CN115087097B - Terminal positioning method, system, processing equipment and storage medium - Google Patents

Abstract

The embodiments of the present application provide a terminal positioning method, system, processing device and storage medium, which relate to the field of wireless communications. The time difference of measurement signals respectively sent by multiple base stations is obtained, and each measurement signal time difference is used to describe the time difference between each base station sending a signal measurement request message to the target terminal and each base station receiving a measurement signal response message sent by the target terminal; according to each measurement signal time difference and the location information of each base station, multiple single-sided hyperbolas are generated, and the single-sided hyperbolas are used to describe the alternative positions of the target terminal; according to the intersection points between each single-sided hyperbola, the position of the target terminal is determined. Without the need for the target terminal to provide the measurement time, the position of the target terminal is directly determined, thereby improving the accuracy of positioning the mobile terminal and the version compatibility of the mobile terminal.

Description

Terminal positioning method, system, processing device and storage medium

Technical Field

The present application relates to the field of wireless communications, and in particular to a terminal positioning method, system, processing device and storage medium.

Background Art

The terminal (User Equipment, referred to as UE) positioning service is an important location service in wireless cellular communication systems. The precise geographic positioning of the terminal is the basis for network operation and maintenance work such as network structure optimization, fault location, and service information collection.

The existing 5G network positioning architecture consists of terminals, multiple base stations, and data centers. When a terminal communicates with multiple nearby base stations, its wireless information is transmitted to the data center through the primary cell base station. The data center determines the location of the terminal based on the transmission time of the signals recorded and uploaded by the terminal and multiple base stations in the channel, combined with the geographic coordinates of each base station.

However, in the prior art, a data center needs to simultaneously obtain the signal transmission time provided by a terminal and multiple base stations, but terminals with lower versions do not have this function, which may result in the inability to obtain the precise positioning of the terminal.

Summary of the invention

The present application provides a terminal positioning method, system, processing device and storage medium, which can generate multiple single-sided hyperbolas according to the time difference of the measurement signal sent by the base station and the location information of the base station, and then directly determine the position of the target terminal according to the intersection point between the multiple hyperbolas without the need for the target terminal to provide the measurement time, thereby improving the accuracy of the positioning of the mobile terminal and the version compatibility of the mobile terminal.

The embodiments of the present application can be implemented as follows:

In a first aspect, an embodiment of the present application provides a terminal positioning method, which is applied to a data center in a terminal positioning system, wherein the terminal positioning system includes: the data center, multiple base stations, and a target terminal, wherein the multiple base stations are respectively connected to the data center and the target terminal for communication;

The method comprises:

Acquire measurement signal time differences respectively sent by multiple base stations, where each measurement signal time difference is used to describe a time difference between each base station sending a signal measurement request message to the target terminal and each base station receiving a measurement signal response message sent by the target terminal;

Generating a plurality of unilateral hyperbolas according to the time difference of each of the measurement signals and the position information of each of the base stations, wherein the unilateral hyperbolas are used to describe the candidate positions of the target terminal;

The location of the target terminal is determined according to the intersection points between the unilateral hyperbolas.

In an optional implementation, generating a plurality of single-sided hyperbolas according to the time difference of each measurement signal and the position information of each base station includes:

Calculate and obtain the device distance difference between the target terminal and each of the base stations according to the product of the measured signal time difference and a preset signal propagation speed;

A plurality of single-sided hyperbolas are generated according to the equipment distance difference of each base station and the position information of each base station.

In an optional implementation manner, generating multiple unilateral hyperbolas according to the device distance difference of each base station and the location information of each base station includes:

Determine a first double-sided hyperbola according to a difference between a first device distance difference of a first base station and a second device distance difference of a second base station, wherein the first base station is any base station among the multiple base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is greater than the first device distance difference;

According to a comparison result of the first device distance difference and the second device distance difference, determining one of the first double-sided hyperbolas as a first unilateral hyperbola, a curve distance between the first unilateral hyperbola and the first base station is smaller than a curve distance between the first unilateral hyperbola and the second base station;

determining a second double-sided hyperbola according to a difference between a first device distance difference of the first base station and a third device distance difference of a third base station, wherein the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is greater than the second device distance difference;

According to the comparison result of the first device distance difference and the third device distance difference, one of the second double-sided hyperbolas is determined as a second unilateral hyperbola, and the curve distance between the second unilateral hyperbola and the third base station is greater than the curve distance between the first unilateral hyperbola and the first base station.

In an optional embodiment, the method further includes:

determining a third double-sided hyperbola according to a difference between a second device distance difference of the second base station and a third device distance difference of the third base station, wherein the third device distance difference is greater than the second device distance difference;

According to the comparison result of the distance difference between the second device and the distance difference between the third device, one of the third double-sided hyperbolas is determined as a third unilateral hyperbola, and the curve distance between the third unilateral hyperbola and the second base station is smaller than the curve distance between the first unilateral hyperbola and the third base station.

In an optional implementation manner, determining the location of the target terminal according to the intersection point between the unilateral hyperbolas includes:

The location of the target terminal is determined according to an intersection point of the first unilateral hyperbola and the second unilateral hyperbola.

In an optional implementation manner, determining the location of the target terminal according to the intersection point of each unilateral hyperbola includes:

The location of the target terminal is determined according to an intersection point of the first unilateral hyperbola, the second unilateral hyperbola, and the third unilateral hyperbola.

In an optional implementation, obtaining the time difference of the measurement signals sent by multiple base stations includes:

In response to a positioning instruction from a user, a device positioning request is generated and sent to each base station, wherein the device positioning request is used to instruct each base station to generate the measurement signal time difference;

The measurement signal time difference sent by each base station according to the device positioning request is received respectively.

In a second aspect, an embodiment of the present application provides a terminal positioning system, including: a data center, a plurality of base stations, and a target terminal, wherein the plurality of base stations are respectively communicatively connected with the data center and the target terminal;

Each of the base stations is used to send a signal measurement request message to the target terminal, receive a measurement signal response message sent by the target terminal, and determine a corresponding measurement signal time difference according to the signal measurement request message and the measurement signal response message;

The data center is used to execute the terminal positioning method described in any one of the first aspects to position the target terminal.

In a third aspect, an embodiment of the present application provides a terminal positioning device, including:

An acquisition module, used to acquire measurement signal time differences respectively sent by multiple base stations, each of the measurement signal time differences being used to describe a time difference between each base station sending a signal measurement request message to the target terminal and each base station receiving a measurement signal response message sent by the target terminal;

A generating module, configured to generate a plurality of unilateral hyperbolas according to the time difference of each of the measurement signals and the position information of each of the base stations, wherein the unilateral hyperbolas are used to describe the candidate positions of the target terminal;

The determination module is used to determine the position of the target terminal according to the intersection points between the unilateral hyperbolas.

The generation module is also specifically used to calculate the device distance difference between the target terminal and each of the base stations based on the product of the measured signal time difference and the preset signal propagation speed; and generate multiple single-sided hyperbolas based on the device distance difference of each of the base stations and the location information of each of the base stations.

The generating module is further specifically used to determine a first double-sided hyperbola according to a difference between a first device distance difference of a first base station and a second device distance difference of a second base station, wherein the first base station is any base station among the multiple base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is greater than the first device distance difference; according to a comparison result of the first device distance difference and the second device distance difference, determine one of the first double-sided hyperbolas as a first single-sided hyperbola, and a curve distance between the first single-sided hyperbola and the first base station is less than a curve distance between the first single-sided hyperbola and the second base station; according to a difference between the first device distance difference of the first base station and a third device distance difference of a third base station, determine a second double-sided hyperbola, the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is greater than the second device distance difference; according to a comparison result of the first device distance difference and the third device distance difference, determine one of the second double-sided hyperbolas as a second single-sided hyperbola, and a curve distance between the second single-sided hyperbola and the third base station is greater than a curve distance between the first single-sided hyperbola and the first base station.

The generation module is specifically further used to determine a third bilateral hyperbola according to a difference between the second device distance difference of the second base station and the third device distance difference of the third base station, wherein the third device distance difference is greater than the second device distance difference; and determine one of the third bilateral hyperbolas as a third unilateral hyperbola according to a comparison result of the second device distance difference and the third device distance difference, wherein a curve distance between the third unilateral hyperbola and the second base station is less than a curve distance between the first unilateral hyperbola and the third base station.

The determination module is further specifically configured to determine the location of the target terminal according to an intersection point of the first unilateral hyperbola and the second unilateral hyperbola.

The determination module is further specifically configured to determine the location of the target terminal according to an intersection point of the first unilateral hyperbola, the second unilateral hyperbola, and the third unilateral hyperbola.

The acquisition module is specifically further used to generate a device positioning request in response to a user's positioning instruction and send it to each base station, wherein the device positioning request is used to instruct each base station to generate the measurement signal time difference; and respectively receive the measurement signal time difference sent by each base station according to the device positioning request.

In a fourth aspect, an embodiment of the present application provides a processing device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, and when the processing device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the terminal positioning method as described in any one of the first aspects.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the terminal positioning method as described in any one of the first aspects are implemented.

The beneficial effects of the embodiments of the present application include:

By using the terminal positioning method, system, processing device and storage medium provided in the embodiments of the present application, the data center can generate multiple single-sided hyperbolas based on the time difference of the measurement signals synchronized by each base station and the location information of each base station, and determine the location of the target terminal based on the intersection of each single-sided hyperbola. In this way, the data center directly determines the location of the target terminal based on the information provided by the base station without knowing the time measured on the target terminal side, thereby improving the version compatibility of the positioning function of the data center with the target terminal and the positioning accuracy of the target terminal.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of the interaction process of Multi-RTT positioning in the prior art;

FIG2 is a schematic diagram of the structure of a terminal positioning system provided in an embodiment of the present application;

FIG3 is a schematic diagram of a step flow chart of a method for locating a terminal provided in an embodiment of the present application;

FIG4 is a schematic diagram of another step flow chart of the terminal positioning method provided in an embodiment of the present application;

FIG5 is a schematic diagram of a positioning method of a terminal positioning method provided in an embodiment of the present application;

FIG6 is a schematic diagram of another step flow chart of the terminal positioning method provided in an embodiment of the present application;

FIG7 is a schematic diagram of another positioning method of the terminal positioning method provided in an embodiment of the present application;

FIG8 is a schematic diagram of another positioning method of the terminal positioning method provided in an embodiment of the present application;

FIG9 is a schematic diagram of another step flow chart of the terminal positioning method provided in an embodiment of the present application;

FIG10 is a schematic diagram of the structure of a positioning device for a terminal provided in an embodiment of the present application;

FIG. 11 is a schematic diagram of the structure of a processing device provided in an embodiment of the present application.

Icon: 101-LMF; 102-gNB/TRP; 103-user equipment; 201-data center; 2021-first base station; 2022-second base station; 2023-third base station; 203-target terminal; 100-terminal positioning device; 1001-acquisition module; 1002-generation module; 1003-determination module; 2001-processor; 2002-memory.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

The positioning service of mobile terminals is a service that obtains terminal location information through wireless networks or other positioning systems, and then provides users with various types of location-related information in combination with geographic information systems. Positioning capability is one of the core capabilities of 5G, which includes a series of key technologies such as new coding methods, beamforming, and large bandwidth. The 3rd Generation Partnership Project (3GPP) has clarified that the location management function (LMF) of the server for 5G communication system positioning mainly adopts multi-trip time (Multi-Round TripTime, Multi-RTT). Through the combination of uplink positioning and downlink positioning, LMF can send reference signals to each other based on user equipment (UE) or other mobile terminals and multiple next generation Node Bs (gNBs) or transmission-reception points (TRPs), and determine the location of the UE based on the time difference between the UE receiving signal and the sending signal, and the time difference between the gNB/TRP receiving signal and the sending signal. In the multi-RTT positioning process, the interaction process between gNB/TRP and user equipment can be represented by Figure 1.

In the following text, for the sake of convenience, the entity used to implement LMF will be referred to as LMF. It should be understood that the above naming is only used to distinguish different functions, and does not mean that these network elements are independent physical devices. The present application does not limit the specific form of the above network elements. For example, they can be integrated in the same physical device, or they can be different physical devices. In addition, the above naming is only for the convenience of distinguishing different functions, and should not constitute any limitation on this application. This application does not exclude the possibility of using other names in 5G networks and other future networks. For example, in a 6G network, some or all of the above network elements may use the terminology in 5G, or other names may be used. A unified explanation is given here, and no further details will be given below.

The gNB/TRP shown in Figure 1 can be understood as network elements in the core network for implementing different functions, for example, they can be combined into network slices as needed. These core network elements can be independent devices or integrated into the same device to implement different functions, which is not limited in this application.

As shown in Figure 1, first, LMF101 responds to the user's user equipment positioning command and sends a positioning request to gNB/TRP102. It can be understood that multiple gNB/TRP102 near the user equipment 103 can receive the positioning request and interact with the user equipment 103 for RTT measurement signals. Below, only the interaction process between one gNB/TRP102 and the user equipment 103 is explained.

After receiving the positioning request from LMF101, gNB/TRP102 can send an RTT measurement request to the user equipment 103 and send an RTT measurement signal to the user equipment 103 at time _t0 .

After receiving the downlink positioning RTT measurement signal sent by each gNB/TRP102 at time _t1 , the user equipment 103 generates an RTT measurement signal at the user equipment 103 end and sends the signal at time _t2 . Then, the gNB/TRP102 receives the RTT measurement signal at the user equipment 103 end at time _t3 . Then, the user equipment 103 synchronizes the time difference _t2 - _t1 between time _t2 and time _t1 to the gNB/TRP102.

After each gNB/TRP102 synchronously performs the above interaction process with the user equipment, a round-trip measurement time difference t ₃ -t ₀ of signal transmission between each gNB/TRP102 and the user equipment 103 is obtained.

Finally, based on the time difference t ₂ -t ₁ reported by the user equipment 103 and forwarded by each gNB/TRP102, and the time difference t ₃ -t ₀ reported by each gNB/TRP102, LMF101 can determine that the time difference between the user equipment 103 and each gNB/TRP102 is: (t ₃ -t ₀ )-(t ₂ -t ₁ ). Further, LMF101 can determine the location of the UE based on the known geographic coordinates of each gNB/TRP102 and the distance between the user equipment 103 and each gNB/TRP102 determined based on the time difference between the user equipment 103 and each gNB/TRP102.

The above-mentioned Multi-RTT-based positioning method is a function proposed by 3GPP in the R16 version. The positioning function of LMF101 requires each gNB/TRP102 and user equipment 103 to provide the measurement time of the RTT measurement signal.

However, for versions before R16, the user equipment 103 does not have a measurement function, that is, the user equipment 103 cannot measure and report the time of _{t 2} and t ₁ to LMF101. If Multi-RTT is used for positioning, after gNB/TRP102 sends an RTT measurement request and an RTT measurement signal to the user equipment 103, it can only receive the RTT measurement signal sent back by the user equipment 103, but cannot receive the delay time t ₂ -t ₁ on the user equipment 103 side. This makes LMF101 only receive the time difference t ₃ -t ₀ synchronized by each gNB/TRP102, but cannot know the t ₂ -t ₁ synchronized by the user equipment 103, resulting in LMF101 being unable to determine the distance between each gNB/TRP102 and the user equipment 103, and it is difficult to achieve positioning of the user equipment 103.

Based on the above problems, the embodiments of the present application provide a terminal positioning method, system, processing device and storage medium, whereby the data center can directly generate multiple unilateral hyperbolas based on the information synchronized by the base station, and directly determine the position of the target terminal based on the intersection of the multiple unilateral hyperbolas without the measurement time of the target terminal synchronization. This improves the positioning accuracy of the data center for the target terminal and the version compatibility of the target terminal.

The technical solutions of the embodiments of the present application can be applied to various local communication systems, such as: global system for mobile communications (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, fifth generation (5G) communication system or future new radio access technology (NR), etc.

The following is an explanation of a terminal positioning method, system, processing device, and storage medium provided in an embodiment of the present application in combination with a plurality of specific application examples.

FIG2 is a schematic diagram of the structure of a terminal positioning system provided in an embodiment of the present application. As shown in FIG2 , the system includes: a data center 201, multiple base stations and a target terminal 203. The multiple base stations are respectively communicated with the data center 201 and the target terminal 203.

Each base station is used to send a signal measurement request message to the target terminal 203, and receive a measurement signal response message sent by the target terminal 203, and determine the corresponding measurement signal time difference according to the signal measurement request message and the measurement signal response message.

The data center 201 is used to execute the terminal positioning method in the following embodiment to position the target terminal 203 .

The data center 201 may be a collection of one or more servers provided by an operator, and may include an access and mobility management function (AMF) entity, a session management function (SMF) entity, a user plane function (UPF) entity, and a positioning management function (LMF) entity involved in an embodiment of the present application, etc., but is of course not limited to this.

The target terminal 203, which may be referred to as a user equipment (UE), is a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a 5G network, or a terminal device in a public land mobile communication network (PLMN) to be evolved in the future, etc. It can also be an end device, a logical entity, an intelligent device, such as a mobile phone, an intelligent terminal and other terminal devices, or a server, a gateway, a base station, a controller and other communication equipment, or an Internet of Things device, such as a sensor, an electricity meter, a water meter and other Internet of Things (IoT) devices, and the embodiments of the present application are not limited to this.

The base station can be the above-mentioned gNB node, TRP node, or an evolved node B (eNB), a radio network controller (RNC), a node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (for example, home evolved nodeB, or home node B, HNB), a base band unit (BBU), an access point (AP) in a wireless fidelity (WIFI) system, a wireless relay node, a wireless backhaul node, a transmission point (TP), etc. It can also be 5G, such as NR, or a transmission point (TRP or TP), one or a group of (including multiple antenna panels) antenna panels of a base station in a 5G system, or it can also be a network node constituting a gNB or a transmission point, such as a baseband unit (BBU), or a distributed unit (DU), etc.

As shown in FIG2 , the target terminal 203 may be set within the signal coverage of at least one base station, which may be, for example, the first base station 2021, the second base station 2022, and the third base station 2023 shown in FIG2 , and the target terminal 203 may communicate with the data center through each base station. The target terminal 203 may be connected to each base station through a wireless network, and each base station may be connected to the data center 201 through a wired or wireless network.

It should be understood that the above-mentioned network architecture applied to the embodiments of the present application is merely an example of a network architecture described from the perspective of a traditional point-to-point architecture and a service-oriented architecture. The network architecture applicable to the embodiments of the present application is not limited to this. Any network architecture that can realize the functions of the above-mentioned network elements is applicable to the embodiments of the present application.

It should also be understood that the interface name between the network elements in Figure 2 is only an example, and the name of the interface in the specific implementation may be other names, which are not specifically limited in this application. In addition, the name of the message (or signaling) transmitted between the above network elements is only an example and does not constitute any limitation on the function of the message itself.

FIG3 is a schematic diagram of a step flow diagram of a terminal positioning method provided in an embodiment of the present application, and the execution subject of the method may be a data center in the above embodiment. As shown in FIG3 , the method includes the following steps:

S301, obtaining time differences of measurement signals respectively sent by multiple base stations.

The measurement signal time difference is used to describe the time difference between each base station sending a signal measurement request message to the target terminal and each base station receiving a measurement signal response message sent by the target terminal.

It is understandable that, since the distances between each base station and the target terminal are not the same, the time difference between each base station sending a signal measurement request message to the target terminal and receiving a measurement signal response message, that is, t ₃ -t ₀ in FIG1 , may not be the same. Therefore, each measurement signal time difference has a one-to-one correspondence with each base station.

Each base station interacts with the target terminal. If the target terminal does not have a time measurement function, that is, cannot transmit the time difference t ₂ -t ₁ back to the base station, it can only synchronize the corresponding measurement signal time difference t ₃ -t ₀ to the data center.

It should be noted that since the signal range of multiple base stations may cover the target terminal at the same time, the data center can send a positioning request to one of the base stations, which will synchronize to the adjacent base stations. Alternatively, the data center can directly determine the multiple base stations whose signal range covers the target terminal and send positioning requests to each base station synchronously.

S302: Generate multiple single-sided hyperbolas according to the time difference of each measurement signal and the position information of each base station.

Among them, the unilateral hyperbola is used to describe the alternative positions of the target terminal.

The location information of each base station may be the geographical location information of each base station, represented by longitude and latitude, and pre-stored in the data center.

It can be understood that, when the signal transmission speed is equal, the time difference of the measured signal corresponding to each base station and the distance between each base station and the target terminal also have a one-to-one correspondence. In this way, the position information of each base station can be focused on each other, and multiple hyperbolas can be determined based on the time difference of the measured signal of each base station. According to the properties of the hyperbola, the hyperbola is the trajectory of points whose distance difference from two fixed points is a constant. Therefore, if the distance difference from a point on a hyperbola to the corresponding two base stations is a constant value, which meets the conditions of the location of the target terminal, the point set of the hyperbola can be used as an alternative location of the target terminal.

Furthermore, since the hyperbola has two sides, one side of the hyperbola can be determined as a point set of candidate positions of the target terminal according to the time difference of the measured signals between the target terminal and each base station.

S303: Determine the location of the target terminal according to the intersection points between the unilateral hyperbolas.

Each unilateral hyperbola is a point set representing an alternative position of the target terminal. Therefore, the intersection point between multiple unilateral hyperbolas is the point where the target terminal satisfies the measurement signal time difference with each base station and can be used as the position of the target terminal.

It should be noted that when the positioning time is short and each base station only communicates with the target terminal once, there may be errors in the time difference of the measurement signals sent by each base station. At this time, the unilateral hyperbolas may not intersect at one point, and the intersection may be an intersection area. When the intersection area is smaller than the preset minimum area, the intersection area can be used as the location of the target terminal.

In this embodiment, the data center determines the location of the target terminal directly based on the information provided by the base station according to the location information of each base station and the time difference of the measurement signals corresponding to each base station, without knowing the measurement time on the target terminal side, thereby improving the version compatibility of the positioning function of the data center with the target terminal and the positioning accuracy of the target terminal.

Optionally, as shown in FIG. 4 , in the above step S302 , multiple single-sided hyperbolas are generated according to the time difference of each measurement signal and the location information of each base station, which can be implemented by the following steps S401 to S402 .

S401, calculating and obtaining the equipment distance difference between the target terminal and each base station according to the product of the measured signal time difference and the preset signal propagation speed.

The device distance difference may be the product of the measured signal time difference and the preset signal propagation speed. The preset signal propagation speed may be determined according to the propagation medium. When the target terminal communicates via a wireless network or a wired optical fiber, the preset signal propagation speed may be set to c. Let the measured signal time difference t ₃ -t ₀ of each base station be T, and the device distance difference is T*c.

It should be noted that since the measurement signal time difference T corresponding to each base station represents the sum of the two-way communication time between each base station and the target terminal and the processing delay time of the target terminal, the device distance difference corresponding to each base station does not represent the actual distance between the target terminal and each base station.

S402, generating a plurality of single-sided hyperbolas according to the equipment distance difference of each base station and the position information of each base station.

From the above steps, it can be seen that the device distance difference corresponding to each base station does not represent the actual distance, but the difference between the device distance differences corresponding to each base station is certain. Therefore, each base station can be paired with each other and used as a focus to generate multiple sets of double-sided hyperbolas.

After multiple sets of double-sided hyperbolas are determined, since the hyperbola also has the actual meaning of describing the distance between the target terminal and each base station, one of the single-sided hyperbolas can be determined as the candidate point set for the location of the target terminal according to the measurement signal time difference or device distance difference corresponding to each base station.

In this embodiment, the device distance difference corresponding to each base station is calculated based on the measured signal time difference of the target terminal and the preset signal propagation speed, and then multiple single-sided hyperbolas are generated to ensure the accuracy of the target terminal position.

Optionally, in the above step S402, multiple single-sided hyperbolas are generated according to the equipment distance difference of each base station and the location information of each base station, which can be implemented by the following steps S501 to S504. It should be noted that the execution steps of the following steps S501-S502 and the following steps S503-S504 are not limited, and can be executed simultaneously, or steps S501-S502 are executed first, and then steps S503-S504 are executed, or steps S503-S504 are executed first, and then steps S501-S502 are executed.

S501: Determine a first double-sided hyperbola according to a difference between a first device distance difference of a first base station and a second device distance difference of a second base station.

The first base station is any base station among the multiple base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is greater than the first device distance difference.

Note that the first distance between the first base station _P1 and the target terminal is less than the second distance between the second base station _P2 and the target terminal, then the measurement signal time difference _T2 corresponding to the second base station is greater than the measurement signal time difference _T1 corresponding to the first base station. Further, the second device distance difference _T2 *c corresponding to the second base station is greater than the first device distance difference _T1 *c corresponding to the first base station.

According to the above embodiment, the trajectory whose distance difference from two fixed points in the plane is equal to a constant is called a hyperbola. Since the second device distance difference is greater than the first device distance difference, and for the same target terminal, the value of the second device distance difference minus the first device distance difference T ₂ *cT ₁ *c is a constant, T ₂ *cT ₁ *c can be used as a constant, and the first base station P ₁ and the second base station P ₂ are foci to generate a hyperbola.

S502, according to the comparison result of the first device distance difference and the second device distance difference, determine one of the first double-sided hyperbolas as a first unilateral hyperbola, and the curve distance between the first unilateral hyperbola and the first base station is smaller than the curve distance between the first unilateral hyperbola and the second base station.

The hyperbola generated in the above step S501, the unilateral hyperbola close to the first base station _P1 is generated by taking the difference between the second device distance difference T ₂ *c and the first device distance difference T ₁ *c as a constant, and the unilateral hyperbola close to the second base station _P2 is generated by taking the absolute value of the difference between the first device distance difference T ₁ *c and the second device distance difference T ₂ *c as a constant.

In addition, according to the physical meaning of the hyperbola in the embodiment of the present application, the difference cannot be a negative number, and the second distance between the target terminal and the second base station is greater than the distance between the target terminal and the first base station. As shown in Figure 5, the target terminal should be set on the first unilateral hyperbola _Q12 close to the first base station _P1 .

S503: Determine a second double-sided hyperbola according to a difference between the first device distance difference of the first base station and the third device distance difference of the third base station.

The third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is greater than the second device distance difference.

Optionally, if the target terminal is included in the signal coverage range of the third base station _P3 , and the third distance between the third base station _P3 and the target terminal is greater than the first distance and the second distance, the first base station _P1 and the third base station _P3 can be used as foci, and the third device distance difference _T3 *c and the first device distance difference _T1 *c can be used as constants to generate a bilateral hyperbola.

S504, according to the comparison result of the first device distance difference and the third device distance difference, determine one of the second double-sided hyperbolas as the second unilateral hyperbola, and the curve distance between the second unilateral hyperbola and the third base station is greater than the curve distance between the first unilateral hyperbola and the first base station.

Further, based on the same reason as in the above step S502, since the third device distance difference _T3 *c corresponding to the third terminal is greater than the first device distance difference _T1 *c corresponding to the first terminal, as shown in FIG5, the unilateral hyperbola _Q13 close to the first base station _P1 can be used as the second unilateral hyperbola.

In this embodiment, the first base station, the second base station, and the third base station are each used as a focus, and the difference in the device clustering distance between each two is a constant, and multiple hyperbolas are generated, each of which can accurately represent the point set of the target terminal candidate position.

Optionally, in the above step S303, determining the location of the target terminal according to the intersection points between the unilateral hyperbolas may include: determining the location of the target terminal according to the intersection point of the first unilateral hyperbola and the second unilateral hyperbola.

Continuing to refer to Figure 5, since the first unilateral hyperbola is generated by using the difference between the second device distance difference and the first device distance difference as a constant, even if the difference does not represent the difference in actual distance between the target terminal and the first base station and the second base station, when the actual distance is unknown, the difference can be regarded as the sum of the actual distance difference and the fixed offset.

Similarly, the second unilateral hyperbola includes the same bias. Therefore, when the measurement signal time difference corresponding to the first base station and the measurement signal time difference corresponding to the second base station are accurate, the data center can use the intersection of the first unilateral hyperbola and the second unilateral hyperbola, that is, the five-pointed star position in Figure 5, as the location of the target terminal.

In this embodiment, when the data center cannot know the delayed processing time on the target terminal side, it directly determines the position of the target terminal based on the intersection of the first unilateral hyperbola and the second unilateral hyperbola, thereby ensuring the accuracy of positioning the target terminal.

It should be noted that when the number of base stations is more than 3, the location of the target terminal can be determined by other fitting algorithms, such as the least squares method, or the method in the embodiment of the present application can be used to select 3 base stations to determine the location of the target terminal.

The above steps illustrate the steps of generating multiple single-sided hyperbolas when the time difference of the measurement signals corresponding to each base station has no error. When the time difference of the measurement signals corresponding to each base station has an error, the following embodiments may be further performed to improve the accuracy of positioning the target terminal.

Optionally, as shown in FIG6 , the terminal positioning method provided in the embodiment of the present application may further include the following steps:

S601: Determine a third double-sided hyperbola according to a difference between a second device distance difference of a second base station and a third device distance difference of a third base station.

The third device distance difference is greater than the second device distance difference.

To further improve the accuracy of positioning, on the basis of the first unilateral hyperbola _Q12 and the second unilateral hyperbola _Q13 constructed in the above steps S501-S504, the second base station _P2 and the third base station _P3 can be used as foci, and the difference between the third device distance difference _T3 *c corresponding to the third base station _P3 and the second device distance difference _T2 *c corresponding to the second base station is used as a constant to generate a third bilateral hyperbola.

S602: Determine one of the third double-sided hyperbolas as a third unilateral hyperbola according to a comparison result between the second device distance difference and the third device distance difference.

A curve distance between the third unilateral hyperbola and the second base station is smaller than a curve distance between the first unilateral hyperbola and the third base station.

Based on the same reason as steps S502 and S504, since the third device distance difference _T3 *c corresponding to the third terminal is greater than the first device distance difference _T2 *c corresponding to the second terminal, as shown in FIG7, the unilateral hyperbola _Q23 close to the second base station _P2 can be used as the second unilateral hyperbola.

In this embodiment, a third unilateral hyperbola is constructed based on the first and second unilateral hyperbolas, which improves the accuracy of positioning the target terminal when there is an error in the time difference of the measurement signals synchronized by each base station.

Optionally, in the above step S303, determining the location of the target terminal according to the intersection points between the unilateral hyperbolas may also include: determining the location of the target terminal according to the intersection points of the first unilateral hyperbola, the second unilateral hyperbola, and the third unilateral hyperbola.

The third unilateral hyperbola is constructed by using the difference between the distance difference of the third device and the distance difference of the second device as a constant, which can be understood as the sum of the difference between the actual distance between the third base station and the target terminal and the actual distance between the second base station and the target terminal and a fixed offset. In this way, even if the third unilateral hyperbola does not represent the difference in actual distance, when the first unilateral hyperbola and the second unilateral hyperbola both contain the same offset, the three unilateral hyperbola will intersect at one point, which is the location of the target terminal.

According to the above embodiment, referring to FIG7 , if the measurement signal time difference of each base station is accurate, the intersection point of the first unilateral hyperbola, the second unilateral hyperbola and the third unilateral hyperbola, that is, the five-pointed star position in FIG7 , can be used as the position of the target terminal.

Optionally, if the measurement signal time difference of each base station is inaccurate, the first unilateral hyperbola, the second unilateral hyperbola, and the third unilateral hyperbola may not intersect at one point, but the area where the shaded position in Figure 8 is located. If the area of the area is smaller than the minimum comparison area, the shaded area can be used as the location of the target terminal.

In this embodiment, the intersection point or intersection area of the first unilateral hyperbola, the second unilateral hyperbola, and the third unilateral hyperbola is used as the position of the target terminal, thereby improving the accuracy of positioning the target terminal.

Optionally, as shown in FIG. 9 , in the above step S301 , obtaining the time difference of the measurement signals respectively sent by a plurality of base stations may be implemented by the following steps S701 to S702 .

S701, in response to a positioning instruction from a user, generating a device positioning request and sending it to each base station, where the device positioning request is used to instruct each base station to generate a measurement signal time difference.

The user may send a positioning instruction to the data center through a terminal different from the target terminal. It is understandable that, in order to protect the privacy of the target terminal, only some users who have been given permission in advance can generate and send positioning instructions to the data center. Optionally, the positioning instruction may include an identity string that uniquely identifies the target terminal.

After receiving the positioning instruction, the data center can generate a device positioning request according to the positioning instruction, and determine the location of the corresponding target terminal and at least one base station that the target terminal passes through when communicating with the data center according to the identity string of the target terminal in the positioning instruction.

Next, the target terminal sends a device positioning request to at least one base station whose signal range covers the target terminal. Each base station determines the measurement signal time difference corresponding to each base station through communication with the target terminal.

S702: Receive the measurement signal time difference sent by each base station according to the device positioning request.

Finally, each base station sends the corresponding measured signal time difference to the data center. It should be noted that, in order to improve accuracy, each base station can communicate with the target terminal multiple times, and send the average of the measured signal time differences obtained from multiple communications to the data center as the measured signal time difference.

In this embodiment, each base station generates a measurement signal time difference corresponding to each base station in response to a user's positioning instruction and sends it to the data center, thereby improving the version compatibility of the positioning function of the data center with the target terminal.

Referring to FIG. 10 , an embodiment of the present application further provides a terminal positioning device 100, which can be integrated into the aforementioned data center. Optionally, the terminal positioning device 100 includes:

The acquisition module 1001 is used to acquire the measurement signal time differences respectively sent by multiple base stations, where each measurement signal time difference is used to describe the time difference between each base station sending a signal measurement request message to the target terminal and each base station receiving a measurement signal response message sent by the target terminal;

A generating module 1002, configured to generate a plurality of unilateral hyperbolas according to the time difference of each measurement signal and the position information of each base station, wherein the unilateral hyperbolas are used to describe the candidate position of the target terminal;

The determination module 1003 is used to determine the location of the target terminal according to the intersection points between the unilateral hyperbolas.

In this embodiment, the acquisition module generates a one-sided hyperbola based on the location information of each base station and the time difference of the measurement signals corresponding to each base station, without knowing the measurement time on the target terminal side. Then, the determination module directly determines the location of the target terminal based on the information provided by the base station, thereby improving the version compatibility of the positioning function of the data center with the target terminal and the positioning accuracy of the target terminal.

The generation module 1002 is also specifically used to calculate the device distance difference between the target terminal and each base station according to the product of the measured signal time difference and the preset signal propagation speed; and generate multiple single-sided hyperbolas according to the device distance difference of each base station and the location information of each base station.

The generation module 1002 is also specifically used to determine a first bilateral hyperbola according to a difference between a first device distance difference of the first base station and a second device distance difference of the second base station, wherein the first base station is any base station among a plurality of base stations, the second base station is a base station adjacent to the first base station, and the second device distance difference is greater than the first device distance difference; according to a comparison result of the first device distance difference and the second device distance difference, determine one of the first bilateral hyperbolas as a first unilateral hyperbola, and a curve distance between the first unilateral hyperbola and the first base station is less than a curve distance between the first unilateral hyperbola and the second base station; according to a difference between the first device distance difference of the first base station and a third device distance difference of the third base station, determine a second bilateral hyperbola, the third base station is a base station adjacent to the first base station and the second base station, and the third device distance difference is greater than the second device distance difference; according to a comparison result of the first device distance difference and the third device distance difference, determine one of the second bilateral hyperbolas as a second unilateral hyperbola, and a curve distance between the second unilateral hyperbola and the third base station is greater than a curve distance between the first unilateral hyperbola and the first base station.

The generation module 1002 is also specifically used to determine a third bilateral hyperbola based on the difference between the second device distance difference of the second base station and the third device distance difference of the third base station, where the third device distance difference is greater than the second device distance difference; and based on the comparison result of the second device distance difference and the third device distance difference, determine one of the third bilateral hyperbolas as a third unilateral hyperbola, where the curve distance between the third unilateral hyperbola and the second base station is less than the curve distance between the first unilateral hyperbola and the third base station.

The determination module 1003 is further specifically configured to determine the location of the target terminal according to the intersection point of the first unilateral hyperbola and the second unilateral hyperbola.

The determination module 1003 is further specifically configured to determine the location of the target terminal according to the intersection point of the first unilateral hyperbola, the second unilateral hyperbola, and the third unilateral hyperbola.

The acquisition module is also specifically used to generate a device positioning request in response to a user's positioning instruction and send it to each base station, the device positioning request is used to instruct each base station to generate a measurement signal time difference; and respectively receive the measurement signal time difference sent by each base station according to the device positioning request.

Please refer to Figure 11. This embodiment also provides a processing device, which includes: a processor 2001, a memory 2002 and a bus. The memory 2002 stores machine-readable instructions executable by the processor 2001. When the processing device is running, the above machine-readable instructions are executed. The processor 2001 communicates with the memory 2002 through the bus. The processor 2001 is used to execute the steps of the face recognition method in the above embodiment.

The memory 2002, the processor 2001 and the bus components are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The data processing device of the face recognition system includes at least one software function module that can be stored in the memory 2002 in the form of software or firmware or solidified in the operating system (OS) of the processing device. The processor 2001 is used to execute the executable modules stored in the memory 2002, such as the software function modules and computer programs included in the data processing device of the face recognition system.

Among them, the memory 2002 can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method embodiment are executed. The specific implementation method and technical effect are similar and will not be repeated here.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims (7)

1. A positioning method of a terminal, characterized in that the positioning method is applied to a data center in a positioning system of the terminal, the positioning system of the terminal comprises: the system comprises a data center, a plurality of base stations and a target terminal, wherein the plurality of base stations are respectively in communication connection with the data center and the target terminal;

The method comprises the following steps:

acquiring measurement signal time differences sent by a plurality of base stations respectively, wherein each measurement signal time difference is used for describing a time difference between a signal measurement request message sent by each base station to the target terminal and a measurement signal response message sent by each base station to receive the target terminal;

generating a plurality of single-sided hyperbolas according to the time difference of the measuring signals and the position information of the base stations, wherein the single-sided hyperbolas are used for describing alternative positions of the target terminal;

determining the position of the target terminal according to the intersection point between the unilateral hyperbolas;

the obtaining the time difference of the measurement signals sent by the plurality of base stations comprises the following steps:

Responding to a positioning instruction of a user, generating a device positioning request and sending the device positioning request to each base station, wherein the device positioning request is used for indicating each base station to generate the time difference of the measurement signals;

Respectively receiving the time difference of the measurement signals sent by each base station according to the equipment positioning request;

Generating a plurality of unilateral hyperbolas according to the time difference of the measurement signals and the position information of the base stations, wherein the unilateral hyperbolas comprise:

calculating and acquiring the equipment distance difference between the target terminal and each base station according to the product of the measured signal time difference and the preset signal propagation speed;

Generating a plurality of single-side hyperbolas according to the equipment distance difference of each base station and the position information of each base station;

generating a plurality of unilateral hyperbolas according to the equipment distance difference of each base station and the position information of each base station, wherein the unilateral hyperbolas comprise the following steps:

Determining a first double-sided hyperbola according to a difference value between a first equipment distance difference of a first base station and a second equipment distance difference of a second base station, wherein the first base station is any base station in the plurality of base stations, the second base station is a base station adjacent to the first base station, and the second equipment distance difference is larger than the first equipment distance difference;

Determining one of the first double-sided hyperbolas as a first single-sided hyperbola according to a comparison result of the first equipment distance difference and the second equipment distance difference, wherein the curve distance between the first single-sided hyperbola and the first base station is smaller than that between the first single-sided hyperbola and the second base station;

Determining a second double-sided hyperbola according to a difference value between a first equipment distance difference of the first base station and a third equipment distance difference of a third base station, wherein the third base station is a base station adjacent to the first base station and the second base station, and the third equipment distance difference is larger than the second equipment distance difference;

And determining one of the second double-sided hyperbolas as a second single-sided hyperbola according to a comparison result of the first equipment distance difference and the third equipment distance difference, wherein the curve distance between the second single-sided hyperbola and the third base station is larger than that between the first single-sided hyperbola and the first base station.

2. The positioning method of a terminal according to claim 1, characterized in that the method further comprises:

Determining a third double-sided hyperbola according to a difference value between a second device distance difference of the second base station and a third device distance difference of the third base station, wherein the third device distance difference is larger than the second device distance difference;

And determining one of the third double-sided hyperbolas as a third single-sided hyperbola according to a comparison result of the second equipment distance difference and the third equipment distance difference, wherein the curve distance between the third single-sided hyperbola and the second base station is smaller than that between the first single-sided hyperbola and the third base station.

3. The positioning method of a terminal according to claim 1, wherein determining the location of the target terminal according to the junction between the unilateral hyperbolas comprises:

And determining the position of the target terminal according to the intersection point of the first unilateral hyperbola and the second unilateral hyperbola.

4. The positioning method of a terminal according to claim 2, wherein determining the location of the target terminal according to the intersection of the unilateral hyperbolas comprises:

And determining the position of the target terminal according to the intersection points of the first unilateral hyperbola, the second unilateral hyperbola and the third unilateral hyperbola.

5. A positioning system for a terminal, comprising: the system comprises a data center, a plurality of base stations and a target terminal, wherein the plurality of base stations are respectively in communication connection with the data center and the target terminal;

Each base station is used for sending a signal measurement request message to the target terminal, receiving a measurement signal response message sent by the target terminal, and determining a corresponding measurement signal time difference according to the signal measurement request message and the measurement signal response message;

The data center is used for executing the positioning method of the terminal according to any one of claims 1-4 to position the target terminal.

6. A processing apparatus, characterized in that the processing apparatus comprises: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the processing device is operating, the processor executing the machine-readable instructions to perform the steps of the method of locating a terminal according to any of claims 1-4.

7. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the positioning method of a terminal according to any of claims 1-4.