CN118524517A - Terminal positioning method and related device - Google Patents

Abstract

The application discloses a terminal positioning method and a related device, wherein the method comprises the following steps: acquiring positioning reference signals received by M transmitting and receiving points TRP; m is an integer greater than or equal to 2; determining frequency domain channel responses CFR corresponding to the M TRPs respectively based on the M positioning reference signals; and then taking any one CFR of the M CFRs as a reference CFR, respectively calculating quotient between each CFR and the reference CFR to obtain M-1 CFR quotient, determining M-1 arrival time differences according to the M-1 CFR quotient, and then determining the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences. In the embodiment of the application, M-1 CFR quotient is obtained by calculating the quotient between each CFR and the reference CFR, so that the time-frequency error between the terminal and each base station is eliminated, and the measurement accuracy and the positioning accuracy are improved.

Description

Terminal positioning method and related device

Technical Field

The present application relates to the field of computer technology, and in particular to a terminal positioning method and related devices.

Background Art

At present, in order for users to realize location-based services, such as navigation and location sharing, the locations of all users' terminals (such as in-vehicle smart devices, mobile phones, etc.) are generally located and monitored. In the relevant technology, wireless positioning methods are generally used. The wireless positioning method mainly sends a radio signal from the transmitter to the receiver, and the receiver receives and measures the radio signal, and then obtains the distance between the receiver and the transmitter, thereby realizing the positioning of the terminal.

However, since the receiving end and the transmitting end have their own independent time and frequency references (that is, TFR), the receiving end may not be able to accurately measure the time of arrival (TOA) of the radio signal when measuring the received radio signal, that is, it is impossible to accurately obtain the propagation delay of the radio signal in free space, and further cannot achieve accurate positioning of the terminal.

Summary of the invention

Based on the above problems, the present application provides a terminal positioning method and related devices, aiming to solve the problem of low terminal positioning accuracy.

The embodiments of the present application disclose the following technical solutions:

In a first aspect, an embodiment of the present application provides a terminal positioning method, the method comprising:

Acquire positioning reference signals received by M transmitting and receiving points TRP; the M positioning reference signals are the same reference signals sent by the target terminal to be located to the M TRPs at the same time; M is an integer greater than or equal to 2;

Determine, based on the M positioning reference signals, a frequency domain channel response CFR corresponding to each of the M TRPs;

Taking any one of the M CFRs as a reference CFR, and respectively calculating the quotient between each of the CFRs and the reference CFR to obtain M-1 CFR quotients;

Determine M-1 arrival time differences according to the M-1 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to the two TRPs corresponding to the CFR quotient when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP;

The three-dimensional coordinates of the target terminal are determined according to the M-1 arrival time differences.

Optionally, the acquiring the positioning reference signals received by the M transmitting and receiving points TRP includes:

Acquire M×Q positioning reference signals received by the M TRPs; the M×Q positioning reference signals are the same reference signals sent Q times by the target terminal to the M TRPs according to a preset period; Q is an integer greater than or equal to 2;

The determining, based on the M positioning reference signals, a frequency domain channel response CFR corresponding to each of the M TRPs, comprises:

Determine, based on the M×Q positioning reference signals, Q CFRs corresponding to each of the M TRPs;

The step of taking any one of the M CFRs as a reference CFR and calculating the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients includes:

Taking Q CFRs corresponding to any one TRP among the M×Q CFRs as reference CFRs, to obtain Q reference CFRs;

The quotients between the Q CFRs corresponding to each TRP and the Q reference CFRs are calculated respectively to obtain (M-1)×Q CFR quotients.

Optionally, the determining, based on the M×Q positioning reference signals, Q CFRs corresponding to each of the M TRPs includes:

Sampling the positioning reference signal received by each of the TRPs each time to obtain a sampling sequence;

Performing discrete Fourier transform on each of the M×Q sampling sequences to obtain frequency domain sampling results corresponding to each of the sampling sequences;

Determine Q CFRs corresponding to each of the M TRPs according to the M×Q frequency domain sampling results.

Optionally, determining M-1 arrival time differences according to the M-1 CFR quotients includes:

Performing Doppler analysis on Q target CFR quotients to obtain Doppler analysis results; the Q target CFR quotients are Q CFR quotients in any group of M-1 groups among the (M-1)×Q CFR quotients;

Perform delay spectrum estimation based on the Doppler analysis result to determine a two-dimensional power spectrum corresponding to the target CFR quotient; the first dimension of the two-dimensional power spectrum indicates the arrival time difference, and the second dimension of the two-dimensional power spectrum indicates the Doppler frequency difference;

Determine the Doppler frequency difference and arrival time difference corresponding to the target CFR quotient according to the two-dimensional power spectrum;

Determine M-1 arrival time differences and M-1 Doppler frequency differences corresponding to the (M-1)×Q CFR quotients according to a method for determining the arrival time differences and Doppler frequency differences corresponding to the target CFR quotients;

The determining the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences includes:

The three-dimensional coordinates of the target terminal are determined based on the M-1 arrival time differences and the M-1 Doppler frequency differences; the Doppler frequency difference indicates the difference between the Doppler frequencies corresponding to the two TRPs corresponding to the CFR quotient of the target terminal movement, and the Doppler frequency indicates the change in the frequency of the positioning reference signal generated by the relative movement between the target terminal and the TRP.

Optionally, the method further comprises:

Obtaining positioning reference signals received by N antennas in each of the M TRPs; the M×N positioning reference signals are the same reference signals sent by the target terminal to the N antennas in each of the M TRPs at the same time; the M is an integer greater than or equal to 2; the N is an integer greater than or equal to 2;

Determine, based on the M×N positioning reference signals, a frequency domain channel response CFR corresponding to each of the N antennas in each TRP in the M TRPs;

Taking any one of the M TRPs as a target TRP, and taking N CFRs corresponding to N antennas corresponding to the target TRP as N target reference CFRs;

Calculate the quotients between the N CFRs corresponding to each of the TRPs and the N target reference CFRs corresponding to the target TRP to obtain (M-1)×N ² CFR quotients;

Determine (M-1) arrival time differences according to the (M-1)× ^N2 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to two TRPs corresponding to the CFR quotients when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP;

The three-dimensional coordinates of the target terminal are determined according to the M-1 arrival time differences.

Optionally, acquiring positioning reference signals received by M TRPs includes:

Obtain positioning reference signals received by N antennas in each of the M TRPs; the M×N positioning reference signals are the same reference signals sent by the target terminal to be located to the N antennas in each of the M TRPs at the same time; the M is an integer greater than or equal to 2; the N is an integer greater than or equal to 2;

The determining, based on the M positioning reference signals, a frequency domain channel response CFR corresponding to each of the M TRPs, comprises:

Determine the beam domain signal corresponding to each of the TRPs based on the positioning reference signals received by the N antennas in each of the TRPs;

The beam domain CFR corresponding to each of the M TRPs is determined based on the M beam domain signals.

Optionally, determining the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences includes:

According to the M-1 arrival time differences and the M-1 Doppler frequency differences, the three-dimensional coordinates of the target terminal are calculated by using any one of a hyperbolic positioning algorithm, a Chan algorithm, a Kalman filter algorithm or a particle filter algorithm.

In a second aspect, an embodiment of the present application provides a terminal positioning device, the device comprising:

An acquisition module is used to acquire positioning reference signals received by M transmitting and receiving points TRP; the M positioning reference signals are the same reference signals sent by the target terminal to be located to the M TRPs at the same time; M is an integer greater than or equal to 2;

A CFR determination module, configured to determine a frequency domain channel response CFR corresponding to each of the M TRPs based on the M positioning reference signals;

A CFR quotient determination module, used to take any one of the M CFRs as a reference CFR, and respectively calculate the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients;

A difference determination module is used to determine M-1 arrival time differences according to the M-1 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to two TRPs corresponding to the CFR quotient when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP;

The terminal positioning module is used to determine the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences.

In a third aspect, an embodiment of the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the terminal positioning method as described in the first aspect is implemented.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium. When the instructions are executed on a terminal device, the terminal device executes the terminal positioning method as described in the first aspect.

Compared with the prior art, this application has the following beneficial effects:

The terminal positioning method provided in the embodiment of the present application is achieved by acquiring the positioning reference signals received by M transmitting and receiving points TRP; wherein the M positioning reference signals are the same reference signals sent by the target terminal to be positioned to the M TRPs at the same time; the M is an integer greater than or equal to 2; further determining the frequency domain channel response CFR corresponding to each of the M TRPs based on the M positioning reference signals; then taking any one of the M CFRs as a reference CFR, and calculating the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients, determining M-1 arrival time differences based on the M-1 CFR quotients, and then determining the three-dimensional coordinates of the target terminal based on the M-1 arrival time differences. Among them, the embodiment of the present application obtains M-1 CFR quotients by calculating the quotient between each CFR and the reference CFR to eliminate the time-frequency error between the terminal and each base station, thereby improving the measurement accuracy and positioning accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

FIG1 is a schematic diagram of a flow chart of a terminal positioning method provided in an embodiment of the present application;

FIG2 is a schematic diagram of a flow chart of another terminal positioning method provided in an embodiment of the present application;

FIG3 is a schematic diagram of a terminal positioning method provided in an embodiment of the present application;

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

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

FIG6 is a schematic diagram of the structure of a terminal positioning device provided in an embodiment of the present application.

DETAILED DESCRIPTION

As described above, in the research on terminal positioning, it was found that the wireless positioning method is generally used in the relevant technology. The wireless positioning method mainly sends a radio signal from the transmitter to the receiver, the receiver receives and measures the radio signal, and then obtains the distance between the receiver and the transmitter, thereby realizing the positioning of the terminal.

As an example, for uplink wireless positioning, the terminal device to be located transmits a radio signal, the base station receives the radio signal, and measures the positioning parameters of the radio signal, such as the arrival angle, departure angle, and arrival time. Finally, based on the positioning parameter measurement results, the position estimation and continuous positioning of the terminal device are achieved; for downlink positioning, the device that transmits the radio signal is the base station, and the device that receives the radio signal is the terminal device, and other processes are similar.

It should be noted that in this example, the terminal device is used as the transmitting end and the base station is used as the receiving end. In some cases, the terminal device can be used as the receiving end and the base station can be used as the transmitting end. No specific limitation is made on the receiving end or the transmitting end.

However, since the receiving end and the transmitting end have their own independent time and frequency references (also known as time-frequency), the receiving end may not be able to accurately measure the arrival time (TOA) of the radio signal when measuring the received radio signal, that is, it is impossible to accurately obtain the propagation delay of the radio signal in free space, and further cannot achieve accurate positioning of the terminal.

Based on the above technical problems, an embodiment of the present application provides a terminal positioning method and related devices, the method comprising: obtaining positioning reference signals received by M transmitting and receiving points TRP; wherein the M positioning reference signals are the same reference signals sent by the target terminal to be positioned to the M TRPs at the same time; the M is an integer greater than or equal to 2; further determining the frequency domain channel response CFR corresponding to each of the M TRPs based on the M positioning reference signals; then taking any one of the M CFRs as a reference CFR, and calculating the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients, determining M-1 arrival time differences based on the M-1 CFR quotients, and then determining the three-dimensional coordinates of the target terminal based on the M-1 arrival time differences.

In this way, the embodiment of the present application obtains M-1 CFR quotients by calculating the quotient between each CFR and the reference CFR to eliminate the time-frequency error between the terminal and each base station, and uses the multi-frame signal with the time-frequency error eliminated to achieve coherent accumulation, thereby improving the measurement accuracy and positioning accuracy.

In order to enable those skilled in the art to better understand the present application, the technical solutions 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 only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

Refer to Figure 1, which is a schematic flow chart of a terminal positioning method provided in an embodiment of the present application.

As shown in FIG1 , the terminal positioning method provided in the embodiment of the present application may include:

S101: Obtain positioning reference signals received by M transmitting and receiving points TRP.

Among them, the M positioning reference signals are the same reference signals sent by the target terminal to be located to M TRPs at the same time; M is an integer greater than or equal to 2.

Positioning reference signal means a signal used as a reference for terminal positioning, and the positioning reference signal is a wireless signal. Target terminal means a terminal device to be located that supports wireless communication, which can also be called a terminal, a terminal device or a target terminal device. The target terminal can be a mobile phone, a tablet, a laptop computer, a vehicle-mounted system, etc., which is not specifically limited here.

Transmission Reception Point (TRP): The TRP of a communication base station usually includes an antenna and a radio frequency processing unit to complete the transmission and reception of signals and the processing of radio frequency signals. A communication base station usually includes multiple TRPs.

It should be understood that in the embodiment of the present application, multiple independent signal samples can be obtained through multiple positioning reference signals, that is, these signal samples can offset the signal fluctuations caused by factors such as environmental noise and multipath effects to a certain extent. Therefore, compared with using a single positioning reference signal to locate the terminal, using the fusion result of multiple positioning reference signals to locate the terminal will be more stable, thereby improving the positioning accuracy.

S102: Determine the frequency domain channel response CFR corresponding to each of the M TRPs based on the M positioning reference signals.

Frequency domain channel response (CFR) refers to the response of signal characteristics in different frequency ranges, which is used to describe multipath propagation. CFR generally includes two responses: amplitude/frequency and phase/frequency. Specifically, CFR is an important parameter for describing channel characteristics in wireless communication. CFR reflects the response of the signal at different frequencies during transmission due to factors such as multipath effects, attenuation, and scattering of the channel.

It should be understood that since CFR reflects the frequency response of the positioning reference signal in the transmission channel, that is, it includes changes in amplitude and phase. These changes are closely related to factors such as the length of the positioning reference signal propagation path and obstacles in the path, that is, CFR contains information related to the location of the target terminal. Furthermore, due to the influence of the multipath effect, the positioning reference signal may reach the receiving end through multiple paths during the propagation process (conversely, the target terminal can send positioning reference signals to multiple base stations through multiple paths). Due to the different lengths and characteristics of different paths, there are time differences and phase differences when the positioning reference signal reaches the receiving end (each base station). These differences are manifested in CFR as amplitude and phase changes at different frequencies, which can be used to estimate the location of the target terminal.

S103: taking any one of the M CFRs as a reference CFR, and respectively calculating the quotient between each of the CFRs and the reference CFR to obtain M-1 CFR quotients.

It should be understood that, in order to simplify the process, in the embodiment of the present application, any one of the M CFRs can be used as a reference CFR, and all CFRs except the reference CFR are divided by the reference CFR to obtain M-1 CFR quotients.

In a possible implementation, a CFR with the best signal quality among the M CFRs may be selected as a reference CFR or a CFR with the highest power as a reference CFR to reduce error propagation and improve the accuracy of terminal positioning.

In another possible implementation, the M CFRs may be arranged according to a certain rule, such as sorting according to the distances between base stations corresponding to the multiple CFRs, and then calculating the quotient between the CFRs corresponding to two adjacent base stations, thereby obtaining multiple groups of CFR quotients.

It should be understood that, on the one hand, since in complex indoor environments (such as underground garages and shopping malls), multipath effects and signal attenuation may cause errors in a single CFR measurement, the features related to the terminal location can be further refined by calculating the CFR quotient. In other words, the CFR quotient can eliminate or reduce the existing errors, thereby improving the accuracy of terminal positioning. On the other hand, since common factors (such as transmitter power fluctuations, environmental noise, etc.) may also cause errors, when using multiple receiving points or multiple measurements, calculating the CFR quotient can eliminate or reduce common errors, making the CFR quotient a more robust and reliable feature for terminal positioning.

S104: Determine M-1 arrival time differences according to the M-1 CFR quotients.

The Time Difference of Arrival (TDOA) indicates the difference in arrival time between the two TRPs corresponding to the CFR quotient when the positioning reference signal sent by the target terminal arrives at the TRP. TDOA estimates the location of the target terminal based on the time difference when the positioning reference signal arrives at different base stations.

Specifically, when the positioning reference signal is sent from the target terminal, the time it takes for the positioning reference signal to reach different base stations will be different because the signal propagates to different base stations at different distances. By determining these time differences and combining them with the location information of each base station, the location of the target terminal can be estimated.

S105: Determine the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences.

Three-dimensional coordinates are a system used to represent the position of a point in three-dimensional space. In a three-dimensional coordinate system, each point is uniquely identified by three coordinate values (usually called x, y, and z). These three coordinate values represent the displacement or position of the point in three-dimensional space along three mutually perpendicular coordinate axes (x-axis, y-axis, and z-axis).

The terminal positioning method provided in the embodiment of the present application obtains M-1 CFR quotients by calculating the quotient between each CFR and the reference CFR to eliminate the time-frequency error between the terminal and each base station, and uses the multi-frame signal with the time-frequency error eliminated to achieve coherent accumulation, thereby improving the measurement accuracy and positioning accuracy.

Based on the terminal positioning method provided in the above embodiment, in a possible implementation, in order to provide terminal positioning accuracy, the target terminal may send a positioning reference signal according to a preset period (for example, a positioning reference signal is sent every 1 second), and when M TRPs receive the positioning reference signal according to the preset period (that is, a sequence of positioning reference signals is formed), in combination with FIG2, the embodiment of the present application may also provide a terminal positioning method, which may include:

S201: Obtain M×Q positioning reference signals received by M TRPs.

It should be understood that if M TRPs each receive Q positioning reference signals, then M×Q positioning reference signals received by the M TRPs can be obtained. Among them, the M×Q positioning reference signals are the same reference signals sent Q times by the target terminal to the M TRPs according to a preset period; Q is an integer greater than or equal to 2.

S202: Determine Q CFRs corresponding to each of the M TRPs based on the M×Q positioning reference signals.

It should be understood that, assuming Q positioning reference signals for each TRP, the CFR corresponding to the TRP can be determined according to the Q positioning reference signals corresponding to each TRP. In a possible implementation, step S202 may specifically include:

A1: Use the Q positioning reference signals corresponding to each TRP as sampling sequences to obtain M sampling sequences.

A2: Perform discrete Fourier transform on each sampling sequence to obtain the frequency domain sampling results corresponding to each sampling sequence.

Furthermore, by performing discrete Fourier transform on each sampling sequence, a frequency domain sampling result corresponding to each sampling sequence can be obtained, and the frequency domain sampling result is used to determine the CFR corresponding to the TRP.

A3: Determine Q CFRs corresponding to each of the M TRPs based on the Q frequency domain sampling results.

In a possible implementation, a least square channel estimation algorithm may be used to estimate the frequency domain sampling result corresponding to each base station to obtain the CFR corresponding to each base station.

S203: Take Q CFRs corresponding to any one TRP among the M×Q CFRs as reference CFRs to obtain Q reference CFRs.

It should be understood that in the embodiments of the present application, TRP is used as a unit for explanation. One TRP performs Q measurements to obtain Q positioning reference signals. Then M TRPs perform Q measurements to obtain M×Q positioning reference signals. Furthermore, the Q CFRs corresponding to any TRP can be used as reference CFRs, for example, the Q reference CFRs corresponding to TRPA are (a1, a2, a3, a4). This facilitates the subsequent calculation of the CFR quotient.

S204: Calculate the quotients between the Q CFRs corresponding to each TRP and the Q reference CFRs respectively to obtain (M-1)×Q CFR quotients.

It should be understood that after determining Q reference CFRs of 1 TRP, the quotients between the Q CFRs corresponding to each of the other TRPs except the TRP used for reference and the Q reference CFRs can be further calculated to determine (M-1)×Q CFR quotients.

S205: Determine M-1 arrival time differences and M-1 Doppler frequency differences according to the (M-1)×Q CFR quotients.

The Doppler Difference of Arrival (DDOA) indicates the difference in the Doppler frequencies of the two TRPs corresponding to the target terminal's movement relative to the CFR quotient. The Doppler frequency indicates the change in the frequency of the positioning reference signal generated by the relative movement between the target terminal and the TRP. When the target terminal has different relative movements relative to the two base stations, the frequency of the positioning reference signal sent by the target terminal to the two base stations will change differently due to the Doppler effect. DDOA reflects the relative movement state of the target terminal relative to the two base stations. By measuring DDOA, the position of the target terminal relative to different base stations can be estimated, thereby achieving more accurate positioning.

It should be understood that when TDOA or DDOA is used alone for positioning, it may be affected by some limitations or errors, such as multipath effect, non-line-of-sight (NLOS) propagation, hardware error, etc. Therefore, in order to solve this technical problem, based on the terminal positioning method provided in the above embodiment, in a possible implementation, step S205 may include:

B1: Perform Doppler analysis on Q target CFR quotients to obtain Doppler analysis results.

The Q target CFR quotients are the Q CFR quotients in any one of the M-1 groups of the (M-1)×Q CFR quotients. As an example, assuming there are 3 TRPs, each measured 4 times, there will be (3-1)×4 CFR quotients, where the 4 CFR quotients in any one of the (3-1) groups are used as target CFR quotients to facilitate determination of arrival time difference and Doppler frequency difference.

It should be understood that by analyzing the Doppler characteristics of the CFR quotients from different base stations, the speed of the target terminal can be estimated, thereby achieving more accurate terminal positioning.

B2: Perform delay spectrum estimation based on the Doppler analysis results to determine the two-dimensional power spectrum corresponding to the target CFR quotient.

It should be understood that in order to effectively improve the signal-to-noise ratio during TDOA estimation, time delay spectrum estimation can be further performed based on the Doppler analysis results to determine the two-dimensional power spectrum corresponding to the target CFR quotient. The two-dimensional power spectrum indicates the relationship between the arrival time difference and the Doppler frequency difference. The first dimension of the two-dimensional power spectrum indicates the arrival time difference, and the second dimension of the two-dimensional power spectrum indicates the Doppler frequency difference.

B3: Determine the Doppler frequency difference and arrival time difference corresponding to the target CFR quotient based on the two-dimensional power spectrum.

It should be understood that on the two-dimensional power spectrum, the spectrum peak is a significant feature point, and the spectrum peak usually corresponds to a certain relative position and relative motion state between the target terminal and the base station. Specifically, the TDOA value corresponding to the spectrum peak represents the time difference between the direct path (i.e., the path directly propagating from the target terminal to the base station) reaching the two base stations; and the DDOA value corresponding to the spectrum peak represents the difference in Doppler frequency between the direct path and the two base stations. Therefore, the Doppler frequency difference and arrival time difference corresponding to the target CFR quotient can be determined through the two-dimensional power spectrum.

It should be understood that TDOA and DDOA provide different information about the location of the target terminal. TDOA provides the relative distance difference between the target terminal and different base stations, while DDOA provides the moving speed information of the target terminal relative to the base station. By combining these two kinds of information, the location of the target terminal can be estimated more accurately, especially in complex indoor or outdoor environments.

B4: According to the method for determining the arrival time difference and Doppler frequency difference corresponding to the target CFR quotient, determine M-1 arrival time differences and M-1 Doppler frequency differences corresponding to the (M-1)×Q CFR quotients.

It should be understood that in the embodiment of the present application, it is necessary to calculate the arrival time difference and Doppler frequency difference corresponding to each CFR quotient, so a target CFR quotient is used as an example for explanation, and the calculation process of other CFR quotients refers to the calculation process of the target CFR quotient.

That is, the embodiments of the present application can reduce the impact of these errors by using TDOA and DDOA in combination, and utilize the complementarity between TDOA and DDOA. Even if one of the methods is interfered or has a large error, the other method can still provide useful information, thereby improving the robustness of terminal positioning.

In addition, different environments and scenarios may have different effects on the accuracy and reliability of TDOA and DDOA. For example, in indoor environments, multipath effects and NLOS propagation may have a greater impact on the accuracy of TDOA, while increasing the dimension of DDOA enhances the ability to resolve multipath propagation. In addition, in an open outdoor environment, due to the long signal propagation distance and low signal-to-noise ratio, the signal-to-noise ratio is improved through DDOA dimensional processing, making TDOA estimation more accurate. Therefore, in the face of the impact of complex indoor and outdoor environments on terminal positioning, the embodiments of the present application can adapt to different environments and scenarios by jointly using TDOA and DDOA, providing more flexible and reliable terminal positioning.

S206: Determine the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences and the M-1 Doppler frequency differences.

It should be noted that the advantage of the embodiment of the present application is that the target terminal can improve the positioning accuracy by sending multiple positioning reference signals to each base station according to a preset period, that is, sending multiple positioning reference signals can increase the accuracy of the base station's signal measurement. Since the positioning reference signal may be affected by various factors, such as multipath effects, interference, signal attenuation, etc., a single measurement may have errors. By sending positioning reference signals multiple times, the base station can collect more data samples, average or statistically analyze these samples to reduce random errors, thereby improving positioning accuracy.

Based on the terminal positioning method provided in the above embodiment, the above embodiment selects only a single-path receiving positioning reference signal for each TRP, without considering the multi-antenna situation of each TRP. However, the method of the present invention can also be applied to the situation where each TRP has multiple antennas.

It should be noted that in the embodiments of the present application, a TRP may include one antenna, and a TRP may also include multiple antennas. The aforementioned combinations can be implemented. In the above embodiments, a TEP includes one antenna as an example. In this embodiment, a TRP includes multiple antennas as an example for exemplary description.

In a possible implementation, a terminal positioning method under multiple antennas may include:

C1: Obtain the positioning reference signal received by N antennas in each of the M TRPs.

Among them, the M×N positioning reference signals are the same reference signals sent by the target terminal to the N antennas in each TRP in the M TRPs at the same time; M is an integer greater than or equal to 2; and N is an integer greater than or equal to 2.

C2: Determine the frequency domain channel response CFR corresponding to each of the N antennas in each of the M TRPs based on M×N positioning reference signals.

C3: Take any one of the M TRPs as the target TRP, and take the N CFRs corresponding to the N antennas corresponding to the target TRP as N target reference CFRs.

C4: Calculate the quotients between the N CFRs corresponding to each of the TRPs and the N target reference CFRs corresponding to the target TRP respectively, and obtain (M-1)×N ² CFR quotients.

C5: Determine (M-1) arrival time differences based on the (M-1)×N ² CFR quotients.

Among them, the arrival time difference indicates the difference in arrival time between the two TRPs corresponding to the CFR quotient when the positioning reference signal sent by the target terminal arrives, and the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP.

C6: Determine the three-dimensional coordinates of the target terminal according to the (M-1) arrival time differences.

Among them, in an embodiment of the present application, after each antenna in each TRP receives the positioning reference signal and obtains the CFR quotient corresponding to each antenna, when calculating the CFR quotients of the two TRPs, the receiving CFR quotients of each pair of antennas of the two TRPs can be calculated _in turn. For example, if the first TRP has N1 antennas _and the second TRP has N2 _antennas , then N1N2 _CFR quotients are obtained, which _are used as N1N2 repeated measurements of the CFR quotients to improve the accuracy _of covariance matrix reconstruction in the subsequent spectrum estimation process. As an example, assuming that the first TRP has 3 antennas and the second TRP has 3 antennas, there will be 9 CFR quotients. As another example, assuming that the first TRP has 3 antennas and the second TRP has 4 antennas, 12 groups of CFR quotients can be obtained.

It should be noted that steps C1 to C6 correspond to the above steps S101 to S105 respectively, among which C3 and C4 correspond to step S103. For relevant explanations, please refer to the explanations of steps S101 to S105, which will not be repeated here.

In another possible implementation, the terminal positioning method under multiple antennas may include:

D1: Obtain the positioning reference signal received by N antennas in each of the M TRPs.

Among them, the M×N positioning reference signals are the same reference signals sent by the target terminal to be located to the N antennas in each TRP in the M TRPs at the same time; M is an integer greater than or equal to 2; and N is an integer greater than or equal to 2.

D2: Based on the positioning reference signals received by the N antennas in each of the TRPs, determine the beam domain signals corresponding to each of the TRPs.

D3: Determine the beam domain CFR corresponding to each of the M TRPs based on the M beam domain signals.

D4: Take any one of the M CFRs as a reference CFR, and calculate the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients.

D5: Determine M-1 arrival time differences based on the M-1 CFR quotients.

D6: Determine the three-dimensional coordinates of the target terminal based on M-1 arrival time differences.

The advantage of the embodiments of the present application is that, when the approximate position of the target terminal is known, it can be obtained through other low-complexity positioning algorithms or predicted based on the continuity of the terminal trajectory. Each TRP performs beamforming preprocessing to the estimated direction of the terminal. Each TRP combines the positioning reference signals received by multiple antennas into one (that is, step D2), and then calculates the arrival time difference and Doppler frequency difference of the combined beam domain signal.

It should be noted that steps D1 and D3 to D6 correspond to the above steps S101 to S105 respectively. For relevant explanations, please refer to the explanations of steps S101 to S105, which will not be repeated here.

It should be noted that in the method of determining the three-dimensional coordinates provided by steps C1 to C6 or steps D1 to D6, if Q measurements are performed, step C5 may be to determine (M-1) arrival time differences and (M-1) Doppler frequency differences based on the (M-1)×N ² ×Q CFR quotients, and step D5 may be to determine (M-1) arrival time differences and (M-1) Doppler frequency differences based on (M-1)×Q CFR quotients. That is, when multiple TRPs are measured only once, only the arrival time difference can be determined; if multiple TRPs are measured Q times, the arrival time difference and Doppler frequency difference can be determined.

Based on the terminal positioning method provided in the above embodiment, in a possible implementation, the three-dimensional coordinates of the target terminal can be calculated according to M-1 arrival time differences and M-1 Doppler frequency differences using any one of the Chan algorithm, Kalman filter algorithm, hyperbolic positioning algorithm or particle filter algorithm.

The Chan algorithm is an algorithm for solving the convex hull problem, specifically for optimizing the efficiency and cost of computing the minimum convex hull of a set of points. The Chan algorithm can complete this task in a shorter time by dividing the set of points into small subsets and using partial results to compute the convex hull. It is based on a routine consisting of two sub-problems: finding the minimum convex hull of a set of points, and dividing the points into small parts.

The Kalman filter algorithm is an algorithm used to dynamically estimate and process uncertain information. Its working principle includes initialization, prediction, update, estimation and recursion. It sets the initial state and initial error covariance matrix, predicts the next state and prediction error according to the state transition matrix of the system, and then uses the new measurement data to update the prediction value and error covariance matrix. Finally, the prediction value and the measurement value are combined to calculate the optimal estimate through the Kalman gain.

The hyperbolic positioning algorithm is a radio positioning algorithm that measures the difference between two distances from the point to be determined to at least three known points. During positioning, a shore station group consisting of at least three shore stations (known points) is required to form two position hyperbolas, and the intersection of the two can determine the ship's position.

The particle filter algorithm is a process of finding a set of random samples propagating in the state space to approximate the probability density function, replacing the integral operation with the sample mean, and then obtaining the minimum variance estimate of the system state. Among them, the idea of particle filtering is based on the Monte Carlo method, which uses a particle set to represent probability and can be used in any form of state space model. The distribution is expressed by random state particles extracted from the posterior probability.

Based on the terminal positioning method provided in the above embodiment, referring to FIG3, it is assumed that multiple TRPs (TRP1~TRPM as shown in FIG3) are deployed within the coverage range of the base station, and the position of each TRP has been accurately calibrated. Assuming that the target terminal to be positioned (UE1 as shown in FIG3 is a mobile phone, UE2 is a vehicle, and UE1 is used as an example in the following description) can be covered by each TRP at the same time, the terminal positioning process of the embodiment of the present application is described below using uplink positioning as an example. Among them, the baseband processing of the base station refers to discrete Fourier transform and channel estimation, that is, the baseband processing obtains CFR, and the positioning server is an additional server connected to the base station, which is used to process CFR to perform terminal positioning in the embodiment of the present application. Since the conventional wireless communication system does not include terminal positioning processing, the processing flow of the terminal positioning method is set in the positioning server.

It should be noted that, in this embodiment, multiple TRPs can be TRPs of the same base station or TRPs of different base stations, provided that the same time-frequency reference is used between base stations. The embodiment of the present application is described using TRP as the receiving end, and does not limit whether each TRP is the same base station. In addition, it should be noted that the above embodiment is described using the base station as an example, and the base station can also be replaced by TRP for description, which is not limited here.

In conjunction with FIG. 4 , the embodiment of the present application further provides a terminal positioning method, which may include:

Step 1: UE The positioning reference signal with a certain bandwidth is periodically transmitted at intervals. The positioning reference signal received by the mth TRP is processed by radio frequency and digital intermediate frequency to obtain a sampling sequence as , perform K- point discrete Fourier transform on the sampling sequence to obtain frequency domain sampling , set the reference signal sequence to , the least squares channel estimation can be used to obtain the frequency domain channel response (CFR) corresponding to each TRP: . Where k is the subcarrier number, represents the frequency domain channel response measured by the mth TRP on the kth subcarrier. Taking the ideal channel with only LOS path as an example, the CFR measured in the qth frame can be expressed as the following formula (1):

(1)

in, is the imaginary unit, k is the subcarrier number, q is the frame number, is the subcarrier spacing, is the frame interval, is the signal propagation delay between UE and the mth TRP, and accordingly, is the Doppler frequency of the positioning reference signal transmitted by the target terminal observed by the mth TRP, Since the TRP time-frequency reference is consistent, the random delay and random phase jitter between all TRP frames are the same. The random delay jitter and random phase jitter of the qth frame are recorded as and .

Step 2: Take any one of the multiple CFRs as the reference CFR and calculate the quotient of the CFRs estimated at the two TRPs (the reference CFR and the other CFR). For example, the CFR quotient of the mth TRP (the TRP corresponding to the reference CFR) and the rth TRP is the following formula (2):

(2)

It should be understood that by calculating the quotient between the CFRs corresponding to the two TRPs, the time-frequency synchronization error between the UE and the TRP can be eliminated, and the CFR quotient contains two kinds of information: 1. TDOA, that is, , which is included in the inter-subcarrier phase difference of the CFR quotient/2, the difference in Doppler frequency of the UE relative to the two TRPs, that is, DDOA, which is included in the inter-frame phase difference of the CFR quotient.

In one possible implementation, for these M TRPs, the CFR corresponding to the TRP with the best signal quality (for example, determined based on the received signal strength) can be selected as the reference CFR, and the quotients of the CFRs corresponding to the other M-1 TRPs and the reference CFR can be obtained in turn.

Step 3: Process the M-1 CFR quotients in sequence to obtain M-1 TDOAs and M-1 DDOAs.

Specifically, the Fast Fourier Transform (FFT) can be used to analyze the inter-frame Doppler spectrum (DDOA spectrum) of each subcarrier data in turn. Assume that the coherent accumulation frame number Q has been selected according to the UE radial velocity interval and system parameters, and the maximum radial velocity of the UE is , Q should generally be chosen so that , where B is the signal bandwidth, c is the speed of light, For a preset ratio, you can set 1/5, which means that during the coherent accumulation process, the maximum distance of the UE movement does not exceed 1/5 of the distance unit, and the distance movement can be ignored. Select the number of FFT points used for Doppler spectrum analysis to obtain the Doppler analysis results.

Further assume that a Doppler spectrum analysis result is The data of each Doppler channel , perform time delay spectrum (TDOA spectrum) estimation.

Among them, k represents the frequency dimension, p represents the Doppler channel dimension, then the delay spectrum is estimated for each Doppler channel in turn. represents all elements in the p -th column of this matrix, and : means taking all elements.

The delay spectrum estimation process can use the traditional periodogram algorithm based on single-point least squares, or super-resolution algorithms such as Capon and multiple signal classification. Assume that in the TDOA spectrum estimation process, the search range of TDOA is , the search interval is selected as , usually, It should be selected to be 1/10 to 1/5 of 1/B. Divide the search scope , and record the obtained search grid point set as The delay matching vector function is , whose input is the TDOA value , the output is a K×1-dimensional delay matching vector. According to formula (2), when the input is When , the kth element of the output matching vector is .

As an example, when the periodogram algorithm based on single-point least squares is used to estimate the delay spectrum, the following least squares optimization problem (Formula (3)) is solved:

(3)

The solution of formula (3) is:

In another example, when the Capon algorithm is used for delay spectrum estimation, the optimal weight vector obtained by linear constrained minimum variance is used for spectrum search, and the calculation method of the TDOA Capon spectrum is (Formula (4)):

(4)

in, is the data covariance matrix. In the implementation process, in order to improve the accuracy of Capon spectrum estimation, spatial smoothing technology can be used for preprocessing.

In the above two examples, The matrix S is the TDOA-DDOA two-dimensional power spectrum. The TDOA and DDOA values corresponding to the spectrum peaks represent the time difference between the direct paths reaching the two TRPs and the Doppler frequency difference, respectively.

Step 4: Based on the M-1 TDOAs and M-1 DDOAs, the Chan algorithm, Kalman filter or particle filter algorithm is used to locate the terminal and obtain the coordinates of the terminal in the three-dimensional space.

As an example, these M-1 TDOAs can be used to implement three-dimensional positioning using the principle of hyperbolic positioning. As shown in Figure 5, the specific process is:

The positions of TRP-1, TRP-2, and TRP-3 are known, and the distance difference R ₂ -R ₁ is obtained based on the TDOA of the received signals of TRP-2 and TRP-1, thereby determining that the terminal is on the hyperbola with TRP-1 and TRP-2 as the focus. Similarly, based on the TDOA between TRP-3 and TRP-1, it can be determined that the terminal is on the hyperbola with TRP-1 and 3 as the focus. The terminal positioning can be completed by the intersection of multiple hyperbolas, as shown in Figure 5. It should be noted that Figure 5 only illustrates a two-dimensional situation, and in practice, the three-dimensional positioning of the terminal can be achieved through the hyperbolic positioning of multiple TDOAs.

As another example, when the target terminal is running dynamically, the idea of sliding window can be used to continuously obtain TDOA and DDOA according to the terminal positioning method provided in the embodiment of the present application, and based on the terminal motion state equation, Kalman filtering or particle filtering is used to realize continuous positioning of the target terminal. The specific process is:

From the start time to the reception of the Qth frame, the first TDOA and DDOA spectrum estimation begins, and the first TDOA and DDOA are obtained. Then, when the Q+1 frame is received, the TDOA and DDOA are determined using the 2 to Q+1 frame CFR. This process is performed sequentially. The coordinates of the terminal in three-dimensional space at time q (q≥Q) and velocity vector constitutes its state variable, namely Without loss of generality, let the reference TRP be TRP No. 1. For continuous positioning, the TDOA and DDOA between the mth TRP and the first TRP constitute the observed quantity. Let the mth group of TDOA and DDOA at the qth moment be

and , then the observation equation can be written as the following formula (5):

(5)

in, Represents the vector norm, is the position vector of the mth TRP. According to the physical meaning of Doppler frequency, it is linearly related to the radial velocity, so there is formula (6):

(6)

It can be seen from the above observation equation (Formula (5)) that the above constructed observation equation effectively utilizes the DDOA observation value to improve the positioning result.

It should be understood that in the embodiments of the present application, when the target terminal is in a stationary state, the terminal can be positioned by one of the results of TDOA, TDOA and DDOA. When the target terminal is in a moving state, the terminal can be jointly positioned by TDOA and DDOA. The position of the target terminal can be determined more accurately, and the position of the target terminal at the next moment can be further estimated, thereby achieving continuous positioning of the target terminal.

Based on the terminal positioning method provided in the above embodiment, referring to FIG6 , the embodiment of the present application further provides a terminal positioning device, the device 600 including:

The acquisition module 601 is used to acquire positioning reference signals received by M transmitting and receiving points TRP; the M positioning reference signals are the same reference signals sent by the target terminal to be located to the M TRPs at the same time; M is an integer greater than or equal to 2;

A CFR determination module 602 is configured to determine a frequency domain channel response CFR corresponding to each of the M TRPs based on the M positioning reference signals;

A CFR quotient determination module 603 is used to take any one of the M CFRs as a reference CFR, and respectively calculate the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients;

The difference determination module 604 is used to determine M-1 arrival time differences according to the M-1 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to the two TRPs corresponding to the CFR quotients when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP;

The terminal positioning module 605 is configured to determine the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences.

As an example, the acquisition module 601 includes:

an acquisition unit, configured to acquire M×Q positioning reference signals received by the M TRPs; the M×Q positioning reference signals are the same reference signals sent Q times by the target terminal to the M TRPs according to a preset period; and Q is an integer greater than or equal to 2;

The CFR determination module 602 includes:

A CFR determining unit, configured to determine Q CFRs corresponding to each of the M TRPs based on the M×Q positioning reference signals;

The CFR quotient determination module 603 is used to:

Taking Q CFRs corresponding to any one TRP among the M×Q CFRs as reference CFRs, to obtain Q reference CFRs;

The quotients between the Q CFRs corresponding to each TRP and the Q reference CFRs are calculated respectively to obtain (M-1)×Q CFR quotients.

As an example, the CFR determination unit includes:

The sequence subunit is used to sample the positioning reference signal received by each TRP each time to obtain a sampling sequence;

The frequency domain sampling result determination subunit is used to perform discrete Fourier transform on each sampling sequence in the M×Q sampling sequences to obtain the frequency domain sampling result corresponding to each sampling sequence;

The determination subunit is used to determine Q CFRs corresponding to each of the M TRPs according to the M×Q frequency domain sampling results.

As an example, the difference determination module 604 includes:

An analysis unit, configured to perform Doppler analysis on Q target CFR quotients to obtain Doppler analysis results; the Q target CFR quotients are Q CFR quotients in any one group of M-1 groups among the (M-1)×Q CFR quotients;

An estimation unit, configured to perform delay spectrum estimation based on the Doppler analysis result, and determine a two-dimensional power spectrum corresponding to a target CFR quotient; wherein a first dimension of the two-dimensional power spectrum indicates an arrival time difference, and a second dimension of the two-dimensional power spectrum indicates a Doppler frequency difference;

A determination unit, used for determining a Doppler frequency difference and an arrival time difference corresponding to a target CFR quotient according to a two-dimensional power spectrum;

A difference determination unit, used to determine the arrival time difference and Doppler frequency difference corresponding to each of the M-1 CFR quotients according to the determination method of the arrival time difference and Doppler frequency difference corresponding to the target CFR quotient;

The terminal positioning module 605 is used to determine the three-dimensional coordinates of the target terminal based on the M-1 arrival time differences and the M-1 Doppler frequency differences; the Doppler frequency difference indicates the difference between the Doppler frequencies corresponding to the two TRPs corresponding to the CFR quotient of the target terminal movement, and the Doppler frequency indicates the change in the frequency of the positioning reference signal generated by the relative movement between the target terminal and the TRP.

As an example, the apparatus 600 further includes:

An acquisition submodule is used to acquire positioning reference signals received by N antennas in each of the M TRPs; the M×N positioning reference signals are the same reference signals sent by the target terminal to the N antennas in each of the M TRPs at the same time; M is an integer greater than or equal to 2; N is an integer greater than or equal to 2;

A CFR determination submodule, configured to determine a frequency domain channel response CFR corresponding to each of the N antennas in each of the M TRPs based on the M×N positioning reference signals;

A reference submodule, used to use any one of the M TRPs as a target TRP, and use N CFRs corresponding to N antennas corresponding to the target TRP as N target reference CFRs;

A calculation submodule, used to respectively calculate the quotients between the N CFRs corresponding to each TRP and the N target reference CFRs corresponding to the target TRP, to obtain (M-1)×N ² CFR quotients;

A determination submodule is used to determine (M-1) arrival time differences according to (M-1)× ^N2 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to the two TRPs corresponding to the CFR quotients when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP;

The positioning submodule is used to determine the three-dimensional coordinates of the target terminal based on (M-1) arrival time differences.

Wherein, when multiple TRPs perform Q measurements, the determination submodule is further used to determine (M-1) arrival time differences and (M-1) Doppler frequency differences according to (M-1)× ^N2 ×Q CFR quotients; the arrival time difference indicates the difference in arrival time when the positioning reference signal sent by the target terminal arrives at the two TRPs corresponding to the CFR quotient, and the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP; the Doppler frequency difference indicates the difference in Doppler frequency when the target terminal moves relative to the two TRPs corresponding to the CFR quotient, and the Doppler frequency indicates the change in the frequency of the positioning reference signal generated by the relative movement between the target terminal and the TRP.

As an example, the acquisition module 601 is used to:

Obtain positioning reference signals received by N antennas in each of the M TRPs; the M×N positioning reference signals are the same reference signals sent by the target terminal to be located to the N antennas in each of the M TRPs at the same time; M is an integer greater than or equal to 2; N is an integer greater than or equal to 2;

CFR determination module for:

Based on the positioning reference signals received by N antennas in each TRP, the beam domain signal corresponding to each TRP is determined;

The beam domain CFR corresponding to each of the M TRPs is determined based on the M beam domain signals.

As an example, the terminal positioning module 605 is used to:

According to M-1 arrival time differences, the three-dimensional coordinates of the target terminal are calculated using any one of the hyperbolic positioning algorithm, ChaM algorithm, Kalman filter algorithm or particle filter algorithm.

The terminal positioning device provided in the embodiment of the present application has the same beneficial effects as the terminal positioning method provided in the above embodiment, and therefore will not be described in detail.

The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the terminal positioning method described in any embodiment of the present application.

The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the terminal positioning method described in any embodiment of the present application.

It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The device and equipment embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without paying creative labor.

The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as a read-only memory (ROM)/RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

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 should be based on the protection scope of the claims.

Claims (10)

1. A terminal positioning method, characterized in that the method comprises: Acquire positioning reference signals received by M transmitting and receiving points TRP; the M positioning reference signals are the same reference signals sent by the target terminal to be located to the M TRPs at the same time; M is an integer greater than or equal to 2; Determine, based on the M positioning reference signals, a frequency domain channel response CFR corresponding to each of the M TRPs; Taking any one of the M CFRs as a reference CFR, and respectively calculating quotients between the other CFRs and the reference CFR to obtain M-1 CFR quotients; Determine M-1 arrival time differences according to the M-1 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to the two TRPs corresponding to the CFR quotients when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP; The three-dimensional coordinates of the target terminal are determined according to the M-1 arrival time differences. 2. The method according to claim 1, characterized in that the step of obtaining the positioning reference signals received by the M transmitting and receiving points TRP comprises: Acquire M×Q positioning reference signals received by the M TRPs; the M×Q positioning reference signals are the same reference signals sent Q times by the target terminal to the M TRPs according to a preset period; Q is an integer greater than or equal to 2; The determining, based on the M positioning reference signals, a frequency domain channel response CFR corresponding to each of the M TRPs, comprises: Determine, based on the M×Q positioning reference signals, Q CFRs corresponding to each of the M TRPs; The step of taking any one of the M CFRs as a reference CFR and calculating the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients includes: Taking Q CFRs corresponding to any one TRP among the M×Q CFRs as reference CFRs, to obtain Q reference CFRs; The quotients between the Q CFRs corresponding to each TRP and the Q reference CFRs are calculated respectively to obtain (M-1)×Q CFR quotients. 3. The method according to claim 2, characterized in that the determining, based on the M×Q positioning reference signals, Q CFRs corresponding to each of the M TRPs comprises: Sampling the positioning reference signal received by each of the TRPs each time to obtain a sampling sequence; Performing discrete Fourier transform on each of the M×Q sampling sequences to obtain frequency domain sampling results corresponding to each of the sampling sequences; Determine Q CFRs corresponding to each of the M TRPs according to the M×Q frequency domain sampling results. 4. The method according to claim 2, characterized in that the determining of M-1 arrival time differences according to the M-1 CFR quotients comprises: Performing Doppler analysis on Q target CFR quotients to obtain Doppler analysis results; the Q target CFR quotients are Q CFR quotients in any group of M-1 groups among the (M-1)×Q CFR quotients; Perform delay spectrum estimation based on the Doppler analysis result to determine a two-dimensional power spectrum corresponding to the target CFR quotient; the first dimension of the two-dimensional power spectrum indicates the arrival time difference, and the second dimension of the two-dimensional power spectrum indicates the Doppler frequency difference; Determine the Doppler frequency difference and arrival time difference corresponding to the target CFR quotient according to the two-dimensional power spectrum; Determine M-1 arrival time differences and M-1 Doppler frequency differences corresponding to the (M-1)×Q CFR quotients according to a method for determining the arrival time differences and Doppler frequency differences corresponding to the target CFR quotients; The determining the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences includes: The three-dimensional coordinates of the target terminal are determined based on the M-1 arrival time differences and the M-1 Doppler frequency differences; the Doppler frequency difference indicates the difference between the Doppler frequencies corresponding to the two TRPs corresponding to the CFR quotient of the target terminal movement, and the Doppler frequency indicates the change in the frequency of the positioning reference signal generated by the relative movement between the target terminal and the TRP. 5. The method according to claim 1, characterized in that the method further comprises: Obtaining positioning reference signals received by N antennas in each of the M TRPs; the M×N positioning reference signals are the same reference signals sent by the target terminal to the N antennas in each of the M TRPs at the same time; the M is an integer greater than or equal to 2; the N is an integer greater than or equal to 2; Determine, based on the M×N positioning reference signals, a frequency domain channel response CFR corresponding to each of the N antennas in each TRP in the M TRPs; Taking any one of the M TRPs as a target TRP, and taking N CFRs corresponding to N antennas corresponding to the target TRP as N target reference CFRs; Calculate the quotients between the N CFRs corresponding to each of the TRPs and the N target reference CFRs corresponding to the target TRP to obtain (M-1)×N ² CFR quotients; Determine (M-1) arrival time differences according to the (M-1)×N ² CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to two TRPs corresponding to the CFR quotients when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP; The three-dimensional coordinates of the target terminal are determined according to the M-1 arrival time differences. 6. The method according to claim 1, characterized in that the step of obtaining the positioning reference signals received by the M transmitting and receiving points TRP comprises: Obtain positioning reference signals received by N antennas in each of the M TRPs; the M×N positioning reference signals are the same reference signals sent by the target terminal to be located to the N antennas in each of the M TRPs at the same time; the M is an integer greater than or equal to 2; the N is an integer greater than or equal to 2; The determining, based on the M positioning reference signals, a frequency domain channel response CFR corresponding to each of the M TRPs, comprises: Determine the beam domain signal corresponding to each of the TRPs based on the positioning reference signals received by the N antennas in each of the TRPs; The beam domain CFR corresponding to each of the M TRPs is determined based on the M beam domain signals. 7. The method according to any one of claims 1 to 6, characterized in that determining the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences comprises: The three-dimensional coordinates of the target terminal are calculated according to the M-1 arrival time differences by using any one of a hyperbolic positioning algorithm, a Chan algorithm, a Kalman filter algorithm or a particle filter algorithm. 8. A terminal positioning device, characterized in that the device comprises: An acquisition module is used to acquire positioning reference signals received by M transmitting and receiving points TRP; the M positioning reference signals are the same reference signals sent by the target terminal to be located to the M TRPs at the same time; M is an integer greater than or equal to 2; A CFR determination module, configured to determine a frequency domain channel response CFR corresponding to each of the M TRPs based on the M positioning reference signals; A CFR quotient determination module, used to take any one of the M CFRs as a reference CFR, and respectively calculate the quotient between each CFR and the reference CFR to obtain M-1 CFR quotients; A difference determination module is used to determine M-1 arrival time differences according to the M-1 CFR quotients; the arrival time difference indicates the difference in arrival time corresponding to two TRPs corresponding to the CFR quotient when the positioning reference signal sent by the target terminal arrives; the arrival time indicates the time when the positioning reference signal sent by the target terminal arrives at the TRP; The terminal positioning module is used to determine the three-dimensional coordinates of the target terminal according to the M-1 arrival time differences. 9. A computer device, characterized in that it comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the terminal positioning method according to any one of claims 1 to 7 is implemented. 10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the terminal positioning method according to any one of claims 1 to 7.