WO2022143092A1 - Positioning method and device, and computer readable storage medium - Google Patents

Abstract

Embodiments of the present application relate to the technical field of communication, and provide a positioning method and device, and a computer readable storage medium. The method comprises: receiving a first request, the first request being used for requesting location information of a terminal to be positioned; and simultaneously sending, according to the first request, configuration information to the terminal to be positioned and a terminal subordinate to a base station, the configuration information being used for instructing the terminal subordinate to the base station to send a positioning reference signal according to the configuration information, and instructing the terminal to be positioned to receive the positioning reference signal according to the configuration information, so as to position the terminal to be positioned.

Description

Positioning method, device and computer-readable storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to the Chinese Patent Application No. 202011625013.X filed with the State Intellectual Property Office on December 31, 2020, the disclosure of which is incorporated herein by reference in its entirety.

technical field

The present application relates to the field of communication technologies, and in particular, the present application relates to a positioning method, a device, and a computer-readable storage medium.

Background technique

At present, the 3GPP architecture does not consider a scenario in which a terminal accessing the base station under the coverage of the base station can also provide a positioning reference signal when data transmission is performed through a sidelink (direct communication link). With the current positioning technology, the positioning reference signals sent by the outdoor coverage base stations cannot meet the requirements of high-precision positioning. If the rate is not high enough, etc., the accuracy of the outdoor positioning results based on the cellular network will be greatly reduced. In the Sidelink scenario, higher requirements are placed on the positioning accuracy. If the existing positioning architecture is used, the positioning accuracy requirements of Sidelink cannot be fully met.

SUMMARY OF THE INVENTION

The present application provides a positioning method, device, and computer-readable storage medium, which can solve the problem that the existing positioning framework cannot meet the positioning accuracy requirement in the Sidelink scenario. The technical solution is as follows:

In a first aspect, a positioning method is provided, executed by a base station, and the method includes:

receiving a first request, where the first request is used to request location information of the located terminal;

According to the first request, configuration information is simultaneously sent to the located terminal and subordinate terminals, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information, and to instruct the located terminal The positioning terminal receives the positioning reference signal according to the configuration information, so as to locate the located terminal.

In a possible implementation manner, the sending configuration information to the located terminal and subordinate terminals simultaneously according to the first request includes:

Configuring corresponding configuration information for the terminal under the target base station;

The configured configuration information is sent to the located terminal and the terminal subordinate to the target base station at the same time.

In another possible implementation manner, the configuring corresponding configuration information for the subordinate terminal includes:

sending a second request to the subordinate terminal, where the second request is used to inquire whether the subordinate terminal supports sending positioning reference signals;

Corresponding configuration information is configured for the target terminal according to the feedback message reported by the target terminal that supports sending the positioning reference signal.

In another possible implementation manner, the feedback message includes at least one of the following parameter information of the positioning reference signal supported by the target terminal: bandwidth, frequency point information, and duration.

In yet another possible implementation, the method further includes:

The configuration information and the identification information of the corresponding terminal are sent to the core network device, so that the core network device can locate the located terminal.

In yet another possible implementation, the configuration information includes at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal sending the positioning reference signal;

Among them, the transmission mode includes: periodic, semi-persistent, aperiodic;

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending;

The indication information of the time domain resource of the periodic positioning reference signal, which is used to indicate: the transmission period of the positioning reference signal;

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

In a second aspect, a positioning method is provided, executed by a base station, and the method includes:

sending preset configuration information to a subordinate terminal, where the configuration information is used to instruct the subordinate terminal to send a positioning reference signal according to the configuration information;

receiving a first request, where the first request is used to request location information of the located terminal;

According to the first request, the configuration information is sent to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal to the located terminal. Locate the terminal for positioning.

In a third aspect, a positioning method is provided, executed by a core network device, the method includes:

receiving a first request, where the first request is used to request location information of the located terminal;

Determine the target base station according to the identification information of the located terminal carried in the first request;

Send the first request to the target base station, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, where the configuration information is used to instruct the terminals subordinate to the target base station according to the The configuration information sends a positioning reference signal, and instructs the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal.

In a possible implementation manner, the determining of the target base station according to the identification information of the located terminal carried in the first request includes:

determining the base station to which the located terminal belongs according to the identification information of the located terminal;

The base station and the neighboring cell base stations of the base station are determined as the target base station.

In another possible implementation, the method further includes:

receiving the configuration information sent by the target base station and the identification information of the corresponding terminal;

receiving a measurement result and a corresponding time stamp reported by the located terminal, where the measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID;

According to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal, determine the corresponding at least one terminal;

obtaining the geographic location information and the corresponding timestamp reported by the at least one terminal;

The geographic location of the located terminal is determined according to the measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp.

In yet another possible implementation manner, the obtaining the geographic location information and the corresponding timestamp reported by the at least one terminal includes;

According to the identification information of the at least one terminal, the geographic location information and the corresponding timestamp of the at least one terminal are filtered out from the received geographic location information and the corresponding timestamp reported by the terminal;

or,

sending a third request to the at least one terminal, where the third request is used to request geographic location information of the at least one terminal;

The geographic location information and the corresponding timestamp reported by the at least one terminal are received.

In yet another possible implementation, the method further includes:

Receive the geographic location reported by the located terminal, where the reported geographic location is obtained by the located terminal performing positioning according to the received positioning reference signal.

In yet another possible implementation, the configuration information includes at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal sending the positioning reference signal;

Among them, the transmission mode includes: periodic, semi-persistent, aperiodic;

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending;

The indication information of the time domain resource of the periodic positioning reference signal, which is used to indicate: the transmission period of the positioning reference signal;

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

In a fourth aspect, a positioning method is provided, which is performed by a terminal to be positioned, and the method includes:

Receive the configuration information sent by the target base station;

receiving, according to the configuration information, positioning reference signals sent by multiple transmitters, wherein the multiple transmitters include the target base station and terminals subordinate to the target base station;

The positioned terminal is positioned according to the positioning reference signal.

In a possible implementation manner, the performing positioning according to the positioning reference signal includes:

Measure the time difference of arrival between the positioning reference signals sent by each transmitter;

The geographic location is determined according to the arrival time difference and the corresponding timestamp, as well as the received geographic location information, speed information and corresponding timestamps from each transmitter of the core network device.

In another possible implementation manner, in the determining according to the arrival time difference and the corresponding time stamp, and the received geographic location information, speed information and corresponding time stamps from each transmitting end of the core network device, determine Before the geographic location, the method further includes:

Get calibration parameters;

Determining the geographic location according to the arrival time difference and the corresponding timestamp, and the received geographic location information, speed information and corresponding timestamps from the core network device and each transmitter, including:

Perform calibration processing on the timestamp corresponding to the arrival time difference according to the calibration parameter;

The geographic location is determined according to the arrival time difference, the geographic location information, speed information and the corresponding timestamp of each transmitting end, and the timestamp corresponding to the arrival time difference after calibration processing.

In yet another possible implementation, the acquiring calibration parameters includes:

obtaining a first timestamp when each transmitter sends a positioning reference signal, a second timestamp when each transmitter sends a positioning reference signal, and a third timestamp when the located terminal performs positioning calculation;

The calibration parameter is determined from the first time stamp, the second time stamp and the third time stamp.

In yet another possible implementation manner, the geographic location is determined according to the arrival time difference and the corresponding timestamp, as well as the received geographic location information, speed information and corresponding timestamps from each transmitting end of the core network device. location, including:

According to the speed information of each transmitting end, and/or, the geographic location information of each transmitting end adjacent time, determine the moving transmitting end;

Eliminate the arrival time difference corresponding to the moving transmitter from the arrival time difference;

The geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.

In yet another possible implementation manner, the method further includes: reporting the geographic location to the core network device.

In yet another possible implementation manner, the performing positioning according to the positioning reference signal includes:

Measure the time difference of arrival between the positioning reference signals sent by each transmitter;

The measurement result and the corresponding time stamp reported to the core network device, so that the core network device can determine the geographic location of the located terminal, wherein the measurement result includes: the time difference of arrival between the positioning reference signals and the corresponding positioning Reference Signal ID.

In yet another possible implementation, the configuration information includes at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal sending the positioning reference signal;

Among them, the transmission mode includes: periodic, semi-persistent, aperiodic;

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending;

The indication information of the time domain resource of the periodic positioning reference signal, which is used to indicate: the transmission period of the positioning reference signal;

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

In a fifth aspect, a base station is provided, including:

a memory for storing a computer program; a transceiver for receiving a first request under the control of the processor, where the first request is used to request the location information of the located terminal; according to the first request, to the The located terminal and the terminal subordinate to the base station simultaneously send configuration information, where the configuration information is used to instruct the subordinate terminal to send a positioning reference signal according to the configuration information, and to instruct the located terminal to send a positioning reference signal according to the configuration information receiving the positioning reference signal for positioning the located terminal;

A processor for reading a computer program in the memory and executing control of the transceiver.

In some possible implementations, the processor is specifically configured to: configure corresponding configuration information for a terminal subordinate to the base station;

The transceiver is specifically configured to send the configured configuration information to the located terminal and the terminal subordinate to the base station at the same time.

In some other possible implementation manners, the transceiver is specifically configured to send a second request to a terminal subordinate to the base station, where the second request is used to inquire whether the terminal supports sending a positioning reference signal;

The processor is specifically configured to configure corresponding configuration information for the target terminal according to the feedback message reported by the target terminal that supports sending the positioning reference signal.

In a sixth aspect, a base station is provided, including:

memory for storing computer programs;

a transceiver, configured to send preset configuration information to a terminal subordinate to the base station under the control of the processor, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information;

receiving a first request, where the first request is used to request location information of the located terminal;

According to the first request, the configuration information is sent to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal to the located terminal. Positioning the terminal for positioning;

A processor for reading a computer program in the memory and executing control of the transceiver.

In a seventh aspect, a core network device is provided, including:

memory for storing computer programs;

a transceiver, configured to receive a first request under the control of the processor, where the first request is used to request location information of the located terminal;

a processor, configured to read the computer program in the memory and execute the control of the transceiver, and determine a target base station according to the identification information of the located terminal carried in the first request received by the transceiver;

The transceiver is further configured to, under the control of the processor, send the first request to the target base station, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, where The configuration information is used to instruct the terminal under the target base station to send a positioning reference signal according to the configuration information, and to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal. The terminal is positioned.

In some possible implementation solutions, the processor is specifically configured to: determine, according to the identification information of the located terminal, the base station to which the located terminal belongs; and determine the base station and the neighboring cell base stations of the base station as the target base station.

In some other possible implementation solutions, the transceiver is specifically configured to receive the configuration information sent by the target base station and the identification information of the corresponding terminal;

receiving a measurement result and a corresponding time stamp reported by the located terminal, where the measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID;

The processor is specifically configured to, according to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal, determine at least one corresponding terminal;

obtaining the geographic location information and the corresponding timestamp reported by the at least one terminal;

The geographic location of the located terminal is determined according to the measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp.

In some other possible implementation solutions, the transceiver is specifically configured to receive the geographic location reported by the located terminal, where the reported geographic location is obtained by the located terminal performing positioning according to the received positioning reference signal.

In an eighth aspect, a terminal is provided, including:

memory for storing computer programs;

a transceiver, configured to receive configuration information sent by the target base station under the control of the processor;

Receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include the target base station and the terminals under the target base station;

The processor is configured to read the computer program in the memory and execute the control of the transceiver, and perform positioning according to the positioning reference signal received by the transceiver.

In some possible implementation solutions, the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end;

The geographic location is determined according to the arrival time difference and the corresponding timestamp, as well as the received geographic location information, speed information and corresponding timestamps from each transmitter of the core network device.

In some other possible implementation solutions, the time difference of arrival between the positioning reference signals sent by each transmitter is measured;

The transceiver is further configured to report the measurement result and the corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal, where the measurement result includes: the distance between the positioning reference signals. The arrival time difference and the corresponding positioning reference signal ID.

In a ninth aspect, a base station is provided, including:

a receiving unit, configured to receive a first request, where the first request is used to request location information of the located terminal;

a sending unit, configured to send configuration information to the located terminal and a terminal subordinate to the base station at the same time according to the first request, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information , and instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal.

A tenth aspect provides a base station, including:

a sending unit, configured to send preset configuration information to a terminal subordinate to the base station, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information;

a receiving unit, configured to receive a first request, where the first request is used to request location information of the located terminal;

The sending unit is further configured to, according to the first request, send the configuration information to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information , for locating the located terminal.

In an eleventh aspect, a core network device is provided, including:

a receiving unit, configured to receive a first request, where the first request is used to request location information of the located terminal;

a determining unit, configured to determine a target base station according to the identification information of the located terminal carried in the first request;

a sending unit, configured to send the first request to the target base station, so that the target base station sends configuration information to the located terminal and terminals subordinate to the target base station, where the configuration information is used to indicate that the target base station is subordinate The terminal of the device sends a positioning reference signal according to the configuration information, and instructs the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal.

A twelfth aspect provides a terminal, including:

a receiving unit, configured to receive configuration information sent by a target base station; receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include the target base station and terminals subordinate to the target base station ;

A positioning unit, configured to perform positioning according to the positioning reference signal.

A thirteenth aspect provides a processor-readable storage medium, where the processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to perform the positioning method shown in the first aspect corresponding to or, perform the operation corresponding to the positioning method shown in the second aspect, or, perform the operation corresponding to the positioning method shown in the third aspect, or perform the operation corresponding to the positioning method shown in the fourth aspect. .

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments of the present application.

Fig. 1 is the positioning frame diagram of the related art;

Fig. 2 is the schematic diagram of Sidelink communication process in the related art;

3 is a schematic flowchart of a positioning method according to an embodiment of the present application;

4 is a schematic flowchart of a positioning method provided by an embodiment of the present application;

5 is a schematic flowchart of a positioning method according to an embodiment of the present application;

6 is a schematic flowchart of a positioning method provided by an embodiment of the present application;

FIG. 7 is an interactive schematic diagram of a positioning method provided by another embodiment of the present application;

FIG. 8 is an interactive schematic diagram of a positioning method provided by another embodiment of the present application;

FIG. 9 is an interactive schematic diagram of a positioning method provided by another embodiment of the present application;

FIG. 10 is a schematic structural diagram of a base station according to an embodiment of the application;

FIG. 11 is a schematic structural diagram of a core network device according to an embodiment of the application;

FIG. 12 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed ways

The following describes in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, but not to be construed as limiting the present invention.

It will be understood by those skilled in the art that the singular forms "a", "an", "the" and "the" as used herein can include the plural forms as well, unless expressly stated otherwise. It should be further understood that the word "comprising" used in the specification of this application refers to the presence of stated features, integers, steps, operations, elements and/or components, but does not preclude the presence or addition of one or more other features, Integers, steps, operations, elements, components and/or groups thereof. It will be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Furthermore, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

The technical solutions provided in the embodiments of the present application can be applied to various systems, especially 5G systems. For example, the applicable system may be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) general packet Wireless service (general packet radio service, GPRS) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, Long term evolution advanced (LTE-A) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) system, 5G New Radio (New Radio, NR) system, etc. These various systems include terminal equipment and network side equipment. The system may also include a core network part, such as an evolved packet system (Evloved Packet System, EPS), a 5G system (5GS), and the like.

First of all, some terms involved in this application are introduced and explained:

The terminal device involved in the embodiments of the present application may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing device connected to a wireless modem. In different systems, the name of the terminal device may be different. For example, in the 5G system, the terminal device may be called user equipment (User Equipment, UE). Wireless terminal equipment can communicate with one or more core networks (Core Network, CN) via a radio access network (Radio Access Network, RAN). "telephone) and computers with mobile terminal equipment, eg portable, pocket-sized, hand-held, computer-built or vehicle-mounted mobile devices, which exchange language and/or data with the radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (Personal Digital Assistants), PDA) and other devices. Wireless terminal equipment may also be referred to as system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point , a remote terminal device (remote terminal), an access terminal device (access terminal), a user terminal device (user terminal), a user agent (user agent), and a user device (user device), which are not limited in the embodiments of the present application.

The network side device involved in the embodiments of the present application may be a base station, and the base station may include a plurality of cells providing services for the terminal. Depending on the specific application, the base station may also be called an access point, or may be a device in the access network that communicates with wireless terminal equipment through one or more sectors on the air interface, or other names. The network-side equipment can be used to exchange received air frames with Internet Protocol (IP) packets, and act as a router between the wireless terminal equipment and the rest of the access network, where the rest of the access network can include Internet Protocol (IP) communication network. The network side equipment can also coordinate the attribute management of the air interface. For example, the network-side device involved in the embodiments of the present application may be a network-side device (Base Transceiver Station) in a Global System for Mobile Communications (GSM) or a Code Division Multiple Access (Code Division Multiple Access, CDMA). , BTS), it can also be a network side device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or it can be an evolution in a long term evolution (LTE) system type network side equipment (evolutional Node B, eNB or e-NodeB), 5G base station (gNB) in 5G network architecture (next generation system), or Home evolved Node B (HeNB), relay node (relay node), home base station (femto), pico base station (pico), etc., are not limited in the embodiments of this application. In some network structures, the network-side device may include a centralized unit (centralized unit, CU) node and a distributed unit (distributed unit, DU) node, and the centralized unit and the distributed unit may also be geographically separated.

One or more antennas can be used for multi-input multi-output (MIMO) transmission between the network-side device and the terminal device. The MIMO transmission can be single-user MIMO (Single User MIMO, SU-MIMO) or multi-user MIMO. MIMO (Multiple User MIMO, MU-MIMO). According to the form and number of root antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, or diversity transmission, precoding transmission, or beamforming transmission.

The core network device involved in the embodiments of the present application may be a location server (Location Management Function, LMF), which is a physical or logical entity that manages the location of a target device, that is, a wireless device to be located, and is located in an evolution service mobile location center (E -SMLC) control plane architecture, responsible for selecting the positioning method and triggering the corresponding positioning measurement, and can calculate the final result and accuracy of the positioning.

The current positioning architecture suitable for 5G access network NG-RAN is shown in Figure 1, in which NG-RAN can send positioning reference signals, or perform positioning measurement based on assistance information; terminal equipment UE can send positioning reference signals, or based on assistance The information can be used for positioning measurement, and the final result and accuracy of positioning can also be calculated based on the measurement results.

The positioning capability in the Long Term Evolution (LTE) positioning protocol (LTE Positioning Protocol, LPP) includes the positioning methods supported by the target device, different aspects supported by a positioning method (such as supported assisted global navigation satellites) System A-GNSS assistance data type) and some common characteristics of positioning that are not limited to a certain positioning method (such as the ability to handle multiple LPP transactions).

The LPP location capability transfer transaction may be triggered by a server request, specifically: the server sends an LPP request capability message to request the relevant location capability of the target device; or, the target device "actively reports", specifically: the target device transmits the relevant location capability to the server. , to actively transmit capability information, which may include specific positioning methods and commonalities of some positioning methods. The server can be an LMF in the 5G positioning architecture.

Direct communication refers to the way in which adjacent terminals can transmit data over a direct communication link (also known as Sidelink) within a short range. The wireless interface corresponding to the Sidelink link is called the direct communication interface, also called the Sidelink interface, as shown in Figure 2.

Therefore, the current 3GPP architecture does not consider a scenario in which a terminal accessing the base station under the coverage of the base station can also provide a positioning reference signal when data transmission is performed through a sidelink (direct communication link). With the current positioning technology, the positioning reference signals sent by the outdoor coverage base stations cannot meet the high-precision positioning requirements. If the rate is not high enough, etc., the accuracy of the outdoor positioning results based on the cellular network will be greatly reduced. In the Sidelink scenario, higher requirements are placed on the positioning accuracy. If the existing positioning architecture is used, the positioning accuracy requirements of Sidelink cannot be fully met.

In view of this, the positioning method, device and processor-readable storage medium provided by the present application aim to solve the above technical problems in the prior art.

Specifically, the base station notifies the terminals within its jurisdiction through the Uu interface, and it can broadcast the PRS signal and its resource configuration on the PC5 interface. However, due to the large number of terminals in the serving cell, if all the terminals and capabilities are directly governed by the core network element, a large number of NAS layer signaling interactions will be brought about. Therefore, the positioning method provided by the embodiments of the present application first selects suitable base stations through LMF, and then these base stations select suitable terminals within their jurisdiction to send positioning reference signals over the sidelink interface, which will improve network efficiency.

In addition, the embodiment of the present application provides a positioning method: not only the base station can send the positioning reference signal, but also the terminal connected to the base station under the coverage of the base station can also send the positioning reference signal through the PC5 interface, thereby improving the density of the positioning reference signal in the network and sending the positioning reference signal. The geometric distribution of the signals is irrelevant, thereby improving the positioning accuracy of the located terminal, which in turn can meet the positioning accuracy requirements in the Sidelink scenario.

The technical solutions of the present application and how the technical solutions of the present application solve the above-mentioned technical problems will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

An embodiment of the present application provides a positioning method. As shown in FIG. 3 , the method 10 is executed by the base station, including:

110. The base station receives a first request, where the first request is used to request location information of the located terminal;

120. The base station sends, according to the first request, configuration information to the located terminal and a terminal subordinate to the base station at the same time, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information, and Instructing the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal.

Specifically, in this embodiment, the first request received by the base station may be a positioning service request from a core network device, for example, a positioning server LMF. The configuration information may include, but is not limited to, at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal that transmits the positioning reference signal.

Transmission modes include: periodic, semi-persistent, and aperiodic.

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.

The indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

In the above embodiment, the configuration information of the corresponding positioning reference signal is configured for the terminal subordinate to the determined target base station, and the target base station sends the configuration information to the determined terminal and the terminal to be located, and the terminal sends the corresponding configuration information according to the configuration information. the positioning reference signal, the located terminal receives the corresponding positioning reference signal according to the configuration information. Therefore, not only the base station can send the positioning reference signal, but some terminals under the base station can also send the positioning reference signal through the PC5 interface, thereby improving the density of the positioning reference signal in the network and the irrelevance of the geometric distribution of the sent positioning signal, so that the positioning reference signal can be located. The terminal can receive more positioning reference signals, thereby improving the positioning accuracy of the positioned terminal, and thus meeting the positioning accuracy requirements in the Sidelink scenario.

In some embodiments, step 120 may include:

121. The base station configures corresponding configuration information for its subordinate terminals;

122. The base station sends the configured configuration information to the located terminal and its subordinate terminals at the same time.

Specifically, in this embodiment, after receiving a request sent by a core network device, for example, a positioning server LMF (for example, a positioning service request), the base station can configure the resources for sending positioning reference signals PRS to its subordinate terminals, which are The resources configured by each terminal may be the same, and the configured resources include: time-domain, frequency-domain, and space-domain resources for transmitting PRS, and transmission modes, and so on. Then, the configured PRS resources are sent to the located terminal and the terminal under the base station, the terminal under the base station sends the positioning reference signal according to the received configuration resource, and the located terminal receives the positioning reference signal sent by the terminal under the base station according to the received configuration resource. signal to locate the terminal to be located.

In some embodiments, step 122 may include:

sending a second request to a terminal subordinate to the base station, where the second request is used to inquire whether the terminal subordinate to the base station supports sending a positioning reference signal;

Corresponding configuration information is configured for the target terminal according to the feedback message reported by the target terminal that supports sending the positioning reference signal.

In this embodiment, the parameter information includes at least one of the following items: bandwidth, frequency, and duration of the positioning reference signal sent by the target terminal.

In order to improve the efficiency of sending the positioning reference signal PRS and avoid the waste of resources, before configuring the corresponding PRS resources for the terminals under the target base station, the terminals with the ability to send PRS can be screened out, and then configure them based on the specific capabilities of these terminals. The corresponding PRS resource.

That is to say, in this embodiment, since it is not certain which terminals have the ability to send PRS and which terminals do not have the ability to send PRS, and it is also uncertain what the specific capabilities of the terminals that have the ability to send PRS have, it is necessary to ask Whether the subordinate terminal supports sending positioning reference signals, screen out the terminals that support sending positioning reference signals, and send the identification IDs of these terminals to the located terminal, so that the located terminal can receive the information sent by the terminal corresponding to the identification ID according to the configuration information. Positioning reference signals, thereby avoiding waste of resources.

Specifically, in this embodiment, if the terminal subordinate to the base station receives the inquiry request and finds that it can currently support the assisted sending of positioning signals, it will reply a positive response to the base station through a feedback message, and inform the supported sending of positioning reference signals. specific abilities. If the terminal does not currently support sending positioning signals, it will reply a negative reply to the base station through a feedback message, or not send a feedback message to the base station.

The embodiment of the present application also provides a positioning method 100. As shown in FIG. 4, the method 100 is performed by a base station, and the method 100 may include:

101. A base station sends preset configuration information to a subordinate terminal, where the configuration information is used to instruct the subordinate terminal to send a positioning reference signal according to the configuration information;

102. The base station receives a first request, where the first request is used to request location information of the located terminal;

103. The base station sends the configuration information to the located terminal according to the first request, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used to locate the terminal. The positioned terminal performs positioning.

That is to say, before the first request is received, the configuration information for sending PRS can be configured for the terminals of the whole network in advance, for example, the same PRS resources are configured for the terminals of the whole network, so that when the first request is received, the terminal can be motivated Send PRS in time. In addition, the preset configuration information can be sent to the terminals of the whole network by means of a broadcast message.

In some embodiments, the above positioning method 100 may further include:

104. The base station selects a terminal that supports sending positioning reference signals from its subordinate terminals;

105. Send the identification ID of the terminal that supports sending positioning reference signals to the located terminal, so that the located terminal receives the positioning reference signal sent by the terminal corresponding to the identification ID according to the configuration information.

Specifically, in this embodiment, step 104 may include:

sending a second request to the subordinate terminal, where the second request is used to inquire whether the subordinate terminal supports sending positioning reference signals;

According to the identification information of the terminal carried in the received feedback message, the terminal that supports sending the positioning reference signal is selected from the subordinate terminals.

That is to say, in this embodiment, since it is not certain which terminals have the ability to send PRS and which terminals do not have the ability to send PRS, and it is also uncertain what the specific capabilities of the terminals that have the ability to send PRS have, it is necessary to ask Whether the subordinate terminal has the auxiliary positioning capability, from which the terminal that supports sending the positioning reference signal is screened, and the identification ID of this part of the terminal is sent to the located terminal, so that the located terminal can receive the positioning information sent by the terminal corresponding to the identification ID according to the configuration information. reference signal, thereby avoiding waste of resources.

In some embodiments, the above-mentioned positioning method 10 and/or positioning method 100 may further include:

130. Send the configuration information and the identification information of the corresponding terminal to the core network device, so that the core network device locates the located terminal.

Specifically, in this embodiment, after the base station sends the configuration information to the located terminal and its subordinate terminals, it also needs to send the configuration information and the identification information of the corresponding terminal to the core network equipment, which can facilitate the core network equipment to Locate the terminal for positioning.

Based on the same inventive concept, as shown in FIG. 5 , an embodiment of the present application further provides a positioning method 20. The method 20 is executed by the core network, for example, executed by the positioning server LMF, and the method includes:

210. Receive a first request, where the first request is used to request location information of the located terminal;

220. Determine the target base station according to the identification information of the located terminal carried in the first request; specifically, in this embodiment, the first request received by the LMF may be a positioning service request from the positioning terminal.

230. Send the first request to the target base station, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, where the configuration information is used to instruct the terminals subordinate to the target base station according to The configuration information sends a positioning reference signal, and instructs the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal.

Specifically, in this embodiment, step 220 may include:

221. Determine, according to the identification information of the located terminal, the base station to which the located terminal belongs;

222. Determine the base station and a neighboring cell base station of the base station as the target base station.

That is to say, in this embodiment, after the core network device receives a first request (for example, a positioning service request) sent by a positioning terminal (a positioning terminal is a terminal that requests the geographic location of the terminal to be positioned), it can base on the first request The identification information of the located terminal carried in the database, the base station to which the located terminal belongs is obtained by searching the database, the base station and the neighboring base stations of the base station are determined as the target base station, and then the first request is sent to the target base station, and then these target base stations themselves Select a suitable terminal within its jurisdiction to send a positioning signal on the sidelink port to improve network efficiency.

In some embodiments, the above-mentioned method 20 may further include:

240. Receive the configuration information sent by the target base station and the identification information of the corresponding terminal;

250. Receive a measurement result and a corresponding time stamp reported by the located terminal, where the measurement result includes: a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID;

260. Determine at least one corresponding terminal according to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal;

270. Obtain geographic location information and a corresponding timestamp reported by the at least one terminal;

280. Determine the geographic location of the located terminal according to the measurement result and the corresponding timestamp, and the geographic location information and the corresponding timestamp.

Specifically, in this embodiment, step 270 may include:

271. According to the identification information of the at least one terminal, filter out the geographic location information and the corresponding timestamp of the at least one terminal from the received geographic location information and the corresponding timestamp reported by the terminal;

or,

272. Send a third request to the at least one terminal to request geographic location information of the at least one terminal;

273. Receive the geographic location information and the corresponding timestamp reported by the at least one terminal.

Specifically, in this embodiment, the LMF can determine the terminal corresponding to the positioning reference signal ID according to the identification information of the terminal and the positioning reference signal ID corresponding to the received measurement result, and then, according to the received positioning reference signal The arrival time difference and the corresponding time stamp, as well as the geographical location information of the determined terminal and the corresponding time stamp, obtain the geographical location of the located terminal.

It should be noted that, in this embodiment, after acquiring the above information, the LMF can obtain the geographic location of the located terminal by using an existing calculation method, which is not repeated here for the sake of brevity of description.

In the foregoing embodiments, the configuration information may include, but is not limited to, at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal that transmits the positioning reference signal.

Transmission modes include: periodic, semi-persistent, and aperiodic.

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.

The indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to transmit, the duration, and the time point when the transmission ends.

In the above embodiments, the LMF determines the target terminal based on the request, and then the target base station selects a suitable terminal within its jurisdiction to send the positioning reference signal on the sidelink interface, which can improve network efficiency. In addition, since the target base station and some of its subordinate terminals all send positioning reference signals, the density of positioning reference signals in the network and the irrelevance of the geometric distribution of the sent positioning signals can also be improved, thereby improving the positioning accuracy of the positioned terminal. In turn, it can meet the positioning accuracy requirements in Sidelink scenarios.

It should be understood that the base station that executes the positioning methods 10 and 100 in the foregoing embodiments is one of the target base stations determined in the positioning method 20 .

Based on the same inventive concept, an embodiment of the present application also provides a positioning method 30. As shown in FIG. 6, the method 30 may be executed by the terminal to be positioned during the positioning process, and the method includes:

310. Receive configuration information sent by the target base station;

320. Receive positioning reference signals sent by multiple transmitters according to the configuration information, where the multiple transmitters include the target base station and terminals subordinate to the target base station;

330. Perform positioning according to the positioning reference signal.

Specifically, in this embodiment, the configuration information may include, but is not limited to, at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal that transmits the positioning reference signal.

Transmission modes include: periodic, semi-persistent, and aperiodic.

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.

The indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to transmit, the duration, and the time point when the transmission ends.

In the above embodiment, the positioned terminal receives the PC5PRS configuration broadcast by the base station and learns the resource configuration for receiving PRS signals on the PC5 interface. The positioning reference signal sent by the PC5 interface can receive more positioning reference signals, thereby improving the density of the positioning reference signals in the network and the irrelevance of the geometric distribution of the sent positioning signals, thereby improving the positioning accuracy of the located terminal. , which can meet the positioning accuracy requirements in Sidelink scenarios.

In some embodiments, step 330 may include:

331. Measure the time difference of arrival between the positioning reference signals sent by each transmitter;

332. Determine the geographic location according to the arrival time difference and the corresponding timestamp, and the received geographic location information, speed information, and corresponding timestamps from each transmitter of the core network device.

Specifically, in this embodiment, the terminal to be positioned may obtain the time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding time stamp based on the measurement, and the received geographic location of each transmitter from the core network device information, speed information and corresponding time stamps to determine their geographic location, without sending the relevant information to the LMF, and the LFM will perform the positioning calculation.

In some embodiments, before step 332, step 330 may further include:

340. Obtain calibration parameters.

Then step 332 may include:

Perform calibration processing on the timestamp corresponding to the arrival time difference according to the calibration parameter;

The geographic location is determined according to the arrival time difference, the geographic location information, speed information and the corresponding timestamp of each transmitting end, and the timestamp corresponding to the arrival time difference after calibration processing.

That is to say, in this embodiment, in order to make the obtained geographic location more accurate, a method of calibrating the possible time difference in the positioning process may be adopted.

Specifically, in this embodiment, step 340 may include:

Obtaining a first time stamp when each transmitter sends a positioning reference signal, a second time stamp when each transmitter sends a positioning reference signal, and a third time stamp when the located terminal performs positioning calculation;

The calibration parameter is determined from the first time stamp, the second time stamp and the third time stamp.

Specifically, in this embodiment, two types of time differences that may exist need to be calibrated, one is brought about by the positioned terminal itself, for example: the time point at which the positioning reference signal sent by each transmitter is received and the time of positioning If there is a time difference between the calculated time points, the time point for positioning calculation needs to be corrected; the other type is caused by the network. For example, the time when each transmitter sends the positioning reference signal is not synchronized, which will cause each transmitter to send the reference signal. There is an error in the arrival time difference between the transmitted positioning reference signals, which also needs to be corrected.

In other embodiments, step 332 may include:

According to the speed information of each transmitting end, and/or, the geographic location information of each transmitting end adjacent time, determine the moving transmitting end;

Eliminate the arrival time difference corresponding to the moving transmitter from the arrival time difference;

The geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.

That is to say, in this embodiment, in order to make the obtained geographic location more accurate, the information corresponding to the mobile terminal (including: arrival time difference and corresponding timestamp, and geographic location information and corresponding timestamp) can be eliminated The way. Since the factors that will cause errors in the positioning results during the positioning calculation are removed, the positioning accuracy can be improved.

It should be noted that, in this embodiment, when determining the geographic location according to the remaining time difference of arrival and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp, the obtained calibration can also be first determined. After the parameters are calibrated to the timestamps corresponding to the remaining arrival time differences, the location calculation is performed to obtain the geographic location of the located terminal. Doing so will make the final positioning result more accurate.

In some embodiments, the positioning method 30 may further include:

350. Report the geographic location to the core network device.

In another embodiment, step 330 may include:

333. Measure the time difference of arrival between the positioning reference signals sent by each transmitter;

334. The measurement result and the corresponding timestamp reported to the core network device, so that the core network device determines the geographic location of the located terminal, where the measurement result includes: the time difference of arrival between the positioning reference signals and the corresponding positioning reference signal ID.

The technical solution of a positioning method provided by this embodiment of the present application is described above with reference to FIGS. 3 to 6 from the perspectives of the base station, core network equipment and the terminal to be located, respectively. The following describes the implementation of the present application in detail with reference to FIGS. 7 to 9 . The implementation process of a positioning method provided by the example.

As shown in FIG. 7 , a data/signaling interaction process diagram of a positioning method provided by an embodiment of the present application is shown. The positioning method 40 includes the following steps:

410. The LMF receives a first request, for example, a request for a positioning service.

Specifically, the LMF receives a first request from the positioning terminal, where the first request carries the identification information of the located terminal, and is used to request the location information of the located terminal, which may indicate that the located terminal is performing a positioning service, or may not instruct. The positioning terminal is a terminal that requests the geographic location of the positioned terminal.

In addition, it should be noted that after the LMF receives the first request, it can select and set corresponding QoS indicator requirements according to the service type of the request, such as: positioning accuracy requirements and positioning integrity requirements, and so on.

420. The LMF determines the target base station according to the first request.

Specifically, in this embodiment, the base station to which the located terminal belongs may be determined according to the identification information of the located terminal carried in the first request; and then the base station and the neighboring cell base stations of the base station are determined as the the target base station.

430. The target base station configures corresponding configuration information for a subordinate terminal.

Specifically, in this embodiment, the same configuration information can be configured for the subordinate terminals, for example, the same PRS resources are given to each terminal, that is, the time domain, frequency domain, and space domain resources for each target terminal to send PRS can be the same .

It should be noted that, when configuring the resources for sending the positioning reference signal PRS, it needs to be performed according to the resources in the positioning reference signal resource pool reported by the base station.

In some cases, before step 430, the target base station may also screen its subordinate terminals, for example, screening out terminals capable of sending PRS to send PRS. Specifically, the method may include the following steps:

401. The LMF sends a first request to the determined target base station.

402. In response to the first request, the target base station sends a second request to its subordinate terminals, where the second request is used to inquire whether each of its subordinate terminals supports sending positioning reference signals.

403. The target base station receives a feedback message sent by a terminal that supports sending positioning reference signals, and selects a target terminal that supports sending positioning reference signals from its subordinate terminals according to the identification information of the terminal carried in the feedback message.

Then, step 430 can be:

The target base station configures corresponding configuration information for the target terminal according to the parameter information of the positioning reference signal sent by the target terminal carried in the feedback message.

The parameter information includes at least one of the following: bandwidth, frequency, and duration of the positioning reference signal sent by the target terminal.

For example, there are 3 target terminals that support sending positioning reference signals. Each target terminal feeds back at least one parameter of the bandwidth, frequency, and duration of the positioning reference signal sent by itself. The parameters of the positioning reference signal are configured with corresponding configuration information.

In this way, accurate configuration can be implemented based on the capability of the target terminal, and the transmission efficiency of the PRS can be improved.

440. The target base station sends the configured configuration information to the located terminal and subordinate terminals.

It should be noted that if the terminals under the target base station have not been screened, the same configuration information configured for each terminal will be sent; if the terminals under the target base station have been screened to obtain the target terminal, the corresponding configuration information configured for each target terminal will be sent. corresponding configuration information.

It should be understood that, in this embodiment, the target base station may also send configuration information and identification information of the corresponding terminal to the LMF, so that the LMF performs positioning calculation based on these data.

450. According to the received configuration information, the terminal subordinate to the target base station sends the PRS at the corresponding resource location indicated by the configuration information.

460. According to the received configuration information, the located terminal receives the PRS sent by the target terminal at the corresponding resource position indicated by the configuration information, and measures the time difference of arrival and the corresponding time stamp between the positioning reference signals sent by each transmitter. . The transmitting end includes a target base station and a terminal subordinate to the target base station.

It should be noted that, the process of sending the positioning reference signal by the base station can be implemented by using the existing process, and for the sake of brevity of description, no corresponding description is made in this embodiment of the present application.

470. The located terminal sends a measurement result to the LMF through LPP signaling, where the measurement result includes: a time difference of arrival between positioning reference signals and a corresponding positioning reference signal ID.

It should be noted that, in this embodiment, for example, the transmitter includes the target base station 1 and its subordinate terminals 2, 3, 4, and 5, wherein 1, 2, 3, 4, and 5 are the identifiers of the corresponding transmitter, respectively. The time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding ID of the positioning reference signal are shown in Table 1 below.

Table 1

480. The LMF receives the geographic location information and the corresponding timestamp reported by the terminal subordinate to the target base station.

Specifically, in this embodiment, the LMF can determine the terminal (referred to as: the first terminal) corresponding to the positioning reference signal ID according to the received identification information of the terminal and the received positioning reference signal ID corresponding to the measurement result.

For example, if the measurement result is t1-t3, the corresponding positioning reference signal IDs are 1 and 3, so that the corresponding target base station 1 and its subordinate terminal 3 are determined.

In one case, the geographic location information and the corresponding timestamp of the first terminal are screened out from the received geographic location information and the corresponding timestamp automatically reported by the terminal. It should be noted that, in this case, the specific time when the LMF receives the geographic location information and the corresponding timestamp reported by the terminal is not limited by whether the first terminal is determined. Therefore, the execution of step 480 is not limited to the order of step numbering, which is merely an example.

In another case, a third request may be actively sent to the first terminal to request geographic location information of the first terminal, and then the geographic location information and the corresponding timestamp reported by the first terminal are received. It should be noted that, in this case, in order to accurately obtain the required relevant information of the target terminal, after the first terminal is determined, it is necessary to actively request the corresponding geographic location information and the corresponding time stamp from the first terminal.

490. The LMF determines the geographic location of the located terminal based on the received measurement result and the reported information.

Specifically, in this embodiment, the LMF determines the geographic location of the located terminal according to the arrival time difference between the received positioning reference signals and the corresponding timestamp, as well as the geographic location information of the first terminal and the corresponding timestamp.

It should be noted that, after obtaining the above information, the LMF can obtain the geographic location of the located terminal by using an existing calculation method, which is not repeated here for the sake of brevity of description.

As shown in FIG. 8 , a data/signaling interaction process diagram of a positioning method provided by another embodiment of the present application is shown. The positioning method 50 is different from the positioning method 40 in the embodiment shown in FIG. 7 in that:

According to the received configuration information, the positioned terminal receives the PRS sent by the terminal at the corresponding resource position indicated by the configuration information, and obtains the time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding time stamp after measuring, Instead of sending the measurement results to the LMF, the LMF performs positioning calculation to determine the position of the positioned terminal, but receives information from the LFM, and then performs positioning by itself in combination with the information measured by itself.

That is to say, the specific implementation process of steps 510 to 560 included in the positioning method 50 shown in FIG. 8 is similar to the specific implementation process of steps 410 to 460 included in the positioning method 40 shown in FIG. 7 , for the sake of brevity of description , and will not be repeated here. The differences between the two embodiments will be described in detail below.

Specifically, after step 560, the method 50 includes:

570. The LMF receives the geographic location information, the speed information, and the corresponding timestamp reported by the terminal under the target base station, and sends the reported information to the located terminal.

It should be noted that, in this embodiment, the execution of step 570 is not limited to the sequence of step numbers, and this is just an example.

580, the terminal to be positioned obtains the time difference of arrival and the corresponding time stamp between the positioning reference signals sent by each transmitter according to the measurement, and the received geographic location information, speed information and corresponding time stamp of each transmitter from the LFM, Determine geographic location.

Specifically, in this embodiment, in order to make the obtained geographic location more accurate, the information used to determine the geographic location can be processed in the following two ways.

The first way is: according to the speed information of each transmitter and/or the geographical position information of each transmitter at the adjacent time, determine the mobile transmitter, and then remove the arrival time difference corresponding to the mobile transmitter from the arrival time difference , and then determine the geographic location according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.

That is to say, during positioning, if the information corresponding to the mobile terminal (including the arrival time difference and the corresponding time stamp, and the geographic location information and the corresponding time stamp) is not eliminated, a large error in the positioning result will be caused.

The second method is to perform calibration processing on the timestamp corresponding to the arrival time difference according to the obtained calibration parameters, and then, according to the arrival time difference, the geographic location information, speed information and corresponding timestamp of each transmitter, and the arrival time difference after calibration processing. Corresponding timestamp to determine geographic location.

The calibration parameter can be obtained by obtaining the first time stamp when each transmitter sends the positioning reference signal, the second time stamp when each transmitter sends the positioning reference signal, and the third time when the positioned terminal performs positioning calculation. Stamp; according to the first time stamp, the second time stamp and the third time stamp, the calibration parameter is determined.

That is to say, in the positioning process, two types of time differences that may exist need to be calibrated, one is brought by the terminal being located itself, for example: the time point when the positioning reference signal sent by each transmitter is received and the positioning If there is a time difference between the calculated time points, the time point for positioning calculation needs to be corrected; the other type is caused by the network. For example, the time when each transmitter sends the positioning reference signal is not synchronized, which will cause each transmitter to send the reference signal. There is an error in the arrival time difference between the transmitted positioning reference signals, which also needs to be corrected.

It should be noted that, after the relevant information is processed by using the calibration parameters, the above-mentioned first method may be used to eliminate the information corresponding to the moving terminal, and then the positioning calculation is performed.

590. The located terminal sends the obtained geographic location to the LMF.

As shown in FIG. 9 , a data/signaling interaction process diagram of a positioning method according to another embodiment of the present application is shown. The positioning method 60 includes the following steps:

610. The target base station sends preset configuration information to its subordinate terminals by means of a broadcast message.

Step 600 may be included before step 610, in which the target base station configures in advance configuration information for sending positioning reference information to its subordinate terminals. Since it is not certain which terminals have the ability to send PRS and which terminals do not have the ability to send PRS, and it is also uncertain what the specific capabilities of the terminals with the ability to send PRS have, the same PRS resources can be configured for their subordinate terminals, that is, : The time domain, frequency domain, and space domain resources for sending PRS by each terminal may be the same.

It should be noted that the specific configuration of the PRS resources needs to be performed according to the resources in the positioning reference signal resource pool of the base station.

620. The LMF receives the first request (for example, a request for a positioning service).

Specifically, the LMF receives a request from the positioning terminal, the request carries the identification information of the located terminal, and is used to request the location information of the located terminal, which may indicate that the located terminal is performing a positioning service, or may not indicate.

In addition, it should be noted that after the LMF receives the first request, it can select and set corresponding QoS indicator requirements according to the service type of the first request, such as: positioning accuracy requirements and positioning integrity requirements, and so on.

630. The LMF determines the target base station according to the first request.

601. The LMF sends a first request to the determined target base station.

602. In response to the first request, the target base station sends a second request to its subordinate terminals, where the second request is used to inquire whether each of its subordinate terminals supports sending positioning reference signals.

603. The target base station receives a feedback message sent by a target terminal that supports sending positioning reference signals, and selects a target terminal that supports sending positioning reference signals from its subordinate terminals according to the identification information of the target terminal carried in the feedback message.

640. The target base station sends the identification ID of the target terminal that supports sending the positioning reference signal to the located terminal.

650. According to the received configuration information, the target terminal sends the PRS at the corresponding resource location indicated by the configuration information.

660. According to the received configuration information, the located terminal receives the PRS sent by the target terminal at the corresponding resource location indicated by the configuration information. And measure the time difference of arrival between the positioning reference signals sent by each transmitter and the corresponding time stamp. The transmitting end includes the target terminal and the base station to which the target terminal belongs.

It should be understood that, in this embodiment, the located terminal receives the PRS sent by the target terminal at the corresponding resource position indicated by the configuration information according to the received configuration information, and measures the difference between the positioning reference signals sent by each transmitter. After the arrival time difference and the corresponding time stamp, to determine the location of the terminal to be located, two ways can be used.

One way is to send the measurement result to the LMF, and the LMF performs positioning calculation to determine the position of the positioned terminal. For the specific implementation process of this manner, reference may be made to the implementation process of steps 470 to 490 included in the positioning method 40 shown in FIG. 7 , which will not be repeated here for the sake of brevity of description.

Another way is that the terminal to be positioned receives the information from the LFM, and performs positioning by itself in combination with the information measured by itself. For the specific implementation process of this manner, reference may be made to the implementation process of steps 570 to 590 included in the positioning method 50 shown in FIG. 8 , which will not be repeated here for the sake of brevity of description.

Based on the same inventive concept, an embodiment of the present application provides a base station. As shown in FIG. 10 , the base station 70 includes: a memory 701 , a transceiver 702 and a processor 703 .

The memory 701 is used to store computer programs.

The transceiver 702 is configured to: receive a first request under the control of the processor 703, where the first request is used to request the location information of the located terminal; The terminal subordinate to the base station sends configuration information at the same time, the configuration information is used to instruct the subordinate terminal to send the positioning reference signal according to the configuration information, and to instruct the located terminal to receive the positioning reference signal according to the configuration information. , for locating the located terminal.

The processor 703 is used to read the computer program in the memory 701 and execute the control of the transceiver.

In some embodiments, the processor is specifically configured to: configure corresponding configuration information for a terminal subordinate to the base station.

The transceiver is specifically configured to send the configured configuration information to the located terminal and the terminal subordinate to the base station at the same time.

In another embodiment, the transceiver is specifically configured to send a second request to a terminal subordinate to the base station, where the second request is used to inquire whether the terminal supports sending a positioning reference signal.

The processor is specifically configured to configure corresponding configuration information for the target terminal according to the feedback message reported by the target terminal that supports sending the positioning reference signal.

For content not described in detail in the base station 70 provided in the embodiment of the present application, reference may be made to the positioning method 10 provided in the above-mentioned embodiment. are the same and will not be repeated here.

Based on the same inventive concept, an embodiment of the present application further provides a base station, where the base station includes: a memory, a transceiver, and a processor.

Memory is used to store computer programs.

The transceiver is configured to: send preset configuration information to a terminal subordinate to the base station under the control of the processor, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information; receive a first request , the first request is used to request the location information of the located terminal; according to the first request, the configuration information is sent to the located terminal, where the configuration information is used to instruct the located terminal according to the The configuration information receives the positioning reference signal for positioning the located terminal.

A processor is used to read a computer program in the memory and perform control of the transceiver.

For content not described in detail in the base station provided in the embodiment of the present application, reference may be made to the positioning method 100 provided in the above-mentioned embodiment. The beneficial effect that the base station provided in the embodiment of the present application can achieve is the same as the positioning method 100 provided in the above-mentioned embodiment. It is not repeated here.

In addition, for the structure of the core network device in this embodiment, reference may be made to the structure shown in FIG. 10 .

Based on the same inventive concept, an embodiment of the present application provides a core network device. As shown in FIG. 11 , the core network device 80 includes: a memory 801 , a transceiver 802 and a processor 803 .

The memory 801 is used to store computer programs.

The transceiver 802 is configured to receive a first request under the control of the processor 803, where the first request is used to request location information of the located terminal.

The processor 803 is configured to read the computer program in the memory 801 and execute the control of the transceiver, and determine the target base station according to the identification information of the located terminal carried in the first request received by the transceiver .

The transceiver is further configured to send the first request to the target base station under the control of the processor, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, the The configuration information is used to instruct the terminal under the target base station to send a positioning reference signal according to the configuration information, and to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal to the located terminal to locate.

In some embodiments, the processor is specifically configured to: determine the base station to which the located terminal belongs according to the identification information of the located terminal; determine the base station and the neighboring cell base stations of the base station as the base station target base station.

In some other embodiments, the transceiver is specifically configured to: receive the configuration information sent by the target base station and the identification information of the corresponding terminal; receive the measurement result and the corresponding timestamp reported by the located terminal, the measurement The result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID.

The processor is specifically configured to: determine the corresponding at least one terminal according to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal; obtain the geographic location information and the corresponding timestamp reported by the at least one terminal ; Determine the geographic location of the located terminal according to the measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp.

In other embodiments, the transceiver is specifically configured to receive a geographic location reported by the located terminal, where the reported geographic location is obtained by the located terminal performing positioning according to the received positioning reference signal.

For the content not described in detail in the core network device 80 provided in this embodiment of the present application, reference may be made to the positioning method 20 provided in the foregoing embodiment. The general positioning method 20 is the same, and will not be repeated here.

It should be understood that, in the above embodiments, the bus architecture in FIGS. 10 and 11 may include any number of interconnected buses and bridges, specifically represented by one or more processors represented by processors 703 or 803 and memories 701 or 801 The various circuits of the memory are linked together. The bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein. The bus interface provides the interface. Transceiver 702 or 802 may be multiple elements, ie, including transmitters and receivers, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like. The processor 703 or 803 is responsible for managing the bus architecture and general processing, and the memory 701 or 801 may store data used by the processor 703 or 803 when performing operations.

The processor 703 or 803 may be a central processor (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or a complex programmable logic device (Complex Programmable). Logic Device, CPLD), the processor can also adopt a multi-core architecture.

Based on the same inventive concept, an embodiment of the present application provides a terminal. As shown in FIG. 12 , the terminal 90 includes a memory 901 , a transceiver 902 , a processor 903 and a user interface 904 .

The memory 901 is used to store computer programs.

The transceiver 902 is configured to receive configuration information sent by a target base station under the control of the processor 903; and receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include the target A base station and a terminal subordinate to the target base station.

The processor 903 is configured to read the computer program in the memory 901 and control the transceiver, and perform positioning according to the positioning reference signal received by the transceiver.

In some embodiments, the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end; The geographic location information, speed information and corresponding time stamps of each transmitter of the device are used to determine the geographic location.

In other embodiments, the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end.

The transceiver is further configured to report the measurement result and the corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal, where the measurement result includes: the difference between the positioning reference signals. Arrival time difference and corresponding positioning reference signal ID.

For content not described in detail in the terminal 90 provided in the embodiment of the present application, reference may be made to the positioning method 30 provided in the above-mentioned embodiment. are the same and will not be repeated here.

It should be understood that, in the above-described embodiments, the bus architecture in FIG. 12 may include any number of interconnected buses and bridges, specifically various circuit links of one or more processors represented by processor 903 and memory represented by memory 901 together. The bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein. The bus interface provides the interface. Transceiver 902 may be multiple elements, ie, including transmitters and receivers, providing means for communicating with various other devices over transmission media including wireless channels, wired channels, fiber optic cables, and the like. For different user equipments, the user interface 904 may also be an interface capable of externally connecting the required equipment, and the connected equipment includes but is not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

The processor 903 is responsible for managing the bus architecture and general processing. Memory 902 may store data used by processor 903 in performing operations.

Optionally, the processor 903 may be a CPU (central processor), an ASIC (Application Specific Integrated Circuit, an application-specific integrated circuit), an FPGA (Field-Programmable Gate Array, a field programmable gate array) or a CPLD (Complex Programmable Logic Device) , complex programmable logic devices), the processor can also use a multi-core architecture.

The processor is configured to execute any one of the methods provided in the embodiments of the present application according to the obtained executable instructions by invoking the computer program stored in the memory. The processor and memory may also be physically separated.

Based on the same inventive concept, an embodiment of the present application further provides a base station, where the base station includes: a receiving unit and a sending unit.

The receiving unit is configured to receive a first request, where the first request is used to request location information of the located terminal.

The sending unit is configured to send configuration information to the located terminal and the terminal subordinate to the base station at the same time according to the first request, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information, and to indicate The located terminal receives the positioning reference signal according to the configuration information, so as to locate the located terminal.

In some embodiments, the base station further includes a processing unit configured to configure corresponding configuration information for a terminal subordinate to the base station.

The sending unit is configured to send the configured configuration information to the located terminal and the terminal subordinate to the base station at the same time.

Specifically, in this embodiment, the processing unit is specifically configured to send a second request to a terminal subordinate to the base station, where the second request is used to inquire whether the terminal supports sending the positioning reference signal; according to the target of supporting the sending of the positioning reference signal The feedback message reported by the terminal configures corresponding configuration information for the target terminal.

The feedback message includes at least one of the following parameter information of the positioning reference signal supported by the target terminal: bandwidth, frequency point information, and duration.

In some embodiments, the sending unit is further configured to send the configuration information and the identification information of the corresponding terminal to the core network device, so that the core network device can locate the located terminal.

In the foregoing embodiments, the configuration information may include, but is not limited to, at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal that transmits the positioning reference signal.

Transmission modes include: periodic, semi-persistent, and aperiodic.

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.

The indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

Based on the same inventive concept, an embodiment of the present application further provides a base station, where the base station includes: a sending unit and a receiving unit.

The sending unit is configured to send preset configuration information to a terminal subordinate to the base station, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information.

The receiving unit is configured to receive a first request, where the first request is used to request location information of the located terminal.

The sending unit is further configured to send the configuration information to the located terminal according to the first request, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, for locating the located terminal.

In some embodiments, the base station further includes a processing unit configured to screen out the terminals that support sending the positioning reference signal from the terminals subordinate to the base station.

The sending unit is specifically configured to send the identification ID of the terminal that supports sending positioning reference signals to the located terminal, so that the located terminal receives the positioning reference signal sent by the terminal corresponding to the identification ID according to the configuration information.

In other embodiments, the sending unit is specifically configured to send a second request to the subordinate terminal, where the second request is used to inquire whether the subordinate terminal supports sending the positioning reference signal.

The processing unit is specifically configured to, according to the identification information of the terminal carried in the received feedback message, screen out the terminal that supports sending the positioning reference signal from the subordinate terminals.

Based on the same inventive concept, an embodiment of the present application further provides a core network device, where the core network device includes: a receiving unit, a determining unit, and a sending unit.

The receiving unit is configured to receive a first request, where the first request is used to request location information of the located terminal.

The determining unit is configured to determine the target base station according to the identification information of the located terminal carried in the first request.

The sending unit is configured to send the first request to the target base station, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, where the configuration information is used to indicate the target base station's subordinate terminals. The terminal sends a positioning reference signal according to the configuration information, and instructs the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal.

Specifically, in this embodiment, the determining unit is specifically configured to: determine the base station to which the located terminal belongs according to the identification information of the located terminal; and determine the base station and the neighboring cell base stations of the base station as the the target base station.

In some embodiments, the core network device further includes a receiving unit, configured to receive the configuration information sent by the target base station and the identification information of the corresponding terminal; receive the measurement result and the corresponding timestamp reported by the located terminal, The measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID.

The determining unit is further configured to: determine the corresponding at least one terminal according to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal; obtain the geographic location information and the corresponding time stamp reported by the at least one terminal; The measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp, determine the geographic location of the located terminal.

Specifically, in this embodiment, the processing unit is specifically configured to, according to the identification information of the at least one terminal, filter out the location information of the at least one terminal from the received geographic location information reported by the terminal and the corresponding timestamp. Geolocation information and corresponding timestamp.

Alternatively, the sending unit is specifically configured to send a third request to the at least one terminal, where the third request is used to request geographic location information of the at least one terminal.

The receiving unit is specifically configured to receive the geographic location information and the corresponding timestamp reported by the at least one terminal.

In some embodiments, the receiving unit is further configured to receive a geographic location reported by the located terminal, where the reported geographic location is obtained by performing positioning by the located terminal according to the received positioning reference signal.

In the foregoing embodiments, the configuration information may include, but is not limited to, at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal that transmits the positioning reference signal.

Transmission modes include: periodic, semi-persistent, and aperiodic.

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.

The indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

Based on the same inventive concept, an embodiment of the present application also provides a terminal, where the terminal includes: a receiving unit and a positioning unit.

The receiving unit is configured to receive configuration information sent by a target base station; and receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include the target base station and terminals subordinate to the target base station.

The positioning unit is configured to locate the located terminal according to the positioning reference signal.

In some embodiments, the positioning unit is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitting end; The geographic location information, speed information and corresponding time stamp of each transmitter determine the geographic location.

Specifically, in this embodiment, the positioning unit is specifically configured to: perform calibration processing on the timestamp corresponding to the time of arrival difference according to the obtained calibration parameter; and the corresponding time stamp, and the time stamp corresponding to the time-of-arrival difference after calibration processing, to determine the geographic location.

The calibration parameter may be determined based on the first time stamp when each transmitter sends the positioning reference signal, the second time stamp when each transmitter sends the positioning reference signal, and the third time stamp when the positioned terminal performs positioning calculation. get.

In some embodiments, the positioning unit is specifically used for:

According to the speed information of each transmitting end, and/or, the geographic location information of each transmitting end adjacent time, determine the moving transmitting end;

Eliminate the arrival time difference corresponding to the moving transmitter from the arrival time difference;

The geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp.

In some embodiments, the core network device further includes a sending unit configured to report the geographic location to the core network device.

In some embodiments, the positioning unit is specifically configured to measure the time difference of arrival between the positioning reference signals sent by each transmitting end.

The sending unit is further configured to report the measurement result and the corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal, where the measurement result includes: a positioning reference signal Arrival time difference and the corresponding positioning reference signal ID.

In the foregoing embodiments, the configuration information may include, but is not limited to, at least one of the following:

The transmission mode of the positioning reference signal;

Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal;

The identification ID of each terminal that transmits the positioning reference signal.

Transmission modes include: periodic, semi-persistent, and aperiodic.

The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending.

The indication information of the time domain resource of the periodic positioning reference signal is used to indicate: the transmission period of the positioning reference signal.

The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends.

In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when it runs on a computer, the computer can execute the foregoing positioning method 100, or the positioning method 100, or the positioning method 20, or the corresponding content in the embodiment corresponding to the positioning method 30. Compared with the prior art, the positioning method provided by the embodiments of the present application can enable the terminal to also assist in sending a positioning reference assistance signal when the prior art means cannot support the positioning of the terminal in the Sidelink scenario, thereby improving the Sidelink scenario. Lower positioning accuracy to make up for the fact that the number of outdoor base stations sending positioning reference signals is too small, the distribution of outdoor base stations is arranged in geometric correlation, and the resolution of sending positioning reference signals is not high enough, resulting in a large accuracy of outdoor positioning results based on cellular networks. lowering problem.

It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and other division methods may be used in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, optical storage, and the like.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowcharts and/or block diagrams, and combinations of flows and/or blocks in the flowcharts and/or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These processor-executable instructions may also be stored in a processor-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the processor-readable memory result in the manufacture of means including the instructions product, the instruction means implements the functions specified in the flow or flow of the flowchart and/or the block or blocks of the block diagram.

These processor-executable instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process that Execution of the instructions provides steps for implementing the functions specified in the flowchart or blocks and/or the block or blocks of the block diagrams.

The above are only some embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (37)

A positioning method, performed by a base station, the method comprising: receiving a first request, where the first request is used to request location information of the located terminal; According to the first request, configuration information is simultaneously sent to the located terminal and the subordinate terminal, where the configuration information is used to instruct the subordinate terminal to send a positioning reference signal according to the configuration information, and to instruct the located terminal The terminal receives the positioning reference signal according to the configuration information, so as to locate the located terminal. The positioning method according to claim 1, wherein the sending configuration information to the positioned terminal and subordinate terminals simultaneously according to the first request comprises: Configuring corresponding configuration information for the subordinate terminal; The configured configuration information is sent to the located terminal and the subordinate terminal at the same time. The positioning method according to claim 2, wherein the configuring corresponding configuration information for the subordinate terminal comprises: sending a second request to the subordinate terminal, where the second request is used to inquire whether the subordinate terminal supports sending positioning reference signals; Corresponding configuration information is configured for the target terminal according to the feedback message reported by the target terminal that supports sending the positioning reference signal. The positioning method according to claim 3, wherein the feedback message includes at least one of the following parameter information supported by the target terminal to send a positioning reference signal: Bandwidth, frequency information, duration. The method of any one of claims 1-4, wherein the method further comprises: The configuration information and the identification information of the corresponding terminal are sent to the core network device, so that the core network device can locate the located terminal. The positioning method according to any one of claims 1-4, wherein the configuration information includes at least one of the following: The transmission mode of the positioning reference signal; Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal; The identification ID of each terminal sending the positioning reference signal; Among them, the transmission mode includes: periodic, semi-persistent, aperiodic; The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending; The indication information of the time domain resource of the periodic positioning reference signal, which is used to indicate: the transmission period of the positioning reference signal; The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends. A positioning method, performed by a base station, the method comprising: sending preset configuration information to a subordinate terminal, where the configuration information is used to instruct the subordinate terminal to send a positioning reference signal according to the configuration information; receiving a first request, where the first request is used to request location information of the located terminal; According to the first request, the configuration information is sent to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the positioning reference signal to the located terminal. Locate the terminal for positioning. A positioning method, executed by a core network device, the method comprising: receiving a first request, where the first request is used to request location information of the located terminal; Determine the target base station according to the identification information of the located terminal carried in the first request; Send the first request to the target base station, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, where the configuration information is used to instruct the terminals subordinate to the target base station according to the The configuration information sends a positioning reference signal, and instructs the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal. The positioning method according to claim 8, wherein the determining of the target base station according to the identification information of the located terminal carried in the first request comprises: determining the base station to which the located terminal belongs according to the identification information of the located terminal; The base station and the neighboring cell base stations of the base station are determined as the target base station. The positioning method according to claim 8 or 9, wherein the method further comprises: receiving the configuration information sent by the target base station and the identification information of the corresponding terminal; receiving a measurement result and a corresponding time stamp reported by the located terminal, where the measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID; According to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal, determine the corresponding at least one terminal; obtaining the geographic location information and the corresponding timestamp reported by the at least one terminal; The geographic location of the located terminal is determined according to the measurement result and the corresponding timestamp, as well as the geographic location information and the corresponding timestamp. The positioning method according to claim 10, wherein the obtaining the geographic location information and the corresponding timestamp reported by the at least one terminal comprises: According to the identification information of the at least one terminal, the geographic location information and the corresponding timestamp of the at least one terminal are filtered out from the received geographic location information and the corresponding timestamp reported by the terminal; or, sending a third request to the at least one terminal, where the third request is used to request geographic location information of the at least one terminal; The geographic location information and the corresponding timestamp reported by the at least one terminal are received. The positioning method according to claim 8 or 9, wherein the method further comprises: Receive the geographic location reported by the located terminal, where the reported geographic location is obtained by the located terminal performing positioning according to the received positioning reference signal. The positioning method according to claim 10, wherein the configuration information includes at least one of the following: The transmission mode of the positioning reference signal; Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal; The identification ID of each terminal sending the positioning reference signal; Among them, the transmission mode includes: periodic, semi-persistent, aperiodic; The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending; The indication information of the time domain resource of the periodic positioning reference signal, which is used to indicate: the transmission period of the positioning reference signal; The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends. A positioning method, executed by a terminal to be positioned, the method comprising: Receive the configuration information sent by the target base station; receiving, according to the configuration information, positioning reference signals sent by multiple transmitters, wherein the multiple transmitters include the target base station and terminals subordinate to the target base station; The positioned terminal is positioned according to the positioning reference signal. The method according to claim 14, wherein the performing positioning according to the positioning reference signal comprises: Measure the time difference of arrival between the positioning reference signals sent by each transmitter; The geographic location is determined according to the arrival time difference and the corresponding timestamp, as well as the received geographic location information, speed information and corresponding timestamps from each transmitter of the core network device. The method according to claim 15, wherein, according to the arrival time difference and the corresponding time stamp, and the received geographic location information, speed information and corresponding time stamp from each transmitting end of the core network device , before determining the geographic location, the method further includes: Get calibration parameters; Determining the geographic location according to the arrival time difference and the corresponding timestamp, and the received geographic location information, speed information and corresponding timestamps from the core network device and each transmitter, including: Perform calibration processing on the timestamp corresponding to the arrival time difference according to the calibration parameter; The geographic location is determined according to the time difference of arrival, the geographic location information, speed information and the corresponding time stamp of each transmitting terminal, and the time stamp corresponding to the time difference of arrival after calibration processing. The method of claim 16, wherein the obtaining calibration parameters comprises: obtaining a first timestamp when each transmitter sends a positioning reference signal, a second timestamp when each transmitter sends a positioning reference signal, and a third timestamp when the located terminal performs positioning calculation; The calibration parameter is determined from the first time stamp, the second time stamp and the third time stamp. The method according to claim 15, wherein, according to the time difference of arrival and the corresponding time stamp, and the received geographic location information, speed information and corresponding time stamp from each transmitter of the core network device, Determine geographic location, including: According to the speed information of each transmitting end, and/or, the geographic location information of each transmitting end adjacent time, determine the moving transmitting end; Eliminate the arrival time difference corresponding to the moving transmitter from the arrival time difference; The geographic location is determined according to the remaining arrival time difference and the corresponding timestamp, as well as the geographic location information of the corresponding transmitter and the corresponding timestamp. The method of any one of claims 15-18, wherein the method further comprises: The geographic location is reported to the core network device. The method according to claim 14, wherein the performing positioning according to the positioning reference signal comprises: Measure the time difference of arrival between the positioning reference signals sent by each transmitter; The measurement result and the corresponding time stamp reported to the core network device, so that the core network device can determine the geographic location of the located terminal, wherein the measurement result includes: the time difference of arrival between the positioning reference signals and the corresponding positioning Reference Signal ID. The positioning method according to any one of claims 15-18, wherein the configuration information includes at least one of the following: The transmission mode of the positioning reference signal; Indication information of time domain resources, frequency domain resources and space domain resources of the positioning reference signal; The identification ID of each terminal sending the positioning reference signal; Among them, the transmission mode includes: periodic, semi-persistent, aperiodic; The indication information of the time domain resources of the semi-persistent positioning reference signal, which is used to indicate: the time point, duration, and interval period of the positioning reference signal to start sending, or, the time point to start sending, the time point to end sending, The interval period for sending; The indication information of the time domain resource of the periodic positioning reference signal, which is used to indicate: the transmission period of the positioning reference signal; The indication information of the time domain resource of the aperiodic positioning reference signal is used to indicate: the time point when the positioning reference signal starts to be sent, the duration, and the time point when the transmission ends. A base station, comprising: a memory configured to store the computer program; a transceiver, configured to: receive a first request under the control of the processor, where the first request is used to request location information of the located terminal; according to the first request, send a request to the located terminal and the located terminal The terminal subordinate to the base station sends configuration information at the same time, the configuration information is used to instruct the subordinate terminal to send the positioning reference signal according to the configuration information, and to instruct the located terminal to receive the positioning reference signal according to the configuration information. , for locating the located terminal; A processor configured to read a computer program in the memory and perform control of the transceiver. The base station according to claim 22, wherein the processor is specifically configured to: configure corresponding configuration information for a terminal subordinate to the base station; The transceiver is specifically configured to send the configured configuration information to the located terminal and the terminal subordinate to the base station at the same time. The base station according to claim 23, wherein the transceiver is specifically configured to send a second request to a terminal subordinate to the base station, where the second request is used to inquire whether the terminal supports sending a positioning reference signal; The processor is specifically configured to configure corresponding configuration information for the target terminal according to the feedback message reported by the target terminal that supports sending the positioning reference signal. A base station, comprising: a memory configured to store the computer program; a transceiver, configured to: send preset configuration information to a terminal subordinate to the base station under the control of the processor, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information; receive the first a request, the first request is used to request the location information of the located terminal; according to the first request, the configuration information is sent to the located terminal, and the configuration information is used to instruct the located terminal according to The configuration information receives the positioning reference signal for positioning the located terminal; A processor configured to read a computer program in the memory and perform control of the transceiver. A core network device, including: a memory configured to store the computer program; a transceiver configured to receive, under the control of the processor, a first request for requesting location information of the located terminal; a processor configured to read a computer program in the memory and execute control of the transceiver, and determine a target base station according to the identification information of the located terminal carried in the first request received by the transceiver ; The transceiver is further configured to, under the control of the processor, send the first request to the target base station, so that the target base station sends configuration information to the located terminal and the terminals subordinate to the target base station, The configuration information is used to instruct a terminal subordinate to the target base station to send a positioning reference signal according to the configuration information, and to instruct the located terminal to receive the positioning reference signal according to the configuration information, so as to be used for the target base station to receive the positioning reference signal according to the configuration information. Locate the terminal for positioning. The core network device according to claim 26, wherein the processor is specifically configured to: determine the base station to which the located terminal belongs according to the identification information of the located terminal; The neighboring cell base station of is determined as the target base station. The core network device according to claim 26 or 27, wherein the transceiver is specifically configured to receive configuration information sent by the target base station and identification information of the corresponding terminal; a corresponding time stamp, where the measurement result includes: the arrival time difference between the positioning reference signals and the corresponding positioning reference signal ID; The processor is specifically configured to, according to the positioning reference signal ID corresponding to the measurement result and the identification information of the terminal, determine the corresponding at least one terminal; obtain the geographic location information and the corresponding time reported by the at least one terminal Stamp; according to the measurement result and the corresponding timestamp, and the geographic location information and the corresponding timestamp, determine the geographic location of the located terminal. The core network device according to claim 26 or 27, wherein the transceiver is specifically configured to receive a geographic location reported by the located terminal, where the reported geographic location is the location determined by the located terminal according to the received location. Obtained by positioning the reference signal. A terminal that includes: a memory configured to store the computer program; a transceiver, configured to: receive configuration information sent by a target base station under the control of the processor; receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include the a target base station and a terminal subordinate to the target base station; A processor configured to read a computer program in the memory and perform control of the transceiver and perform positioning according to the positioning reference signal received by the transceiver. The terminal according to claim 30, wherein the processor is specifically configured to: measure the time difference of arrival between the positioning reference signals sent by each transmitter; The geographic location information, speed information and corresponding time stamps from each transmitting end of the core network device are used to determine the geographic location. The terminal according to claim 30, wherein the processor is specifically configured to: measure a time difference of arrival between positioning reference signals sent by each transmitter; The transceiver is further configured to report the measurement result and the corresponding time stamp to the core network device, so that the core network device can determine the geographic location of the located terminal, wherein the measurement result includes: a positioning reference signal. Arrival time difference and the corresponding positioning reference signal ID. A base station, comprising: a receiving unit, configured to receive a first request, where the first request is used to request location information of the located terminal; a sending unit, configured to send configuration information to the located terminal and a terminal subordinate to the base station at the same time according to the first request, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference according to the configuration information signal, and instructing the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal. A base station, comprising: a sending unit, configured to send preset configuration information to a terminal subordinate to the base station, where the configuration information is used to instruct the terminal subordinate to the base station to send a positioning reference signal according to the configuration information; a receiving unit, configured to receive a first request, where the first request is used to request location information of the located terminal; The sending unit is further configured to, according to the first request, send the configuration information to the located terminal, where the configuration information is used to instruct the located terminal to receive the positioning reference according to the configuration information The signal is used to locate the located terminal. A core network device, including: a receiving unit, configured to receive a first request, where the first request is used to request location information of the located terminal; a determining unit, configured to determine a target base station according to the identification information of the located terminal carried in the first request; a sending unit, configured to send the first request to the target base station, so that the target base station sends configuration information to the located terminal and terminals subordinate to the target base station, where the configuration information is used to indicate the target base station The subordinate terminal sends a positioning reference signal according to the configuration information, and instructs the located terminal to receive the positioning reference signal according to the configuration information, so as to locate the located terminal. A terminal that includes: The receiving unit is configured to receive configuration information sent by the target base station; and receive positioning reference signals sent by multiple transmitters according to the configuration information, wherein the multiple transmitters include the target base station and the subordinates of the target base station. terminal; A positioning unit configured to perform positioning according to the positioning reference signal. A processor-readable storage medium storing a computer program for causing the processor to execute the positioning method according to any one of claims 1 to 7, or , causing the processor to execute the positioning method according to any one of claims 8 to 13 , or causing the processor to execute the positioning method according to any one of claims 14 to 21 .

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