positioned, and the delay measurement value can be transmitted from the NR-RANN node to the LMF through NRPPa, and then the delay measurement value can be transmitted from the LMF to the UE through the LPP to obtain More accurate RTT measurements, i.e.

According to the quantity obtained by the above formula, a more accurate positioning result of the unknown location terminal is calculated.

Referring to FIG. 7, an embodiment of the present disclosure provides an apparatus for positioning, including:

the first calculation module 11, which is used to calculate the time delay error between the known location terminal and the known base station;

a second calculation module 12, which is used to calculate the round-trip time measurement value between the unknown location terminal and the known base station;

A third calculation module 13, configured to calculate the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value;

The positioning module 14 is used for calculating the position of the unknown position terminal according to the real value of the round-trip time between the unknown position terminal and the known base station.

For details of the implementation process of the functions and functions of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method, which will not be repeated here.

For the apparatus embodiments, since they basically correspond to the method embodiments, reference may be made to the partial descriptions of the method embodiments for related parts. The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. Those of ordinary skill in the art can understand and implement it without creative effort.

In this embodiment, any one of the first calculation module 11 , the second calculation module 12 , the third calculation module 13 , and the positioning module 14 may be combined into one module for implementation, or any one of the modules may be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in one module. At least one of the first computing module 11, the second computing module 12, the third computing module 13, and the positioning module 14 may be implemented at least partially as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array ( PLA), system-on-chip, system-on-substrate, system-on-package, application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuits, implemented in hardware or firmware, or in software, hardware and any one of the three implementation manners of firmware or an appropriate combination of any of them. Alternatively, at least one of the first computing module 11, the second computing module 12, the third computing module 13 and the positioning module 14 may be implemented at least in part as a computer program module, which, when executed, can execute the corresponding function.

8 , an electronic device provided by an embodiment of the present disclosure includes a processor 1110 , a communication interface 1120 , a memory 1130 , and a communication bus 1140 , wherein the processor 1110 , the communication interface 1120 , and the memory 1130 complete each other through the communication bus 1140 communication between;

memory 1130 for storing computer programs;

The processor 1110, when executing the program stored in the memory 1130, implements the following method for positioning:

Calculate the delay error between the known location terminal and the known base station;

Calculate the round-trip time measurement between the unknown location terminal and the known base station;

Calculate the true value of the round-trip time between the unknown location terminal and the known base station according to the delay error and the round-trip time measurement value;

The location of the unknown location terminal is calculated from the true value of the round-trip time between the unknown location terminal and the known base station.

The above-mentioned communication bus 1140 may be a Peripheral Component Interconnect (PCI for short) bus or an Extended Industry Standard Architecture (EISA for short) bus or the like. The communication bus 1140 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface 1120 is used for communication between the above electronic device and other devices.

The memory 1130 may include random access memory (Random Access Memory, RAM for short), and may also include non-volatile memory (non-volatile memory), such as at least one disk storage. Optionally, the memory 1130 may also be at least one storage device located away from the aforementioned processor 1110 .

The above-mentioned processor 1110 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP for short) , Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

Embodiments of the present disclosure also provide a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the above-mentioned method for positioning is implemented.

The computer-readable storage medium may be included in the apparatus/apparatus described in the above embodiments; or may exist alone without being assembled into the apparatus/apparatus. The above-mentioned computer-readable storage medium carries one or more programs, and when the above-mentioned one or more programs are executed, the method for positioning according to an embodiment of the present disclosure is implemented.

According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as, but not limited to, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM) , erasable programmable read only memory (EPROM or flash memory), portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above descriptions are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Thus, the present disclosure is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims (10)

1. A method for positioning, comprising the steps of:

calculating the time delay error between the terminal with the known position and the known base station;

calculating a round trip time measurement value between the terminal with the unknown position and the known base station;

calculating a real round trip time value between the unknown position terminal and the known base station according to the time delay error and the round trip time measurement value;

and calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.

2. The method of claim 1, wherein calculating the delay error between the terminal with the known location and the known base station comprises:

calculating the true value of the round trip time between the terminal with the known position and the known base station by using the distance between the terminal with the known position and the known base station and the speed of light;

calculating a round trip time measurement between a terminal at a known location and a known base station;

and calculating the time delay error between the terminal with the known position and the known base station according to the real value of the round trip time between the terminal with the known position and the known base station and the measured value of the round trip time.

3. The method of claim 2, wherein the calculating the true round trip time value between the terminal with the known location and the known base station by using the distance between the terminal with the known location and the known base station and the speed of light comprises:

taking the ratio of the distance between the terminal with the known position and the known base station to the speed of light as the real value of the one-way time between the terminal with the known position and the known base station;

and taking twice of the one-way time real value as a round-trip time real value between the terminal with the known position and the known base station.

4. The method of claim 2, wherein calculating the delay error between the known position terminal and the known base station according to the true round trip time value and the measured round trip time value between the known position terminal and the known base station comprises:

and taking the difference value between the real value of the round trip time and the measured value of the round trip time between the terminal with the known position and the known base station as the time delay error between the terminal with the known position and the known base station.

5. The method of claim 1, wherein said calculating a true round trip time value between the unknown terminal and the known base station according to the delay error and the round trip time measurement value comprises:

and taking the difference between the round trip time measurement value between the unknown position terminal and the known base station and the delay error as the real round trip time value between the unknown position terminal and the known base station.

6. The method of claim 1, wherein the calculating the position of the unknown terminal according to the true value of the round trip time between the unknown terminal and the known base station comprises:

and based on a triangulation algorithm, calculating the position of the unknown position terminal according to the real values of the round trip time between the unknown position terminal and at least three known base stations.

7. Method according to any of claims 1 to 6, characterized in that the round trip time measurement between a terminal and a known base station is calculated by the following expression:

wherein,

for a measured moment when a base station is known to transmit a signal,

in order to measure the time instant at which the terminal receives the signal,

for the moment of time measured at which the terminal transmits a signal,

is the measured time instant at which the base station receives the signal.

8. An apparatus for positioning, comprising:

the first calculation module is used for calculating the time delay error between the terminal with the known position and the known base station;

a second calculation module for calculating a round trip time measurement between an unknown location terminal and a known base station;

a third calculation module, configured to calculate a true round trip time value between an unknown location terminal and a known base station according to the delay error and the round trip time measurement value;

and the positioning module is used for calculating the position of the unknown position terminal according to the real value of the round trip time between the unknown position terminal and the known base station.

9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

a memory for storing a computer program;

a processor for implementing the method for positioning according to any one of claims 1-7 when executing a program stored on a memory.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for positioning according to any one of claims 1-7.

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