WO2018086495A1 - 定位方法、定位基站、定位服务器和定位系统 - Google Patents

定位方法、定位基站、定位服务器和定位系统 Download PDF

Info

Publication number
WO2018086495A1
WO2018086495A1 PCT/CN2017/109538 CN2017109538W WO2018086495A1 WO 2018086495 A1 WO2018086495 A1 WO 2018086495A1 CN 2017109538 W CN2017109538 W CN 2017109538W WO 2018086495 A1 WO2018086495 A1 WO 2018086495A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
terminal
base station
positioning base
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/109538
Other languages
English (en)
French (fr)
Inventor
向平叶
魏元庆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZTE Corp
Original Assignee
ZTE Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZTE Corp filed Critical ZTE Corp
Priority to EP17870364.1A priority Critical patent/EP3541126B1/en
Priority to ES17870364T priority patent/ES2871825T3/es
Publication of WO2018086495A1 publication Critical patent/WO2018086495A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

Definitions

  • the present disclosure relates to the field of wireless positioning, and in particular, to a positioning method, a positioning base station, a positioning server, and a positioning system.
  • the positioning is divided into outdoor positioning and indoor positioning.
  • indoor positioning it can be carried out by satellite signals, such as Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS); but for indoors in complex indoor or closed environments.
  • GPS Global Positioning System
  • BDS BeiDou Navigation Satellite System
  • Positioning such as large waiting rooms, large venues, stadiums, large office buildings, underground mines, etc., due to the serious attenuation of satellite signal occlusion, it is impossible to use it for positioning, but because this environment requires the communication network to meet the hot spot coverage anytime and anywhere,
  • the base station of the communication system can be used for positioning.
  • the specific methods include Cell-ID method, fingerprint method, Angle of Arrival (AOA) method, Time of Arrival (TOA) method and Time Difference of Arrival (TDOA). method.
  • the Cell-ID method has insufficient positioning accuracy; the fingerprint method needs to collect a large number of signal features, and the cost is high; the AOA method requires the antenna array to have high spatial resolution; the TOA method measures the signal transmission delay value between the base station and the terminal, and then according to The delay value estimates the actual distance between the base station and the terminal, and then uses the actual distance between the multiple base stations and the terminal to determine the terminal position according to the triangular relationship; the TDOA method uses the estimated delay as an intermediate variable based on the existing TOA method.
  • the mathematical transformation method is used to eliminate the intermediate variables, and a direct relationship between the geographical location and the positioning terminal is established, which reduces the error caused by the estimation of the intermediate variables.
  • the TOA method and the TDOA method are practical methods for indoor positioning.
  • the TDOA method requires simultaneous acquisition of more than four base station transceiving signal time differences, and to obtain accurate time difference of arrival and reception of signals between base stations, the positioning system needs to ensure absolute time synchronization between the base stations. If each base station is not implemented Absolute time synchronization, the time deviation of transmitting the positioning signal will directly cause the error of the positioning estimation, but it is difficult to achieve absolute time synchronization between the existing communication network base stations.
  • the embodiments of the present disclosure are expected to provide a positioning method, a positioning base station, a positioning server, and a positioning system, so as to eliminate positioning errors caused by base station out-of-synchronization in the existing TDOA method, and improve positioning accuracy.
  • a positioning method comprising:
  • the positioning server respectively receives information sent by the N positioning base stations, including r 1 and R 1 , r 2 and R 2 , . . . , r N and R N , where r 1 , r 2 . . . r N are the positions sent by the terminal to be located.
  • R 1 , R 2 ... R N are the times when the positioning reference signal sent by the fixed reference station reaches the N positioning base stations, and N is greater than or equal to 3;
  • the positioning server calculates coordinates of the terminal to be located according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • the positioning server calculating the coordinates of the terminal to be located according to r 1 , r 2 ... r N and R 1 , R 2 ... R N includes:
  • the calculation formula calculates the coordinates of the terminal to be located, including:
  • N is greater than or equal to 4.
  • the method further includes:
  • the location server receives a location service request sent by the mobility management entity MME, where the location service request is used to locate the to-be-targeted terminal;
  • the positioning server sends the first authorization information and the first auxiliary information to the N positioning base stations, and sends the second authorization information and the second auxiliary information to the to-be-located terminal, and the third authorization information and the third auxiliary
  • the information is sent to the fixed reference terminal, where the first, second, and third authorization information are used to notify the N positioning base stations, the to-be-located terminal, and the fixed reference terminal to start Positioning, the first auxiliary information is used to identify the to-be-located terminal and the fixed reference terminal, and the second and third auxiliary information are used for marking Identify the N positioning base stations.
  • a positioning method comprising:
  • the positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed-position reference terminal;
  • the positioning base station sends the information including the r i and the R i to the positioning server, so that the positioning server calculates the coordinates of the terminal to be located according to r i and R i .
  • the method before the positioning base station receives the positioning reference signal sent by the terminal to be located and the fixed reference terminal, the method further includes:
  • the positioning base station sends a location service request to the mobility management entity MME, where the location service request is used to locate the to-be-located terminal;
  • the positioning base station receives the first authorization information and the first auxiliary information that are sent by the positioning server, where the first authorization information is used to notify the positioning base station to start positioning, and the first auxiliary information is used to identify the The terminal to be located and the reference terminal with a fixed position.
  • the positioning reference signal is an uplink reference signal.
  • a positioning server including:
  • a first receiving module configured to receive, by each of the N positioning base stations, information including r 1 and R 1 , r 2 and R 2 , . . . , r N and R N , where r 1 , r 2 , r N are to be determined
  • R 1 , R 2 ... R N are the times when the positioning reference signal sent by the fixed reference station reaches the N positioning base stations, and N is greater than or equal to 3.
  • the calculation module is configured to calculate the coordinates of the terminal to be located according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • the computing module is set to:
  • the computing module is further configured to:
  • K j is the coordinate sum of the coordinates of the positioning base station j,
  • K j X j 2 + Y j 2 + Z j 2
  • K i is the coordinate sum of the coordinates of the positioning base station i
  • K i X i 2 + Y i 2 + Z i 2 .
  • N is greater than or equal to 4.
  • the positioning server further includes:
  • the first receiving module is further configured to receive a positioning service request sent by the mobility management entity MME, where the positioning service request is used to locate the to-be-located terminal;
  • the first sending module is configured to send the first authorization information and the first auxiliary information to the N positioning base stations, and send the second authorization information and the second auxiliary information to the to-be-located terminal, and the third authorization information and
  • the third auxiliary information is sent to the fixed reference terminal, where the first, second, and third authorization information are used to notify the N positioning base stations, the to-be-located terminal, and the fixed location, respectively.
  • the reference terminal starts positioning, and the first auxiliary information is used to identify And the second and third auxiliary information are used to identify the N positioning base stations.
  • a second aspect provides a positioning server, including: a first interface, a first bus, a first memory, and a first processor, wherein the first interface, the first memory, and the first processor pass the first The bus is connected, the first memory is set to store an instruction, and the first processor reads the instruction set to:
  • the coordinates of the terminal to be located are calculated according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • the positioning server as described above, the first processor reading the instruction is further set to:
  • the first processor reads the instruction set to:
  • K j is the coordinate sum of the coordinates of the positioning base station j,
  • K j X j 2 + Y j 2 + Z j 2
  • K i is the coordinate sum of the coordinates of the positioning base station i
  • K i X i 2 + Y i 2 + Z i 2 .
  • a positioning base station including:
  • a second receiving module configured to receive a positioning reference signal sent by the terminal to be located and the reference terminal with a fixed position
  • the second sending module is configured to send the information including the r i and the R i to the positioning server, so that the positioning server calculates the coordinates of the terminal to be located according to r i and R i .
  • the locating base station as described above, the second sending module is further configured to send a location service request to the mobility management entity MME, where the location service request is used to locate the to-be-located terminal;
  • the second receiving module is further configured to receive the first authorization information and the first auxiliary information that are sent by the positioning server, where the first authorization information is used to notify the positioning base station to start positioning, and the first auxiliary The information is used to identify the to-be-located terminal and the fixed reference terminal.
  • a fourth aspect provides a positioning base station, including: a second interface, a second bus, a second memory, and a second processor, wherein the second interface, the second memory, and the second processor pass the second The bus is connected, the second memory is set to store instructions, and the second processor reads the instructions to be set to:
  • the information including r i and r i is sent to the positioning server, so that the positioning server calculates the coordinates of the terminal to be located according to r i and R i .
  • the second processor reads the instruction set to:
  • the location service request is used to locate the to-be-located terminal, and receiving first authorization information and first auxiliary information sent by the location server, where the first authorization information And configured to notify the positioning base station to start positioning, where the first auxiliary information is used to identify the to-be-located terminal and the fixed reference terminal.
  • a positioning system comprising a positioning server provided by the first aspect as described above, a positioning base station provided by the third aspect as described above, and a fixed reference terminal, a terminal to be located, and a mobility management entity MME Where N is greater than or equal to 3;
  • the terminal to be located is configured to send a positioning service request to the MME, and send a positioning reference signal to the positioning base station, and is further configured to receive the coordinates of the to-be-located terminal sent by the MME, where the positioning service Requesting to locate the terminal to be located;
  • the fixed reference terminal is configured to send a positioning reference signal to the positioning base station
  • the MME is configured to receive a positioning service request sent by the to-be-located terminal or the positioning base station, determine the positioning service request, and send the positioning service request to the positioning server; and further, set to receive the positioning
  • the coordinates of the to-be-located terminal sent by the server, the coordinates of the to-be-located terminal are sent to the to-be-located terminal or the positioning base station that requests the positioning service, where the positioning service request is used to locate the The terminal to be located.
  • the terminal to be located is further configured to receive the second authorization information and the second auxiliary information that are sent by the positioning server, where the second authorization information is used to notify the terminal to be located to start Positioning, the second auxiliary information is used to identify the N positioning base stations.
  • the fixed reference terminal is further configured to receive the third authorization information and the third auxiliary information that are sent by the positioning server, where the third authorization information is used to notify the fixed reference terminal to start positioning.
  • the third auxiliary information is used to identify the N positioning base stations.
  • a positioning system comprising a positioning server provided by the second aspect as described above, a positioning base station provided by the fourth aspect as described above, and a fixed reference terminal, a to-be-located terminal, and a mobility management entity MME Where N is greater than or equal to 3;
  • the terminal to be located is configured to send a positioning service request to the MME, and send a positioning reference signal to the positioning base station, and further set to receive the coordinates of the to-be-located terminal sent by the MME, where the positioning service Requesting to locate the terminal to be located;
  • the fixed reference terminal is configured to send a positioning reference signal to the positioning base station
  • the MME is configured to receive a positioning service request sent by the to-be-located terminal or the positioning base station, determine the positioning service request, and send the positioning service request to the positioning server; and further, set to receive the positioning
  • the coordinates of the to-be-located terminal sent by the server are sent to the terminal that requests the positioning service, where the positioning service request is used to locate the terminal to be located.
  • the terminal to be located is further configured to receive the second authorization information and the second auxiliary information that are sent by the positioning server, where the second authorization information is used to notify the terminal to be located to start Positioning, the second auxiliary information is used to identify the N positioning base stations;
  • the fixed reference terminal is further configured to receive the third authorization information and the third auxiliary information that are sent by the positioning server, where the third authorization information is used to notify the fixed reference terminal to start positioning.
  • the third auxiliary information is used to identify the N positioning base stations.
  • a storage medium comprising a stored program, wherein the program is executed to perform the method of any of the above.
  • the positioning server respectively receives the time information of the positioning reference signal including the to-be-located terminal sent by the positioning base station to the positioning base station, and the fixed reference terminal positioning reference
  • the time information of the signal arriving at the positioning base station is calculated, and the time difference between the terminal to be located and the fixed reference terminal is calculated according to the time information, thereby calculating the coordinates of the terminal to be located; thereby eliminating the positioning caused by the base station being out of synchronization in the existing TDOA method. Error, improve positioning accuracy.
  • Embodiment 1 is a flowchart of Embodiment 1 of a positioning method according to the present disclosure
  • Embodiment 2 is a flowchart of Embodiment 2 of a positioning method according to the present disclosure
  • Embodiment 3 is a flowchart of Embodiment 3 of a positioning method according to the present disclosure
  • Embodiment 4 is a flowchart of Embodiment 4 of a positioning method according to the present disclosure
  • FIG. 5 is a flowchart of Embodiment 5 of a positioning method according to the present disclosure.
  • FIG. 6 is a schematic diagram of a positioning scenario of the present disclosure.
  • FIG. 7 is a schematic structural diagram of Embodiment 1 of a positioning server according to the present disclosure.
  • Embodiment 8 is a schematic structural diagram of Embodiment 2 of a positioning server according to the present disclosure.
  • Embodiment 9 is a schematic structural diagram of Embodiment 3 of a positioning server according to the present disclosure.
  • FIG. 10 is a schematic structural diagram of Embodiment 1 of a positioning base station according to the present disclosure.
  • FIG. 11 is a schematic structural diagram of Embodiment 2 of a positioning base station according to the present disclosure.
  • FIG. 1 is a flowchart of Embodiment 1 of a positioning method according to the present disclosure. As shown in FIG. 1 , the positioning method provided in this embodiment includes:
  • Step 101 The positioning server separately receives information sent by the N positioning base stations, including r 1 and R 1 , r 2 and R 2 , . . . , r N and R N .
  • r 1 , r 2 ... r N are times when the positioning reference signal sent by the terminal to be located reaches the N positioning base stations
  • R 1 , R 2 ... R N are the positioning reference signals sent by the reference terminal with fixed position to reach N positioning At the time of the base station, N is greater than or equal to 3.
  • Step 102 The positioning server calculates coordinates of the terminal to be located according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • the positioning server receives the time information of the positioning reference signal of the terminal to be located that is sent by the positioning base station and the positioning reference signal of the fixed reference terminal to the positioning base station, The time information calculates the coordinates of the terminal to be located; thereby eliminating the limitation caused by the base station being out of synchronization in the existing TDOA method. Bit error to improve positioning accuracy.
  • FIG. 2 is a flowchart of Embodiment 2 of a positioning method according to the present disclosure. As shown in FIG. 2, the positioning method provided in this embodiment includes:
  • Step 201 The positioning server respectively receives information that is sent by the N positioning base stations and includes r 1 and R 1 , r 2 and R 2 , . . . , r N and R N .
  • r 1 , r 2 ... r N are times when the positioning reference signal sent by the terminal to be located reaches the N positioning base stations
  • R 1 , R 2 ... R N are the positioning reference signals sent by the reference terminal with fixed position to reach N positioning At the time of the base station, N is greater than or equal to 3.
  • Step 202 the location server according to r 1, r 2 ... r N and R 1, R 2 ... R N N calculated time difference Td 1, Td 2 ... Td N .
  • Td 1 R 1 - r 1
  • Td 2 R 2 - r 2
  • Td N R N - r N .
  • Td j -Td i (L 2,j -L 1,j -L 2,i +L 1,i )/c
  • r j,i c*(Td i -Td j )+L 2,j -L 2,i .
  • L 1,j L 1,j -L 1,i ,L 2,j is the distance from the fixed reference terminal to the positioning base station j
  • L 2,i the distance from the fixed reference terminal to the positioning base station i
  • L 2,j and L 2,i are obtained by measurement
  • L 1,j is the distance from the terminal to be located to the positioning base station j
  • L 1,i is the distance from the terminal to be located to the positioning base station i
  • c is the speed of light
  • i 1 or 2... or N
  • j 1, 2, ..., N and j ⁇ i.
  • the positioning server receives the time information of the positioning reference signal of the terminal to be located that is sent by the positioning base station and the positioning reference signal of the fixed reference terminal to the positioning base station, The time information calculates the time difference between the terminal to be located and the fixed reference terminal, and then calculates the coordinates of the terminal to be located; thereby eliminating the positioning error caused by the base station out of synchronization in the existing TDOA method, and improving the positioning accuracy.
  • FIG. 3 is a flowchart of Embodiment 3 of a positioning method according to the present disclosure. As shown in FIG. 3, the positioning method provided in this embodiment includes:
  • Step 301 The positioning server receives the mobility management entity (Mobility Management Entity, referred to as MME), sends a location service request.
  • MME mobility management Entity
  • the location service request is used to locate the terminal to be located.
  • Step 302 The positioning server sends the first authorization information and the first auxiliary information to the N positioning base stations, and sends the second authorization information and the second auxiliary information to the to-be-located terminal, and sends the third authorization information and the third auxiliary information to A fixed reference terminal.
  • the first, second, and third authorization information are used to notify the N positioning base stations, the to-be-located terminal, and the fixed reference terminal to start positioning, and the first auxiliary information is used to identify the to-be-located terminal and the fixed reference terminal.
  • the second and third auxiliary information are used to identify N positioning base stations, and N is greater than or equal to 3.
  • the N positioning base stations, the to-be-located terminal, and the fixed reference terminal that are involved in positioning need to know the object to communicate with, so the first, second, and third auxiliary information respectively identify N
  • the first auxiliary information further includes information indicating how the positioning base station handles the abnormal situation
  • the second auxiliary information further includes information indicating how the terminal to be located handles the abnormal situation
  • the third auxiliary information further includes information indicating how the reference terminal handles the abnormal condition.
  • Step 303 The positioning server separately receives information that is sent by the N positioning base stations and includes r 1 and R 1 , r 2 and R 2 , . . . , r N and R N .
  • r 1 , r 2 ... r N are times when the positioning reference signal sent by the terminal to be located reaches the N positioning base stations
  • R 1 , R 2 ... R N are the positioning reference signals sent by the reference terminal with fixed position to reach N positioning The moment of the base station.
  • Step 304 the location server according to r 1, r 2 ... r N and R 1, R 2 ... R N N calculated time difference Td 1, Td 2 ... Td N .
  • Td 1 R 1 - r 1
  • Td 2 R 2 - r 2
  • Td N R N - r N .
  • the relational equation r j,i c*(Td i -Td j )+L 2,j -L 2,i .
  • L 1,j L 1,j -L 1,i ,L 2,j is the distance from the fixed reference terminal to the positioning base station j
  • L 2,i the distance from the fixed reference terminal to the positioning base station i
  • L 2,j and L 2,i are obtained by measurement
  • L 1,j is the distance from the terminal to be located to the positioning base station j
  • L 1,i is the distance from the terminal to be located to the positioning base station i
  • c is the speed of light
  • i 1 or 2... or N
  • j 1, 2, ..., N and j ⁇ i.
  • N is greater than or equal to 4, that is, only at least 4 positioning base stations are needed.
  • the positioning method provided by the present disclosure is applied in a multi-storey shopping mall or a high-rise building, it is required to obtain the spatial coordinates of the terminal to be located, that is, the X-axis coordinate and the Y-axis coordinate in the coordinates (x, y, z) of the terminal to be positioned.
  • the Z-axis coordinate when it is necessary to acquire the X-axis coordinate, the Y-axis coordinate, and the Z-axis coordinate in the coordinates (x, y, z) of the terminal to be positioned, N is greater than or equal to 5, that is, only at least 5 positioning is required.
  • the base station can acquire the coordinates of the terminal to be located.
  • the positioning server receives the time information of the positioning reference signal of the terminal to be located that is sent by the positioning base station and the positioning reference signal of the fixed reference terminal to the positioning base station, The time information calculates the time difference of arrival between the terminal to be located and the fixed reference terminal, and further calculates the coordinates of the terminal to be located; thereby eliminating the positioning error caused by the base station being out of synchronization in the existing TDOA method. Improve positioning accuracy.
  • FIG. 4 is a flowchart of Embodiment 4 of a positioning method according to the present disclosure. As shown in FIG. 4, the positioning method provided in this embodiment includes:
  • Step 401 The positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed-position reference terminal.
  • the positioning base station before the positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed-position reference terminal, the positioning base station allocates a positioning reference signal resource to the to-be-located terminal and the reference terminal; During the positioning, the positioning base station sends a reconfiguration message to the to-be-located terminal and the reference terminal, and the re-allocation message is used to notify the to-be-located terminal and the reference terminal to modify the previously configured positioning reference signal.
  • Step 402 The positioning base station acquires a time r i at which the positioning reference signal sent by the terminal to be located arrives at the positioning base station, and a time R i at which the positioning reference signal sent by the fixed reference terminal arrives at the positioning base station.
  • i 1 or 2... or N
  • N is greater than or equal to 3.
  • the positioning base station obtains the positioning reference signal received by the positioning terminal, and acquires the time r i of the positioning reference signal sent by the terminal to be located to reach the positioning base station and the time R i of the positioning reference signal sent by the fixed reference terminal to the positioning base station. .
  • Step 403 The positioning base station sends the information including r i and R i to the positioning server, so that the positioning server calculates the coordinates of the terminal to be located according to r i and R i .
  • the positioning terminal through the base station to be located transmitted acquisition time reaches the registration station I r and the fixed reference position reaches the registration terminal sends a base station time R i, r and comprising The information of i and R i is sent to the positioning server; thereby eliminating the positioning error caused by the unsynchronization of the base station in the existing TDOA method, and improving the positioning accuracy.
  • FIG. 5 is a flowchart of Embodiment 5 of a positioning method according to the present disclosure. As shown in FIG. 5, the positioning method provided in this embodiment includes:
  • Step 501 The positioning base station sends a positioning service request to the MME, where the positioning service request is used to locate the terminal to be located.
  • Step 502 The positioning base station receives the first authorization information and the first auxiliary information sent by the positioning server.
  • the first authorization information is used to notify the positioning base station to start positioning
  • the first auxiliary information is used to identify the to-be-located terminal and the fixed reference terminal.
  • the first auxiliary information further includes how to indicate that the positioning base station handles the abnormal situation. information.
  • Step 503 The positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed-position reference terminal.
  • the positioning reference signal is an uplink reference signal, such as a Sounding Reference Signal (SRS) and a Demodulation Reference Signal (DMRS) signal.
  • SRS Sounding Reference Signal
  • DMRS Demodulation Reference Signal
  • Step 504 The positioning base station acquires a time r i at which the positioning reference signal sent by the terminal to be located arrives at the positioning base station, and a time R i at which the positioning reference signal sent by the fixed reference terminal arrives at the positioning base station.
  • i 1 or 2... or N
  • N is greater than or equal to 3.
  • Step 505 The positioning base station sends information including r i and R i to the positioning server, so that the positioning server calculates coordinates of the terminal to be located according to r i and R i .
  • the positioning terminal through the base station to be located transmitted acquisition time reaches the registration station I r and the fixed reference position reaches the registration terminal sends a base station time R i, r and comprising The information of i and R i is sent to the positioning server; thereby eliminating the positioning error caused by the unsynchronization of the base station in the existing TDOA method, and improving the positioning accuracy.
  • FIG. 6 is a schematic diagram of a positioning scene according to the disclosure.
  • the number of positioning base stations is at least 5
  • the MME receives an entity to initiate a location service request to the UE 1.
  • the entity may be a function entity, such as a positioning base station and a to-be-located terminal, or may be the MME itself.
  • the MME determines the location service request and sends a location service request to the location server to start the location service. Then positioning server to locate a base station AP j, to be located terminal UE 1, and the reference authorization information terminal UE 2 transmits the positioning auxiliary information required.
  • the to-be-located terminal UE 1 and the reference terminal UE 2 transmit an uplink SRS signal to the positioning base station AP j .
  • UE 1 transmits a signal at time t 0 and UE 2 transmits a signal at time T 0 .
  • t j is the synchronization time error between UE 1 and AP j
  • T j is the synchronization time error between UE 2 and AP j .
  • the base station AP j receives the positioning signals of the UE 1 and the UE 2 , respectively, and measures the exact arrival time.
  • the time when the AP j receives the UE 1 signal is r j
  • the time when the AP j receives the UE 2 signal is R j , which will include
  • the positioning server calculates the coordinates of the terminal UE 1 to be located according to each Td j and applies the TDOA positioning method, and records that the distance from AP j to UE 1 is L 1,j and the distance from AP j to UE 2 is L 2,j .
  • the specific principles and methods are as follows:
  • the reference terminal UE 2 eliminates the principle and method of synchronization error:
  • the communication network signal transmission is an electromagnetic wave, and the speed is the speed of light c. Then, the time r j at which the AP j receives the UE 1 signal and the time R j at which the UE 2 signal is received can be expressed as
  • AP j receives the signal arrival time difference between UE 1 and UE 2
  • Td j -Td 1 (T j -T 1 )-(t j -t 1 )+(L 2,j -L 1,j -L 2,1 +L 1,1 )/c
  • r j,1 c*(Td 1 -Td j )+L 2,j -L 2,1
  • the positioning server sends the obtained coordinates (x, y, z) of the UE 1 to the MME, and then sends the MME to the entity that initiated the positioning request to complete the positioning.
  • the positioning server receives the time information of the positioning reference signal of the terminal to be located that is sent by the positioning base station and the positioning reference signal of the fixed reference terminal to the positioning base station, The time information calculates the time difference between the terminal to be located and the fixed reference terminal, and then calculates the coordinates of the terminal to be located; thereby eliminating the positioning error caused by the base station out of synchronization in the existing TDOA method, and improving the positioning accuracy.
  • FIG. 7 is a schematic structural diagram of Embodiment 1 of a positioning server according to the present disclosure. As shown in FIG. 7, the positioning server provided in this embodiment includes:
  • the first receiving module 11 is configured to receive, by each of the N positioning base stations, information including r 1 and R 1 , r 2 and R 2 , . . . , r N and R N , where r 1 , r 2 , r N are When the positioning reference signal sent by the positioning terminal arrives at the N positioning base stations, R 1 , R 2 ... R N are times when the positioning reference signal sent by the fixed reference station reaches the N positioning base stations, and N is greater than or equal to 3.
  • the calculation module 12 is arranged to calculate the coordinates of the terminal to be located according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • K j is the coordinate sum of the coordinates of the positioning base station j,
  • K j X j 2 + Y j 2 + Z j 2
  • K i is the coordinate sum of the coordinates of the positioning base station i
  • K i X i 2 + Y i 2 + Z i 2 .
  • N is greater than or equal to 4.
  • FIG. 8 is a schematic structural diagram of Embodiment 2 of the positioning server of the present disclosure. As shown in FIG. 8, the positioning server further includes:
  • the first receiving module 11 is further configured to receive a positioning service request sent by the MME, where the positioning service request is used to locate the terminal to be located;
  • the first sending module 13 is configured to send the first authorization information and the first auxiliary information to the N positioning base stations, and send the second authorization information and the second auxiliary information to the terminal to be located, and the third authorization information and the third auxiliary
  • the information is sent to the fixed reference terminal, where the first, second, and third authorization information are used to notify the N positioning base stations, the to-be-located terminal, and the fixed reference terminal to start positioning, and the first auxiliary information is used to identify the to-be-determined Bit terminal and fixed reference terminal,
  • the second and third auxiliary information are used to identify N positioning base stations, and N is greater than or equal to 3.
  • the N positioning base stations, the to-be-located terminal, and the reference terminal participating in the positioning need to know the object to communicate with, so the first, second, and third auxiliary information respectively identify N positioning base stations
  • the first auxiliary information further includes information indicating how the positioning base station handles the abnormal situation
  • the second auxiliary information further includes information indicating how the terminal to be located handles the abnormal situation
  • the communication object to be located and the reference terminal The auxiliary information also contains information indicating how the reference terminal handles the abnormal condition.
  • the locating server provided in this embodiment may be configured to perform the technical solutions of the first embodiment, the second embodiment, and the third embodiment of the method.
  • the implementation principle and technical effects are similar, and details are not described herein again.
  • the first receiving module 11, the computing module 12, and the first sending module 13 may each be a Central Processing Unit (CPU) or a Micro Processor Unit (MPU) located in the positioning server. , Digital Signal Processor (DSP) or Field Programmable Gate Array (FPGA) implementation.
  • CPU Central Processing Unit
  • MPU Micro Processor Unit
  • DSP Digital Signal Processor
  • FPGA Field Programmable Gate Array
  • FIG. 9 is a schematic structural diagram of Embodiment 3 of a positioning server according to the present disclosure.
  • the positioning server provided in this embodiment includes: a first interface 1011, a first bus 1012, a first memory 1013, and a first processor 1014, a first interface 1011, a first memory 1013, and a first processor. 1014 is connected by a first bus 1012, the first memory 1013 is set to store instructions, and the first processor 1014 reads instructions set to:
  • the coordinates of the terminal to be positioned are calculated according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • first processor 1014 read command is further set to:
  • L 1,j L 1,j -L 1,i ,L 2,j is the distance from the fixed reference terminal to the positioning base station j
  • L 2,i the distance from the fixed reference terminal to the positioning base station i
  • L 2,j and L 2,i are obtained by measurement
  • L 1,j is the distance from the terminal to be located to the positioning base station j
  • L 1,i is the distance from the terminal to be located to the positioning base station i
  • c is the speed of light
  • i 1 or 2... or N
  • j 1, 2, ..., N and j ⁇ i;
  • the first processor 1014 reads the instruction set to:
  • N is greater than or equal to 4.
  • first processor 1014 read command is further set to:
  • the location service request is used to locate the terminal to be located; the first authorization information and the first auxiliary information are sent to the N positioning base stations, and the second authorization information and the second auxiliary information are sent to the terminal to be located. Transmitting the third authorization information and the third auxiliary information to the fixed reference terminal, where the first, second, and third authorization information are used to notify the N positioning base stations, the to-be-located terminal, and the fixed reference terminal, respectively. Positioning, the first auxiliary information is used to identify the terminal to be located and the reference terminal with a fixed position, and the second and third auxiliary information are used for the target Know N positioning base stations.
  • the locating server provided in this embodiment may be configured to perform the technical solutions of the first embodiment, the second embodiment, and the third embodiment of the method.
  • the implementation principle and technical effects are similar, and details are not described herein again.
  • FIG. 10 is a schematic structural diagram of Embodiment 1 of a positioning base station according to the present disclosure. As shown in FIG. 10, the positioning base station provided in this embodiment includes:
  • the second receiving module 21 is configured to receive a positioning reference signal sent by the terminal to be located and the reference terminal with a fixed position.
  • the positioning base station before the positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed-position reference terminal, the positioning base station allocates a positioning reference signal resource to the to-be-located terminal and the reference terminal; During the positioning, the positioning base station sends a reconfiguration message to the to-be-located terminal and the reference terminal, and the re-allocation message is used to notify the to-be-located terminal and the reference terminal to modify the previously configured positioning reference signal.
  • the positioning reference signal is an uplink reference signal.
  • the obtaining module 22 is configured to obtain a time r i at which the positioning reference signal sent by the terminal to be located reaches the positioning base station, and a time R i at which the positioning reference signal sent by the fixed reference terminal arrives at the positioning base station.
  • i 1 or 2... or N
  • N is greater than or equal to 3.
  • the positioning base station obtains the positioning reference signal received by the positioning terminal to obtain the time r i of the positioning reference signal sent by the terminal to be located, and the time R of the positioning reference signal sent by the fixed reference terminal to the positioning base station. i .
  • the second sending module 23 is configured to send the information including r i and R i to the positioning server, so that the positioning server calculates the coordinates of the terminal to be located according to r i and R i .
  • the second sending module 23 is further configured to send a positioning service request to the MME, where the positioning service request is used to locate the terminal to be located;
  • the second receiving module 21 is further configured to receive the first authorization information and the first auxiliary information that are sent by the positioning server, where the first authorization information is used to notify the positioning base station to start positioning, and the first auxiliary The information is used to identify the terminal to be located and the reference terminal with a fixed location.
  • the locating base station provided in this embodiment may be configured to perform the technical solution of the foregoing method embodiment 4 and the method embodiment 5, and the implementation principle and the technical effect are similar, and details are not described herein again.
  • the second receiving module 21, the obtaining module 22, and the second sending module 23 can all be implemented by a CPU, an MPU, a DSP, an FPGA, or the like located in the positioning base station.
  • FIG. 11 is a schematic structural diagram of Embodiment 2 of a positioning base station according to the present disclosure.
  • the positioning base station provided in this embodiment includes: a second interface 1111, a second bus 1112, a second memory 1113 and a second processor 1114, a second interface 1111, a second memory 1113, and a second processor.
  • 1114 is connected by a second bus 1112, the second memory 1113 is set to store instructions, and the second processor 1114 reads instructions set to:
  • the positioning reference signal is an uplink reference signal.
  • the information containing r i and R i is sent to the location server.
  • the second processor 1114 read command is further set to:
  • the location service request is used to locate the to-be-located terminal, and receiving the first authorization information and the first assistance information sent by the location server, where the first authorization information is used to notify the positioning base station to start positioning, and the first auxiliary information is used.
  • the first auxiliary information further includes information indicating how the positioning base station handles the abnormal situation, in addition to identifying the terminal to be located and the fixed reference terminal.
  • the locating base station provided in this embodiment may be configured to perform the technical solution of the foregoing method embodiment 4 and the method embodiment 5, and the implementation principle and the technical effect are similar, and details are not described herein again.
  • the present disclosure further provides a positioning system, which includes the positioning server described in Embodiment 1 of the foregoing positioning server or Embodiment 2 of the positioning server, and locates the positioning base described in Embodiment 1 of the base station.
  • the terminal to be located is configured to send a positioning service request to the MME, and send a positioning reference signal to the positioning base station, and is further configured to receive the coordinates of the terminal to be located sent by the MME, where
  • the positioning service request is used to locate the terminal to be located;
  • the fixed reference terminal is configured to send a positioning reference signal to the positioning base station;
  • the MME is configured to receive the positioning service request sent by the to-be-located terminal or the positioning base station, determine the positioning service request, and locate the service request.
  • the locating server is configured to receive the coordinates of the to-be-located terminal sent by the locating server, and send the coordinates of the to-be-located terminal to the to-be-located terminal or the locating base station that requests the locating service, where the positioning service request is used to locate the terminal to be located.
  • the MME is generally on the core network side, and plays a role of collecting and forwarding between the requesting party (including the to-be-located terminal, the positioning base station, and the MME itself) and the responding party (location server).
  • the terminal to be located is further configured to receive the second authorization information and the second auxiliary information that are sent by the positioning server, where the second authorization information is used to notify the to-be-located terminal to start positioning, and the second auxiliary information is used to identify the N positioning base stations.
  • the second auxiliary information further includes information indicating how the terminal to be located handles the abnormal situation.
  • the to-be-positioned terminal accepts the positioning reference signal resource allocated by the positioning base station; when the positioning starts or the positioning ends, the to-be-located terminal receives the reconfiguration message sent by the positioning base station, The reconfiguration message is used to notify the to-be-located terminal to modify the previously configured positioning reference signal.
  • the fixed reference terminal is further configured to receive the third authorization information and the third auxiliary information that are sent by the positioning server, where the third authorization information is used to notify the fixed reference terminal to start positioning, and the third auxiliary information is used to identify the N
  • the base station is located, and the third auxiliary information further includes information indicating how the reference terminal handles the abnormal condition.
  • the fixed reference terminal accepts the positioning reference signal resource allocated by the positioning base station; when the positioning starts or the positioning ends, the fixed reference terminal receives the positioning base station.
  • the re-allocation message is sent, and the re-allocation message is used to notify the fixed reference terminal to perform the previously configured positioning reference signal. modify.
  • the positioning system provided in this embodiment combines the reference signal sent by the reference terminal of the known location with the reference signal sent by the terminal to be located, and uses the time difference relationship between the reference terminal and the signal of the terminal to be located to eliminate the time synchronization between the base stations.
  • the introduced error eliminates the error introduced in the TDOA calculation process, so that the error only comes from the arrival time of the measurement reference signal, thereby greatly improving the positioning accuracy.
  • the present disclosure further provides a positioning system, which includes the positioning server described in Embodiment 3 of the positioning server, the positioning base station described in Embodiment 2 of the positioning base station, and the reference terminal with fixed position, the terminal to be located, and the MME; And sending a positioning reference signal to the MME, and sending the positioning reference signal to the positioning base station, and further configured to receive the coordinates of the terminal to be located sent by the MME, where the positioning service request is used to locate the terminal to be located; and the fixed reference terminal is set to the positioning.
  • a positioning system which includes the positioning server described in Embodiment 3 of the positioning server, the positioning base station described in Embodiment 2 of the positioning base station, and the reference terminal with fixed position, the terminal to be located, and the MME; And sending a positioning reference signal to the MME, and sending the positioning reference signal to the positioning base station, and further configured to receive the coordinates of the terminal to be located sent by the MME, where the positioning service request is used to locate the terminal to be located; and the fixed
  • the eNB sends a positioning reference signal
  • the MME is configured to receive the positioning service request sent by the terminal to be located or the positioning base station, determine the positioning service request, and send the positioning service request to the positioning server, and set the coordinates of the terminal to be located sent by the positioning server.
  • the coordinates of the terminal to be located are sent to the to-be-located terminal or the positioning base station that requests the positioning service, where the positioning service request is used to locate the terminal to be located.
  • the MME is generally on the core network side, and plays a role of collecting and forwarding between the requesting party (including the to-be-located terminal, the positioning base station, and the MME itself) and the responding party (location server).
  • the terminal to be located is further configured to receive the second authorization information and the second auxiliary information that are sent by the positioning server, where the second authorization information is used to notify the to-be-located terminal to start positioning, and the second auxiliary information is used to identify the N positioning base stations.
  • the second auxiliary information further includes information indicating how the terminal to be located handles the abnormal situation.
  • the to-be-positioned terminal accepts the positioning reference signal resource allocated by the positioning base station; when the positioning starts or the positioning ends, the to-be-located terminal receives the reconfiguration message sent by the positioning base station, The reconfiguration message is used to notify the to-be-located terminal to modify the previously configured positioning reference signal.
  • the fixed reference terminal is further configured to receive the third authorization information and the third auxiliary information that are sent by the positioning server, where the third authorization information is used to notify the fixed reference terminal to start positioning, and the third auxiliary information is used to identify the N
  • the base station is located, and the third auxiliary information further includes information indicating how the reference terminal handles the abnormal condition.
  • the fixed reference terminal accepts the positioning reference signal resource allocated by the positioning base station; when the positioning starts or the positioning ends, the fixed reference terminal receives the positioning base station.
  • the re-allocated message is sent to notify the fixed reference terminal to modify the previously configured positioning reference signal.
  • the positioning system provided in this embodiment combines the reference signal sent by the reference terminal of the known location with the reference signal sent by the terminal to be located, and uses the time difference relationship between the reference terminal and the signal of the terminal to be located to eliminate the time synchronization between the base stations.
  • the introduced error eliminates the error introduced in the TDOA calculation process, so that the error only comes from the arrival time of the measurement reference signal, thereby greatly improving the positioning accuracy.
  • Embodiments of the present disclosure also provide a storage medium.
  • the foregoing storage medium may be configured to store program code for performing the following steps:
  • the positioning server separately receives information that is sent by the N positioning base stations and includes r 1 and R 1 , r 2 and R 2 , . . . , r N and R N , where r 1 , r 2 . . . r N are sent by the terminal to be located.
  • R 1 , R 2 ... R N are the times when the positioning reference signal sent by the fixed reference station reaches the N positioning base stations, and N is greater than or equal to 3.
  • the positioning server coordinates the terminal to be located according to r 1 , r 2 ... r N and R 1 , R 2 ... R N .
  • the above storage medium may be configured to store program code for performing the following steps:
  • the distance from the reference terminal to the positioning base station j, L 2, i is the distance from the fixed reference terminal to the positioning base station i, L 2, j and L 2, i are measured, and L 1, j is the terminal to be located to be located
  • the above storage medium may be further configured to store program code for performing the following steps:
  • N is greater than or equal to 4.
  • the above storage medium may be further configured to store program code for performing the following steps:
  • the positioning server receives the location service request sent by the MME, where the location service request is used to locate the terminal to be located.
  • the positioning server sends the first authorization information and the first auxiliary information to the N positioning base stations, and sends the second authorization information and the second auxiliary information to the terminal to be located, and sends the third authorization information and the third auxiliary information to the location.
  • a fixed reference terminal wherein the first, second, and third authorization information are used to notify the N positioning base stations, the to-be-located terminal, and the fixed reference terminal to start positioning, where the first auxiliary information is used to identify the terminal to be located and the location
  • the fixed reference terminal, the second and third auxiliary information are used to identify the N positioning base stations.
  • the first auxiliary information further includes information indicating how the positioning base station handles the abnormal situation
  • the second auxiliary information further includes information indicating how the terminal to be located handles the abnormal situation
  • the third auxiliary information further includes indicating how the reference terminal handles the abnormality. Information about the situation.
  • the foregoing storage medium may include, but is not limited to, a USB flash drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), and a mobile device.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • a variety of codes that can store programs such as hard disks, disks, or optical disks.
  • Embodiments of the present disclosure also provide a storage medium.
  • the foregoing storage medium may be configured to store program code for performing the following steps:
  • the positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed-position reference terminal.
  • the positioning base station sends information including r i and R i to the positioning server, so that the positioning server calculates coordinates of the terminal to be located according to r i and R i .
  • the positioning reference signal is an uplink reference signal.
  • the positioning base station Before the positioning base station receives the positioning reference signal sent by the to-be-located terminal and the fixed reference terminal, the positioning base station allocates a positioning reference signal resource to the to-be-located terminal and the reference terminal; when starting or ending the positioning, positioning the base station to the to-be-located terminal and the reference The terminal sends a reconfiguration message, and the reconfiguration message is used to notify the to-be-located terminal and the reference terminal to modify the previously configured positioning reference signal.
  • the above storage medium may be further configured to store program code for performing the following steps:
  • the positioning base station sends a positioning service request to the MME, where the positioning service request is used to locate the terminal to be located.
  • the positioning base station receives the first authorization information and the first auxiliary information that are sent by the positioning server, where the first authorization information is used to notify the positioning base station to start positioning, and the first auxiliary information is used to identify the terminal to be located and the reference terminal with a fixed location.
  • the foregoing storage medium may include, but is not limited to, a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk, and the like, which can store programs.
  • embodiments of the present disclosure can be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or a combination of software and hardware aspects. Moreover, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. Instructions are provided for implementation The steps of a function specified in a block or blocks of a flow or a flow and/or a block diagram of a flow chart.
  • the positioning server respectively receives the time information of the positioning reference signal including the to-be-located terminal sent by the positioning base station to the positioning base station, and the fixed reference terminal positioning reference
  • the time information of the signal arriving at the positioning base station is calculated, and the time difference between the terminal to be located and the fixed reference terminal is calculated according to the time information, thereby calculating the coordinates of the terminal to be located; thereby eliminating the positioning caused by the base station being out of synchronization in the existing TDOA method. Error, improve positioning accuracy.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

本公开实施例提供一种定位方法。定位服务器分别接收N个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端的定位参考信号到达定位基站的时刻信息，N大于等于3，根据这些时刻信息计算待定位终端的坐标。本公开实施例同时还提供一种定位基站、定位服务器和定位系统。

Description

定位方法、定位基站、定位服务器和定位系统 技术领域
本公开涉及无线定位领域，尤其涉及一种定位方法、定位基站、定位服务器和定位系统。
背景技术
随着移动互联网的发展，定位功能的使用越来越频繁，一般来说，定位分为室外定位和室内定位。对于室外定位，可以通过卫星信号进行，如全球定位系统(Global Positioning System，简称：GPS)和中国北斗卫星导航系统(BeiDou Navigation Satellite System，简称：BDS)；但对于复杂室内或封闭环境下的室内定位，如大型候车室、大型会场、体育馆、大型写字楼、地下矿井等场景，由于卫星信号遮挡衰减严重，从而无法利用其进行定位，但由于这种环境需要通信网满足随时随地的热点覆盖，因此可以利用通信系统基站进行定位。具体方法有Cell-ID方法、指纹法、到达时间角(Angle of Arrival，简称：AOA)方法、到达时间(Time of Arrival，简称：TOA)方法和到达时间差(Time Difference of Arrival，简称：TDOA)方法。其中，Cell-ID方法定位精度不够；指纹法需要收集大量信号特征，成本高；AOA方法要求天线阵有高空间分辨率；TOA方法通过测量基站到终端之间的信号传输时延值，然后根据时延值估计基站和终端的实际距离，再利用多个基站和终端实际距离，根据三角关系确定终端位置；TDOA方法是在已有TOA方法的基础上，将估计的时延作为一个中间变量，采用数学变换方法消去中间变量，建立了地理位置与定位终端之间的一种直接关系，从而减少了中间变量估计带来的误差；TOA方法和TDOA方法，是室内定位较为实用的方法。
然而，在三维空间中，为了获得精确定位，TDOA方法要求同时获取四个以上的基站收发信号时间差，要获得基站之间收发信号准确的到达时间差，定位系统需要保证各基站之间绝对的时间同步，若各基站没有实现 绝对时间同步，发送定位信号的时间偏差会直接引起定位估计的误差，但是现有的通信网络基站之间很难做到绝对时间同步。
因此在TDOA方法中如何消除基站不同步造成的定位误差，提高定位精度是一个亟待解决的问题。
发明内容
有鉴于此，本公开实施例期望提供一种定位方法、定位基站、定位服务器和定位系统，以消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。
本公开实施例的技术方案是这样实现的：
一种定位方法，包括：
定位服务器分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达所述N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达所述N个定位基站的时刻，N大于等于3；
所述定位服务器根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标。
如上所述的方法，所述定位服务器根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标包括：
所述定位服务器根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
所述定位服务器根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个所述待定位终端与所述定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为所述位置固定的参考终端到定位基站j的距离，L2,i为所述位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为所述待定位终端到定位基站j的距离，L1,i为所述待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1， 2，…，N且j≠i；
所述定位服务器根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标。
如上所述的方法，所述定位服务器根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标包括：
所述定位服务器将所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入所述TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算所述待定位终端的坐标；其中(x,y,z)为所述待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为所述定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为所述定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
如上所述的方法，当获取所述待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取所述待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
如上所述的方法，所述定位服务器接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息之前，所述方法还包括：
所述定位服务器接收移动性管理实体MME发送的定位服务请求，所述定位服务请求用于定位所述待定位终端；
所述定位服务器将第一授权信息和第一辅助信息发送给所述N个定位基站，将第二授权信息和第二辅助信息发送给所述待定位终端，将第三授权信息和第三辅助信息发送给所述位置固定的参考终端，其中，所述第一、第二、第三授权信息分别用于通知所述N个定位基站、所述待定位终端和所述位置固定的参考终端开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端，所述第二、第三辅助信息用于标 识所述N个定位基站。
一种定位方法，包括：
定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号；
所述定位基站获取所述待定位终端发送的定位参考信号到达所述定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，其中，i＝1或2…或N，N大于等于3；
所述定位基站将包含ri和Ri的信息发送给定位服务器，以便所述定位服务器根据ri和Ri计算所述待定位终端的坐标。
如上所述的方法，所述定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号之前，所述方法还包括：
所述定位基站向移动性管理实体MME发送定位服务请求，所述定位服务请求用于定位所述待定位终端；
所述定位基站接收所述定位服务器发送的第一授权信息和第一辅助信息，其中，所述第一授权信息用于通知所述定位基站开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端。
如上所述的方法，所述定位参考信号为上行参考信号。
第一方面，提供一种定位服务器，包括：
第一接收模块，设置为分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达所述N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达所述N个定位基站的时刻，N大于等于3；
计算模块，设置为根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标。
如上所述的定位服务器，所述计算模块设置为：
根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中， Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个所述待定位终端与所述定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为所述位置固定的参考终端到定位基站j的距离，L2,i为所述位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为所述待定位终端到定位基站j的距离，L1,i为所述待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；
根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标。
如上所述的定位服务器，所述计算模块还设置为：
将所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入所述TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算所述待定位终端的坐标；其中(x,y,z)为所述待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为所述定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为所述定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
如上所述的定位服务器，当获取所述待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取所述待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
如上所述的定位服务器，所述定位服务器还包括：
所述第一接收模块，还设置为接收移动性管理实体MME发送的定位服务请求，所述定位服务请求用于定位所述待定位终端；
第一发送模块，设置为将第一授权信息和第一辅助信息发送给所述N个定位基站，将第二授权信息和第二辅助信息发送给所述待定位终端，将第三授权信息和第三辅助信息发送给所述位置固定的参考终端，其中，所述第一、第二、第三授权信息分别用于通知所述N个定位基站、所述待定位终端和所述位置固定的参考终端开始定位，所述第一辅助信息用于标识 所述待定位终端和所述位置固定的参考终端，所述第二、第三辅助信息用于标识所述N个定位基站。
第二方面，提供一种定位服务器，包括：第一接口、第一总线、第一存储器与第一处理器，所述第一接口、第一存储器与所述第一处理器通过所述第一总线相连接，所述第一存储器设置为存储指令，所述第一处理器读取所述指令设置为：
分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达所述N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达所述N个定位基站的时刻，N大于等于3；
根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标。
如上所述的定位服务器，所述第一处理器读取所述指令还设置为：
根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个所述待定位终端与所述定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为所述位置固定的参考终端到定位基站j的距离，L2,i为所述位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为所述待定位终端到定位基站j的距离，L1,i为所述待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；
根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标。
如上所述的定位服务器，所述第一处理器读取所述指令设置为：
将所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入所述TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算所述待定位终端的坐标；其中(x,y,z)为所述待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X 轴坐标差、Y轴坐标差、Z轴坐标差；Kj为所述定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为所述定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
第三方面，提供一种定位基站，包括：
第二接收模块，设置为接收待定位终端和位置固定的参考终端发送的定位参考信号；
获取模块，设置为获取所述待定位终端发送的定位参考信号到达所述定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，其中，i＝1或2…或N，N大于等于3；
第二发送模块，设置为将包含ri和Ri的信息发送给定位服务器，以便所述定位服务器根据ri和Ri计算所述待定位终端的坐标。
如上所述的定位基站，所述第二发送模块，还设置为向移动性管理实体MME发送定位服务请求，所述定位服务请求用于定位所述待定位终端；
所述第二接收模块，还设置为接收所述定位服务器发送的第一授权信息和第一辅助信息，其中，所述第一授权信息用于通知所述定位基站开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端。
第四方面，提供一种定位基站，包括：第二接口、第二总线、第二存储器与第二处理器，所述第二接口、第二存储器与所述第二处理器通过所述第二总线相连接，所述第二存储器设置为存储指令，所述第二处理器读取所述指令设置为：
接收待定位终端和位置固定的参考终端发送的定位参考信号；
获取所述待定位终端发送的定位参考信号到达所述定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，i＝1或2…或N，N大于等于3；
将包含ri和ri的信息发送给定位服务器，以便所述定位服务器根据ri和Ri计算所述待定位终端的坐标。
如上所述的定位基站，所述第二处理器读取所述指令设置为：
向移动性管理实体MME发送定位服务请求，所述定位服务请求用于定位所述待定位终端；接收所述定位服务器发送的第一授权信息和第一辅助信息，其中，所述第一授权信息用于通知所述定位基站开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端。
一种定位系统，包括如上所述的第一方面提供的一种定位服务器，如上所述的第三方面提供的一种定位基站，以及位置固定的参考终端，待定位终端，移动性管理实体MME，其中，N大于等于3；
所述待定位终端，设置为向所述MME发送定位服务请求，向所述定位基站发送定位参考信号，还用于接收所述MME发送的所述待定位终端的坐标，其中，所述定位服务请求用于定位所述待定位终端；
所述位置固定的参考终端，设置为向所述定位基站发送定位参考信号；
所述MME，设置为接收所述待定位终端或所述定位基站发送的定位服务请求，确定所述定位服务请求并将所述定位服务请求发送给所述定位服务器；还设置为接收所述定位服务器发送的所述待定位终端的坐标，将所述待定位终端的坐标发送给请求所述定位服务的所述待定位终端或所述定位基站，其中，所述定位服务请求用于定位所述待定位终端。
如上所述的定位系统，所述待定位终端，还设置为接收所述定位服务器发送的第二授权信息和第二辅助信息；其中，所述第二授权信息用于通知所述待定位终端开始定位，所述第二辅助信息用于标识所述N个定位基站。
所述位置固定的参考终端，还设置为接收所述定位服务器发送的第三授权信息和第三辅助信息；其中，所述第三授权信息用于通知所述位置固定的参考终端开始定位，所述第三辅助信息用于标识所述N个定位基站。
一种定位系统，包括如上所述的第二方面提供的一种定位服务器，如上所述的第四方面提供的一种定位基站，以及位置固定的参考终端，待定位终端，移动性管理实体MME，其中，N大于等于3；
所述待定位终端，设置为向所述MME发送定位服务请求，向所述定位基站发送定位参考信号，还设置为接收所述MME发送的所述待定位终端的坐标，其中，所述定位服务请求用于定位所述待定位终端；
所述位置固定的参考终端，设置为向所述定位基站发送定位参考信号；
所述MME，设置为接收所述待定位终端或所述定位基站发送的定位服务请求，确定所述定位服务请求并将所述定位服务请求发送给所述定位服务器；还设置为接收所述定位服务器发送的所述待定位终端的坐标，将所述待定位终端的坐标发送给请求所述定位服务的终端，其中，所述定位服务请求用于定位所述待定位终端。
如上所述的定位系统，所述待定位终端，还设置为接收所述定位服务器发送的第二授权信息和第二辅助信息；其中，所述第二授权信息用于通知所述待定位终端开始定位，所述第二辅助信息用于标识所述N个定位基站；
所述位置固定的参考终端，还设置为接收所述定位服务器发送的第三授权信息和第三辅助信息；其中，所述第三授权信息用于通知所述位置固定的参考终端开始定位，所述第三辅助信息用于标识所述N个定位基站。
根据本公开的又一个实施例，还提供了一种存储介质，所述存储介质包括存储的程序，其中，所述程序运行时执行上述任一项所述的方法。
本公开实施例提供的定位方法、定位基站、定位服务器和定位系统，定位服务器分别接收多个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端定位参考信号到达定位基站的时刻信息，根据这些时刻信息计算待定位终端和位置固定的参考终端之间的到达时间差，进而计算待定位终端的坐标；从而消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。
附图说明
此处所说明的附图用来提供对本公开的理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的限 定。在附图中：
图1为本公开定位方法实施例一的流程图；
图2为本公开定位方法实施例二的流程图；
图3为本公开定位方法实施例三的流程图；
图4为本公开定位方法实施例四的流程图；
图5为本公开定位方法实施例五的流程图；
图6为本公开定位场景示意图；
图7为本公开定位服务器实施例一的结构示意图；
图8为本公开定位服务器实施例二的结构示意图；
图9为本公开定位服务器实施例三的结构示意图；
图10为本公开定位基站实施例一的结构示意图；
图11为本公开定位基站实施例二的结构示意图。
具体实施方式
图1为本公开定位方法实施例一的流程图。如图1所示，本实施例提供的定位方法包括：
步骤101、定位服务器分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息。其中，r1、r2…rN为待定位终端发送的定位参考信号到达N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达N个定位基站的时刻，N大于等于3。
步骤102、定位服务器根据r1、r2…rN和R1、R2…RN计算待定位终端的坐标。
本实施例提供的定位方法，定位服务器分别接收多个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端的定位参考信号到达定位基站的时刻信息，根据这些时刻信息计算待定位终端的坐标；从而消除现有TDOA方法中因基站不同步造成的定 位误差，提高定位精度。
图2为本公开定位方法实施例二的流程图。如图2所示，本实施例提供的定位方法包括：
步骤201、定位服务器分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息。其中，r1、r2…rN为待定位终端发送的定位参考信号到达N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达N个定位基站的时刻，N大于等于3。
步骤202、定位服务器根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN。其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN。
步骤203、定位服务器根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个待定位终端与定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i。其中，rj,i＝L1,j-L1,i，L2,j为位置固定的参考终端到定位基站j的距离，L2,i为位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为待定位终端到定位基站j的距离，L1,i为待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i。
步骤204、定位服务器根据N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和到达时间差TDOA方法的计算公式计算待定位终端的坐标。
本实施例提供的定位方法，定位服务器分别接收多个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端的定位参考信号到达定位基站的时刻信息，根据这些时刻信息计算待定位终端和位置固定的参考终端之间的到达时间差，进而计算待定位终端的坐标；从而消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。
图3为本公开定位方法实施例三的流程图。如图3所示，本实施例提供的定位方法包括：
步骤301、定位服务器接收移动性管理实体(Mobility Management  Entity，简称：MME)发送的定位服务请求。定位服务请求用于定位待定位终端。
步骤302、定位服务器将第一授权信息和第一辅助信息发送给N个定位基站，将第二授权信息和第二辅助信息发送给待定位终端，将第三授权信息和第三辅助信息发送给位置固定的参考终端。其中，第一、第二、第三授权信息分别用于通知N个定位基站、待定位终端和位置固定的参考终端开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端，第二、第三辅助信息用于标识N个定位基站，N大于等于3。
需要说明的是，在开始定位前，参与定位的N个定位基站、待定位终端和位置固定的参考终端需要知晓与之通信的对象，因此第一、第二、第三辅助信息分别标识N个定位基站、待定位终端和参考终端的通信对象，除此之外，第一辅助信息还包含指示定位基站如何处理异常情况的信息，第二辅助信息还包含指示待定位终端如何处理异常情况的信息，第三辅助信息还包含指示参考终端如何处理异常情况的信息。
步骤303、定位服务器分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息。其中，r1、r2…rN为待定位终端发送的定位参考信号到达N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达N个定位基站的时刻。
步骤304、定位服务器根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN。其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN。
步骤305、定位服务器根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个待定位终端与定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i。其中，rj,i＝L1,j-L1,i，L2,j为位置固定的参考终端到定位基站j的距离，L2,i为位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为待定位终端到定位基站j的距离，L1,i为待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i。
步骤306、定位服务器根据N-1个距离关系方程式 rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和TDOA方法的计算公式计算待定位终端的坐标。
具体的，定位服务器将N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算待定位终端的坐标；其中(x,y,z)为待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
需要说明的是，本公开提供的定位方法应用在类似滴滴打车模式场景下时，只需获取待定位终端的平面坐标，也就是待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标，当需要获取待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4，也就是说，只需要至少4个定位基站就可以获取待定位终端的坐标，相应的，定位服务器计算待定位终端的坐标的方法为：将N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入TDOA方法的计算公式2[Xj,i,Yj,i,,rj,i]*[x,y,L1,i]T＝Kj-Ki-rj,i 2计算待定位终端的坐标；其中(x,y)为待定位终端的坐标，Xj,i、Yj,i分别是定位基站j的坐标(Xj,Yj)与定位基站i的坐标(Xi,Yi)之间的X轴坐标差和Y轴坐标差；Kj为定位基站j的坐标平方和，Kj＝Xj 2+Yj 2，Ki为定位基站i的坐标平方和，Ki＝Xi 2+Yi 2。
本公开提供的定位方法应用在类似多层商场、高层楼房中时，需要获取待定位终端的空间坐标，也就是待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标，当需要获取待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5，也就是说，只需要至少5个定位基站就可以获取待定位终端的坐标。
本实施例提供的定位方法，定位服务器分别接收多个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端的定位参考信号到达定位基站的时刻信息，根据这些时刻信息计算待定位终端和位置固定的参考终端之间的到达时间差，进而计算待定位终端的坐标；从而消除现有TDOA方法中因基站不同步造成的定位误差， 提高定位精度。
图4为本公开定位方法实施例四的流程图。如图4所示，本实施例提供的定位方法包括：
步骤401、定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号。
需要说明的是，在具体实施过程中，定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号之前，定位基站为待定位终端和参考终端分配定位参考信号资源；在开始定位或结束定位时，定位基站向待定位终端和参考终端发送重配消息，重配消息用于通知待定位终端和参考终端对之前配置的定位参考信号进行修改。
步骤402、定位基站获取待定位终端发送的定位参考信号到达定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri。其中，i＝1或2…或N，N大于等于3。
需要说明的是，定位基站通过解析接收到的定位参考信号，获取待定位终端发送的定位参考信号到达定位基站的时刻ri和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri。
步骤403、定位基站将包含ri和Ri的信息发送给定位服务器，以便定位服务器根据ri和Ri计算待定位终端的坐标。
本实施例提供的定位方法，定位基站通过获取待定位终端发送的定位参考信号到达定位基站的时刻ri和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri，并将包含ri和Ri的信息发送给定位服务器；从而消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。
图5为本公开定位方法实施例五的流程图。如图5所示，本实施例提供的定位方法包括：
步骤501、定位基站向MME发送定位服务请求，定位服务请求用于定位待定位终端。
步骤502、定位基站接收定位服务器发送的第一授权信息和第一辅助信息。其中，第一授权信息用于通知定位基站开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端，除此之外，第一辅助信息还包含指示定位基站如何处理异常情况的信息。
步骤503、定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号。
具体的，定位参考信号为上行参考信号，如信道探测参考信号(Sounding Reference Signal，简称：SRS)和解调参考信号(Demodulation Reference Signal，简称：DMRS)信号。
步骤504、定位基站获取待定位终端发送的定位参考信号到达定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri。其中，i＝1或2…或N，N大于等于3。
步骤505、定位基站将包含ri和Ri的信息发送给定位服务器，以便定位服务器根据ri和Ri计算待定位终端的坐标。
本实施例提供的定位方法，定位基站通过获取待定位终端发送的定位参考信号到达定位基站的时刻ri和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri，并将包含ri和Ri的信息发送给定位服务器；从而消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。
下面以一个具体实施例说明本公开提供的定位方法，图6为本公开定位场景示意图。如图6所示，其中已知位置的定位基站坐标记为APj＝(Xj,Yj,Zj)，定位基站的数量最少为5个，参考终端坐标记为UE2＝(x2,y2,z2)，待定位终端坐标记为UE1＝(x,y,z)。
MME接收某个实体发起对UE1的定位服务请求，这个实体可以是一些功能实体，如定位基站和待定位终端，也可以是MME本身。
MME确定定位服务请求并发送定位服务请求给定位服务器，启动定位服务。然后定位服务器给定位基站APj、待定位终端UE1、参考终端UE2发送定位需要的授权信息和辅助信息。
待定位终端UE1和参考终端UE2向定位基站APj发送上行SRS信号。UE1在时刻t0发射信号，UE2在时刻T0发射信号。tj是UE1和APj之间的同步时间误差，Tj是UE2和APj之间的同步时间误差。
基站APj分别接收UE1和UE2的定位信号，并测量精确的到达时间，记APj收到UE1信号的时刻为rj，APj收到UE2信号的时刻为Rj，将包含rj和Rj的信息发送给定位服务器，定位服务器计算UE1和UE2的定位信号时间差为Tdj＝Rj-rj。
定位服务器根据各个Tdj，应用TDOA定位方法计算待定位终端UE1的坐标，记APj到UE1的距离为L1,j,APj到UE2的距离为L2,j。具体原理和方法如下：
参考终端UE2消除同步误差原理和方法：
通信网信号传输是电磁波，速度为光速c，那么APj收到UE1信号的时刻rj和收到UE2信号的时刻Rj分别可以表述为
Figure PCTCN2017109538-appb-000001
APj接收到UE1和UE2的信号到达时间差
Figure PCTCN2017109538-appb-000002
考虑不同APj接收到UE1和UE2的信号到达时间差之间的关系，以AP1为例，则有：
Tdj-Td1＝(Tj-T1)-(tj-t1)+(L2,j-L1,j-L2,1+L1,1)/c
从tj和Tj的含义可以看出，APj与AP1相对于的UE2同步时间误差的差Tj-T1即为APj与AP1的同步时间误差，同理，APj与AP1相对于UE1的同步时间误差的差tj-t1即为APj与AP1的同步时间误差；即Tj-T1和tj-t1所代表的含义都是APj与AP1的同步时间误差，所以(Tj-T1)-(tj-t1)＝0，也就是Tdj-Td1＝(L2,j-L1,j-L2,1+L1,1)/c，那么，通过计算APj接收到UE1和UE2的信号到达时间差Tdj，就能够得到终端与不同APj的距离关系方程式，此过程不需要APj之间的时间同步，因而消除了基站间时间不同步造成的定位误差。
根据TDOA方法的计算公式2[Xj,1,Yj,1,Zj,1,rj,1]*[x,y,z,L1,1]T＝Kj-K1-rj,1 2，其中，x、y、z、ri,1是未知量，(x,y,z)为待定位终端的坐标，L1,1是AP1到待定位终端距离，Xj,1＝Xj-X1是APj与AP1之间的X轴坐标差，Yj,1＝Yj-Y1是APj与AP1之间的Y轴坐标差，Zj,1＝Zj-Z1是APj与AP1之间的Z轴坐标差，Kj＝Xj 2+Yj 2+Zj 2是定位基站坐标平方和，i≥2，K1＝X1 2+Y1 2+Z1 2，rj,1＝L1,j-L1,1，由上述可知
rj,1＝c*(Td1-Tdj)+L2,j-L2,1
由于L2,j是参考终端UE2到各个基站距离，是已知的，所以根据TDOA方法的计算公式可以直接求解得到(x,y,z)。
定位服务器将得到的UE1的坐标(x,y,z)发送给MME，再由MME发送给发起定位请求的实体，完成定位。
本实施例提供的定位方法，定位服务器分别接收多个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端的定位参考信号到达定位基站的时刻信息，根据这些时刻信息计算待定位终端和位置固定的参考终端之间的到达时间差，进而计算待定位终端的坐标；从而消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。
图7为本公开定位服务器实施例一的结构示意图。如图7所示，本实施例提供的定位服务器包括：
第一接收模块11，设置为分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达N个定位基站的时刻，N大于等于3。
计算模块12，设置为根据r1、r2…rN和R1、R2…RN计算待定位终端的坐标。
需要说明的是，计算模块12设置为，根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN； 根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个待定位终端与定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为位置固定的参考终端到定位基站j的距离，L2,i为位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为待定位终端到定位基站j的距离，L1,i为待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；根据N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和到TDOA方法的计算公式计算待定位终端的坐标。
具体的，计算模块12还设置为，将N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算待定位终端的坐标；其中(x,y,z)为待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
需要说明的是，当获取待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
进一步，图8为本公开定位服务器实施例二的结构示意图。如图8所示，定位服务器还包括：
第一接收模块11，还设置为接收MME发送的定位服务请求，定位服务请求用于定位待定位终端；
第一发送模块13，设置为将第一授权信息和第一辅助信息发送给N个定位基站，将第二授权信息和第二辅助信息发送给待定位终端，将第三授权信息和第三辅助信息发送给位置固定的参考终端，其中，第一、第二、第三授权信息分别用于通知N个定位基站、待定位终端和位置固定的参考终端开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端， 第二、第三辅助信息用于标识N个定位基站，N大于等于3。
需要说明的是，在开始定位前，参与定位的N个定位基站、待定位终端和参考终端需要知晓与之通信的对象，因此第一、第二、第三辅助信息分别标识N个定位基站、待定位终端和参考终端的通信对象，除此之外，第一辅助信息还包含指示定位基站如何处理异常情况的信息，第二辅助信息还包含指示待定位终端如何处理异常情况的信息，第三辅助信息还包含指示参考终端如何处理异常情况的信息。
本实施例提供的定位服务器，可设置为执行上述方法实施例一、方法实施例二和方法实施例三的技术方案，其实现原理和技术效果类似，此处不再赘述。
在实际应用中，所述第一接收模块11、计算模块12和第一发送模块13均可由位于定位服务器中的中央处理器(Central Processing Unit，CPU)、微处理器(Micro Processor Unit，MPU)、数字信号处理器(Digital Signal Processor，DSP)或现场可编程门阵列(Field Programmable Gate Array，FPGA)等实现。
图9为本公开定位服务器实施例三的结构示意图。如图9所示，本实施例提供的定位服务器包括：第一接口1011、第一总线1012、第一存储器1013与第一处理器1014，第一接口1011、第一存储器1013与第一处理器1014通过第一总线1012相连接，第一存储器1013设置为存储指令，第一处理器1014读取指令设置为：
分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达N个定位基站的时刻，N大于等于3；
根据r1、r2…rN和R1、R2…RN计算待定位终端的坐标。
进一步的，第一处理器1014读取指令还设置为：
根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中， Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个待定位终端与定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i。其中，rj,i＝L1,j-L1,i，L2,j为位置固定的参考终端到定位基站j的距离，L2,i为位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为待定位终端到定位基站j的距离，L1,i为待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；
根据N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和TDOA方法的计算公式计算待定位终端的坐标。
具体的，第一处理器1014读取指令设置为：
将N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算待定位终端的坐标；其中(x,y,z)为待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
需要说明的是，当获取待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
进一步的，第一处理器1014读取指令还设置为：
接收MME发送的定位服务请求，定位服务请求用于定位待定位终端；将第一授权信息和第一辅助信息发送给N个定位基站，将第二授权信息和第二辅助信息发送给待定位终端，将第三授权信息和第三辅助信息发送给位置固定的参考终端，其中，第一、第二、第三授权信息分别用于通知N个定位基站、待定位终端和位置固定的参考终端开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端，第二、第三辅助信息用于标 识N个定位基站。
本实施例提供的定位服务器，可设置为执行上述方法实施例一、方法实施例二和方法实施例三的技术方案，其实现原理和技术效果类似，此处不再赘述。
图10为本公开定位基站实施例一的结构示意图。如图10所示，本实施例提供的定位基站包括：
第二接收模块21，设置为接收待定位终端和位置固定的参考终端发送的定位参考信号。
需要说明的是，在具体实施过程中，定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号之前，定位基站为待定位终端和参考终端分配定位参考信号资源；在开始定位或结束定位时，定位基站向待定位终端和参考终端发送重配消息，重配消息用于通知待定位终端和参考终端对之前配置的定位参考信号进行修改。
还需要说明的是，定位参考信号为上行参考信号。
获取模块22，设置为获取待定位终端发送的定位参考信号到达定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri。其中，i＝1或2…或N，N大于等于3。
需要说明的是，定位基站通过解析接收到的定位参考信号，获取待定位终端发送的定位参考信号到达定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri。
第二发送模块23，设置为将包含ri和Ri的信息发送给定位服务器，以便定位服务器根据ri和Ri计算待定位终端的坐标。
进一步，第二发送模块23，还设置为向MME发送定位服务请求，定位服务请求用于定位待定位终端；
第二接收模块21，还设置为接收定位服务器发送的第一授权信息和第一辅助信息，其中，第一授权信息用于通知定位基站开始定位，第一辅助 信息用于标识待定位终端和位置固定的参考终端。
本实施例提供的定位基站，可设置为执行上述方法实施例四和方法实施例五的技术方案，其实现原理和技术效果类似，此处不再赘述。
在实际应用中，所述第二接收模块21、获取模块22和第二发送模块23均可由位于定位基站中的CPU、MPU、DSP或FPGA等实现。
图11为本公开定位基站实施例二的结构示意图。如图11所示，本实施例提供的定位基站包括：第二接口1111、第二总线1112、第二存储器1113与第二处理器1114，第二接口1111、第二存储器1113与第二处理器1114通过第二总线1112相连接，第二存储器1113设置为存储指令，第二处理器1114读取指令设置为：
接收待定位终端和位置固定的参考终端发送的定位参考信号；
需要说明的是，定位参考信号为上行参考信号。
获取待定位终端发送的定位参考信号到达定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达定位基站的时刻Ri。其中，i＝1或2…或N，N大于等于3。
将包含ri和Ri的信息发送给定位服务器。
进一步的，第二处理器1114读取指令还设置为：
向MME发送定位服务请求，定位服务请求用于定位待定位终端；接收定位服务器发送的第一授权信息和第一辅助信息，其中，第一授权信息用于通知定位基站开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端，除此之外，第一辅助信息还包含指示定位基站如何处理异常情况的信息。
本实施例提供的定位基站，可设置为执行上述方法实施例四和方法实施例五的技术方案，其实现原理和技术效果类似，此处不再赘述。
本公开还提供一种定位系统，该系统包括上述定位服务器实施例一或定位服务器实施例二描述的定位服务器，定位基站实施例一描述的定位基 站，以及位置固定的参考终端，待定位终端，MME；待定位终端设置为向MME发送定位服务请求，向定位基站发送定位参考信号，还设置为接收MME发送的待定位终端的坐标，其中，定位服务请求用于定位待定位终端；位置固定的参考终端设置为向定位基站发送定位参考信号；MME设置为接收待定位终端或定位基站发送的定位服务请求，确定定位服务请求并将定位服务请求发送给定位服务器；还设置为接收定位服务器发送的待定位终端的坐标，将待定位终端的坐标发送给请求定位服务的待定位终端或定位基站，其中，定位服务请求用于定位待定位终端。
需要说明的是，MME一般处于核心网侧，在请求方(包括待定位终端、定位基站和MME本身)和应答方(定位服务器)中间发挥收集、转发作用。
进一步，待定位终端，还设置为接收定位服务器发送的第二授权信息和第二辅助信息；其中，第二授权信息用于通知待定位终端开始定位，第二辅助信息用于标识N个定位基站，除此之外，第二辅助信息还包含指示待定位终端如何处理异常情况的信息。
需要说明的是，待定位终端向定位基站发送定位参考信号之前，待定位终端接受定位基站分配的定位参考信号资源；在定位开始或定位结束时，待定位终端接收定位基站发送的重配消息，重配消息用于通知待定位终端对之前配置的定位参考信号进行修改。
位置固定的参考终端，还设置为接收定位服务器发送的第三授权信息和第三辅助信息；其中，第三授权信息用于通知位置固定的参考终端开始定位，第三辅助信息用于标识N个定位基站，第三辅助信息还包含指示参考终端如何处理异常情况的信息。
需要说明的是，位置固定的参考终端向定位基站发送定位参考信号之前，位置固定的参考终端接受定位基站分配的定位参考信号资源；在定位开始或定位结束时，位置固定的参考终端接收定位基站发送的重配消息，重配消息用于通知位置固定的参考终端对之前配置的定位参考信号进行 修改。
本实施例提供的定位系统，通过对已知位置的参考终端发出的参考信号和待定位终端发出的参考信号联合处理，利用参考终端和待定位终端信号的时间差关系，消除基站之间时间不同步引入的误差，而且消除了TDOA计算过程中引入的误差，使得误差仅仅来源于测量参考信号的到达时间，从而大大提高了定位精度。
本公开还提供一种定位系统，该系统包括上述定位服务器实施例三描述的定位服务器，定位基站实施例二描述的定位基站，以及位置固定的参考终端，待定位终端，MME；待定位终端设置为向MME发送定位服务请求，向定位基站发送定位参考信号，还设置为接收MME发送的待定位终端的坐标，其中，定位服务请求用于定位待定位终端；位置固定的参考终端设置为向定位基站发送定位参考信号；MME设置为接收待定位终端或定位基站发送的定位服务请求，确定定位服务请求并将定位服务请求发送给定位服务器；还设置为接收定位服务器发送的待定位终端的坐标，将待定位终端的坐标发送给请求定位服务的待定位终端或定位基站，其中，定位服务请求用于定位待定位终端。
需要说明的是，MME一般处于核心网侧，在请求方(包括待定位终端、定位基站和MME本身)和应答方(定位服务器)中间发挥收集、转发作用。
进一步，待定位终端，还设置为接收定位服务器发送的第二授权信息和第二辅助信息；其中，第二授权信息用于通知待定位终端开始定位，第二辅助信息用于标识N个定位基站，除此之外，第二辅助信息还包含指示待定位终端如何处理异常情况的信息。
需要说明的是，待定位终端向定位基站发送定位参考信号之前，待定位终端接受定位基站分配的定位参考信号资源；在定位开始或定位结束时，待定位终端接收定位基站发送的重配消息，重配消息用于通知待定位终端对之前配置的定位参考信号进行修改。
位置固定的参考终端，还设置为接收定位服务器发送的第三授权信息和第三辅助信息；其中，第三授权信息用于通知位置固定的参考终端开始定位，第三辅助信息用于标识N个定位基站，第三辅助信息还包含指示参考终端如何处理异常情况的信息。
需要说明的是，位置固定的参考终端向定位基站发送定位参考信号之前，位置固定的参考终端接受定位基站分配的定位参考信号资源；在定位开始或定位结束时，位置固定的参考终端接收定位基站发送的重配消息，重配消息用于通知位置固定的参考终端对之前配置的定位参考信号进行修改。
本实施例提供的定位系统，通过对已知位置的参考终端发出的参考信号和待定位终端发出的参考信号联合处理，利用参考终端和待定位终端信号的时间差关系，消除基站之间时间不同步引入的误差，而且消除了TDOA计算过程中引入的误差，使得误差仅仅来源于测量参考信号的到达时间，从而大大提高了定位精度。
本公开的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S13、定位服务器分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达N个定位基站的时刻，N大于等于3。
S14、定位服务器根据r1、r2…rN和R1、R2…RN待定位终端的坐标。
进一步，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S141、定位服务器根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
S142、定位服务器根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个待定位终端与定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其 中，rj,i＝L1,j-L1,i，L2,j为位置固定的参考终端到定位基站j的距离，L2,i为位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为待定位终端到定位基站j的距离，L1,i为待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i。
S143、定位服务器根据N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和TDOA方法的计算公式计算待定位终端的坐标。
进一步，上述存储介质还可以被设置为存储用于执行以下步骤的程序代码：
定位服务器将N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算待定位终端的坐标；其中(x,y,z)为待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
需要说明的是，当获取待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
进一步，上述存储介质还可以被设置为存储用于执行以下步骤的程序代码：
S11、定位服务器接收MME发送的定位服务请求，定位服务请求用于定位待定位终端；
S12、定位服务器将第一授权信息和第一辅助信息发送给N个定位基站，将第二授权信息和第二辅助信息发送给待定位终端，将第三授权信息和第三辅助信息发送给位置固定的参考终端，其中，第一、第二、第三授权信息分别用于通知N个定位基站、待定位终端和位置固定的参考终端开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端，第二、第三辅助信息用于标识N个定位基站。
需要说明的是，第一辅助信息还包含指示定位基站如何处理异常情况的信息，第二辅助信息还包含指示待定位终端如何处理异常情况的信息，第三辅助信息还包含指示参考终端如何处理异常情况的信息。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random-Access Memory，简称RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序的代码。
本公开的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S23、定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号。
S24、定位基站获取所述待定位终端发送的定位参考信号到达所述定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，其中，i＝1或2…或N，N大于等于3。
S25、定位基站将包含ri和Ri的信息发送给定位服务器，以便定位服务器根据ri和Ri计算待定位终端的坐标。
需要说明的是，定位参考信号为上行参考信号。
还需要说明的是，上述存储介质还可以被设置为存储用于执行以下步骤的程序代码：
定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号之前，定位基站为待定位终端和参考终端分配定位参考信号资源；在开始定位或结束定位时，定位基站向待定位终端和参考终端发送重配消息，重配消息用于通知待定位终端和参考终端对之前配置的定位参考信号进行修改。
进一步，上述存储介质还可以被设置为存储用于执行以下步骤的程序代码：
S21、定位基站向MME发送定位服务请求，定位服务请求用于定位待定位终端。
S22、定位基站接收定位服务器发送的第一授权信息和第一辅助信息，其中，第一授权信息用于通知定位基站开始定位，第一辅助信息用于标识待定位终端和位置固定的参考终端。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序的代码。
本领域内的技术人员应明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用硬件实施例、软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现 在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述，仅为本公开的较佳实施例而已，并非用于限定本公开的保护范围。
工业实用性
本公开实施例提供的定位方法、定位基站、定位服务器和定位系统，定位服务器分别接收多个定位基站发送的包含待定位终端的定位参考信号到达定位基站的时刻信息和位置固定的参考终端定位参考信号到达定位基站的时刻信息，根据这些时刻信息计算待定位终端和位置固定的参考终端之间的到达时间差，进而计算待定位终端的坐标；从而消除现有TDOA方法中因基站不同步造成的定位误差，提高定位精度。

Claims (25)

  1. 一种定位方法，包括：
    定位服务器分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达所述N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达所述N个定位基站的时刻，N大于等于3；
    所述定位服务器根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标。
  2. 根据权利要求1所述的方法，其中，所述定位服务器根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标包括：
    所述定位服务器根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
    所述定位服务器根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个所述待定位终端与所述定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为所述位置固定的参考终端到定位基站j的距离，L2,i为所述位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为所述待定位终端到定位基站j的距离，L1,i为所述待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；
    所述定位服务器根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标。
  3. 根据权利要求2所述的方法，其中，所述定位服务器根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标包括：
    所述定位服务器将所述N-1个距离关系方程式 rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入所述TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算所述待定位终端的坐标；其中(x,y,z)为所述待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为所述定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为所述定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
  4. 根据权利要求3所述的方法，其中，当获取所述待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取所述待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
  5. 根据权利要求1所述的方法，其中，所述定位服务器接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息之前，所述方法还包括：
    所述定位服务器接收移动性管理实体MME发送的定位服务请求，所述定位服务请求用于定位所述待定位终端；
    所述定位服务器将第一授权信息和第一辅助信息发送给所述N个定位基站，将第二授权信息和第二辅助信息发送给所述待定位终端，将第三授权信息和第三辅助信息发送给所述位置固定的参考终端，其中，所述第一、第二、第三授权信息分别用于通知所述N个定位基站、所述待定位终端和所述位置固定的参考终端开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端，所述第二、第三辅助信息用于标识所述N个定位基站。
  6. 一种定位方法，包括：
    定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号；
    所述定位基站获取所述待定位终端发送的定位参考信号到达所述 定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，其中，i＝1或2…或N，N大于等于3；
    所述定位基站将包含ri和Ri的信息发送给定位服务器，以便所述定位服务器根据ri和Ri计算所述待定位终端的坐标。
  7. 根据权利要求6所述的方法，其中，所述定位基站接收待定位终端和位置固定的参考终端发送的定位参考信号之前，所述方法还包括：
    所述定位基站向移动性管理实体MME发送定位服务请求，所述定位服务请求用于定位所述待定位终端；
    所述定位基站接收所述定位服务器发送的第一授权信息和第一辅助信息，其中，所述第一授权信息用于通知所述定位基站开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端。
  8. 根据权利要求6所述的方法，其中，所述定位参考信号为上行参考信号。
  9. 一种定位服务器，包括：
    第一接收模块，设置为分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达所述N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达所述N个定位基站的时刻，N大于等于3；
    计算模块，设置为根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标。
  10. 根据权利要求9所述的定位服务器，其中，所述计算模块设置为：
    根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
    根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个所述待定位终端与所述定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为所述位置固定的参考终端到定位基站j的距离，L2,i为所述位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为所述待定位终端到定位基站j的距离，L1,i为所述待定位终端到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；
    根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标。
  11. 根据权利要求10所述的定位服务器，其中，所述计算模块还设置为：
    将所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入所述TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算所述待定位终端的坐标；其中(x,y,z)为所述待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为所述定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为所述定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
  12. 根据权利要求11所述的定位服务器，其中，当获取所述待定位终端的坐标(x,y,z)中的X轴坐标和Y轴坐标时，N大于等于4；当获取所述待定位终端的坐标(x,y,z)中的X轴坐标、Y轴坐标和Z轴坐标时，N大于等于5。
  13. 根据权利要求9所述的定位服务器，还包括：
    所述第一接收模块，还设置为接收移动性管理实体MME发送的 定位服务请求，所述定位服务请求用于定位所述待定位终端；
    第一发送模块，设置为将第一授权信息和第一辅助信息发送给所述N个定位基站，将第二授权信息和第二辅助信息发送给所述待定位终端，将第三授权信息和第三辅助信息发送给所述位置固定的参考终端，其中，所述第一、第二、第三授权信息分别用于通知所述N个定位基站、所述待定位终端和所述位置固定的参考终端开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端，所述第二、第三辅助信息用于标识所述N个定位基站。
  14. 一种定位服务器，包括：第一接口、第一总线、第一存储器与第一处理器，所述第一接口、第一存储器与所述第一处理器通过所述第一总线相连接，所述第一存储器设置为存储指令，所述第一处理器读取所述指令设置为：
    分别接收N个定位基站发送的包含r1和R1，r2和R2，…，rN和RN的信息，其中，r1、r2…rN为待定位终端发送的定位参考信号到达所述N个定位基站的时刻，R1、R2…RN为位置固定的参考终端发送的定位参考信号到达所述N个定位基站的时刻，N大于等于3；
    根据r1、r2…rN和R1、R2…RN计算所述待定位终端的坐标。
  15. 根据权利要求14所述的定位服务器，其中，所述第一处理器读取所述指令还设置为：
    根据r1、r2…rN和R1、R2…RN计算N个时间差Td1、Td2…TdN，其中，Td1＝R1-r1，Td2＝R2-r2…TdN＝RN-rN；
    根据公式Tdj-Tdi＝(L2,j-L1,j-L2,i+L1,i)/c，得到N-1个所述待定位终端与所述定位基站的距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，其中，rj,i＝L1,j-L1,i，L2,j为所述位置固定的参考终端到定位基站j的距离，L2,i为所述位置固定的参考终端到定位基站i的距离，L2,j和L2,i经过测量得到，L1,j为所述待定位终端到定位基站j的距离，L1,i为所述待定位终端 到定位基站i的距离，c为光速；i＝1或2…或N，j＝1，2，…，N且j≠i；
    根据所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i，和到达时间差TDOA方法的计算公式计算所述待定位终端的坐标。
  16. 根据权利要求15所述的定位服务器，其中，所述第一处理器读取所述指令设置为：
    将所述N-1个距离关系方程式rj,i＝c*(Tdi-Tdj)+L2,j-L2,i代入所述TDOA方法的计算公式2[Xj,i,Yj,i,,Zj,i,rj,i]*[x,y,z,L1,i]T＝Kj-Ki-rj,i 2计算所述待定位终端的坐标；其中(x,y,z)为所述待定位终端的坐标，Xj,i、Yj,i、Zj,i分别是定位基站j的坐标(Xj,Yj,Zj)与定位基站i的坐标(Xi,Yi,Zi)之间的X轴坐标差、Y轴坐标差、Z轴坐标差；Kj为所述定位基站j的坐标平方和，Kj＝Xj 2+Yj 2+Zj 2，Ki为所述定位基站i的坐标平方和，Ki＝Xi 2+Yi 2+Zi 2。
  17. 一种定位基站，包括：
    第二接收模块，设置为接收待定位终端和位置固定的参考终端发送的定位参考信号；
    获取模块，设置为获取所述待定位终端发送的定位参考信号到达所述定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，其中，i＝1或2…或N，N大于等于3；
    第二发送模块，设置为将包含ri和Ri的信息发送给定位服务器，以便所述定位服务器根据ri和Ri计算所述待定位终端的坐标。
  18. 根据权利要求17所述的定位基站，其中，
    所述第二发送模块，还设置为向移动性管理实体MME发送定位服务请求，所述定位服务请求用于定位所述待定位终端；
    所述第二接收模块，还设置为接收所述定位服务器发送的第一授权信息和第一辅助信息，其中，所述第一授权信息用于通知所述定位 基站开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端。
  19. 一种定位基站，包括：第二接口、第二总线、第二存储器与第二处理器，所述第二接口、第二存储器与所述第二处理器通过所述第二总线相连接，所述第二存储器设置为存储指令，所述第二处理器读取所述指令设置为：
    接收待定位终端和位置固定的参考终端发送的定位参考信号；
    获取所述待定位终端发送的定位参考信号到达所述定位基站的时刻ri，和位置固定的参考终端发送的定位参考信号到达所述定位基站的时刻Ri，i＝1或2…或N，N大于等于3；
    将包含ri和ri的信息发送给定位服务器，以便所述定位服务器根据ri和Ri计算所述待定位终端的坐标。
  20. 根据权利要求19所述的定位基站，其中，所述第二处理器读取所述指令设置为：
    向移动性管理实体MME发送定位服务请求，所述定位服务请求用于定位所述待定位终端；接收所述定位服务器发送的第一授权信息和第一辅助信息，其中，所述第一授权信息用于通知所述定位基站开始定位，所述第一辅助信息用于标识所述待定位终端和所述位置固定的参考终端。
  21. 一种定位系统，包括如权利要求9-13任一项所述的定位服务器，N个如权利要求17或18所述的定位基站，以及位置固定的参考终端，待定位终端，移动性管理实体MME，其中，N大于等于3；
    所述待定位终端，设置为向所述MME发送定位服务请求，向所述定位基站发送定位参考信号，还设置为接收所述MME发送的所述待定位终端的坐标，其中，所述定位服务请求用于定位所述待定位终端；
    所述位置固定的参考终端，设置为向所述定位基站发送定位参考信号；
    所述MME，设置为接收所述待定位终端或所述定位基站发送的定位服务请求，确定所述定位服务请求并将所述定位服务请求发送给所述定位服务器；还设置为接收所述定位服务器发送的所述待定位终端的坐标，将所述待定位终端的坐标发送给请求所述定位服务的所述待定位终端或所述定位基站，其中，所述定位服务请求用于定位所述待定位终端。
  22. 根据权利要求21所述的定位系统，其中，
    所述待定位终端，还设置为接收所述定位服务器发送的第二授权信息和第二辅助信息；其中，所述第二授权信息用于通知所述待定位终端开始定位，所述第二辅助信息用于标识所述N个定位基站，
    所述位置固定的参考终端，还设置为接收所述定位服务器发送的第三授权信息和第三辅助信息；其中，所述第三授权信息用于通知所述位置固定的参考终端开始定位，所述第三辅助信息用于标识所述N个定位基站。
  23. 一种定位系统，包括如权利要求14-16任一项所述的定位服务器，N个如权利要求19或20所述的定位基站，以及位置固定的参考终端，待定位终端，移动性管理实体MME，其中，N大于等于3；
    所述待定位终端，设置为向所述MME发送定位服务请求，向所述定位基站发送定位参考信号，还设置为接收所述MME发送的所述待定位终端的坐标，其中，所述定位服务请求用于定位所述待定位终端；
    所述位置固定的参考终端，设置为向所述定位基站发送定位参考信号；
    所述MME，设置为接收所述待定位终端或所述定位基站发送的定 位服务请求，确定所述定位服务请求并将所述定位服务请求发送给所述定位服务器；还设置为接收所述定位服务器发送的所述待定位终端的坐标，将所述待定位终端的坐标发送给请求所述定位服务的终端，其中，所述定位服务请求用于定位所述待定位终端。
  24. 根据权利要求23所述的定位系统，其中，
    所述待定位终端，还设置为接收所述定位服务器发送的第二授权信息和第二辅助信息；其中，所述第二授权信息用于通知所述待定位终端开始定位，所述第二辅助信息用于标识所述N个定位基站；
    所述位置固定的参考终端，还设置为接收所述定位服务器发送的第三授权信息和第三辅助信息；其中，所述第三授权信息用于通知所述位置固定的参考终端开始定位，所述第三辅助信息用于标识所述N个定位基站。
  25. 一种存储介质，其中，所述存储介质包括存储的程序，其中，所述程序运行时执行权利要求1至8中任一项所述的方法。
PCT/CN2017/109538 2016-11-11 2017-11-06 定位方法、定位基站、定位服务器和定位系统 Ceased WO2018086495A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17870364.1A EP3541126B1 (en) 2016-11-11 2017-11-06 Positioning method and positioning system
ES17870364T ES2871825T3 (es) 2016-11-11 2017-11-06 Método de posicionamiento y sistema de posicionamiento

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610995373.6 2016-11-11
CN201610995373.6A CN108112071B (zh) 2016-11-11 2016-11-11 定位方法、定位基站、定位服务器和定位系统

Publications (1)

Publication Number Publication Date
WO2018086495A1 true WO2018086495A1 (zh) 2018-05-17

Family

ID=62110132

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/109538 Ceased WO2018086495A1 (zh) 2016-11-11 2017-11-06 定位方法、定位基站、定位服务器和定位系统

Country Status (4)

Country Link
EP (1) EP3541126B1 (zh)
CN (1) CN108112071B (zh)
ES (1) ES2871825T3 (zh)
WO (1) WO2018086495A1 (zh)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020026211A1 (en) * 2018-08-03 2020-02-06 Telefonaktiebolaget Lm Ericsson (Publ) Method for dynamic configuration of reference signal
CN110824460A (zh) * 2019-10-18 2020-02-21 中国飞行试验研究院 一种连投件出舱速度实时测量方法及装置
CN111999220A (zh) * 2020-08-26 2020-11-27 西安建筑科技大学 一种追踪碎石颗粒运动轨迹的方法
CN112462391A (zh) * 2020-10-22 2021-03-09 瑞驰博方（北京）科技有限公司 目标对象坐标位置确定方法、装置、计算机设备和介质
CN112637767A (zh) * 2020-07-24 2021-04-09 成都精位科技有限公司 定位方法、装置、电子设备和可读存储介质
CN112924930A (zh) * 2021-01-25 2021-06-08 北京永安信通科技有限公司 用于井下环境的定位系统的时间同步方法和时间同步装置
CN115119535A (zh) * 2021-01-22 2022-09-27 北京小米移动软件有限公司 定位测量信息确定方法和装置、同步误差发送方法和装置
CN116008910A (zh) * 2022-12-29 2023-04-25 南京北路智控科技股份有限公司 综采工作面人员定位方法、装置、电子设备和存储介质
CN116458174A (zh) * 2020-09-15 2023-07-18 上海诺基亚贝尔股份有限公司 用于执行监控的设备、方法、装置和计算机可读介质

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111447543B (zh) 2018-12-27 2021-10-26 华为技术有限公司 定位方法及装置
CN109613477B (zh) * 2019-01-11 2020-08-04 南京大学 一种复杂环境下的tdoa定位追踪方法
CN109660948A (zh) * 2019-01-14 2019-04-19 华东师范大学 一种基于逆定位原理的室内定位方法
CN110275133B (zh) * 2019-06-27 2021-06-29 清华大学 一种基于虚拟到达时差的非共视脉冲信号无源定位方法
CN112689317B (zh) * 2019-10-18 2022-06-21 大唐移动通信设备有限公司 一种接入设备列表的确定方法、装置、网络节点及终端
CN112788733B (zh) 2019-11-11 2021-11-12 大唐移动通信设备有限公司 时钟偏差确定方法及装置
CN116582924A (zh) * 2020-06-08 2023-08-11 北京小米移动软件有限公司 位置确定方法、装置、通信设备及存储介质
EP4184191B1 (en) * 2020-07-28 2026-04-22 Huawei Technologies Co., Ltd. Indoor positioning method and device
CN114280535A (zh) * 2020-09-28 2022-04-05 维沃移动通信有限公司 定位测量的方法、装置、设备及可读存储介质
CN112566240A (zh) * 2020-11-25 2021-03-26 巢湖学院 一种矿井大规模异构传感节点协同定位方法
CN116648964B (zh) * 2020-12-31 2025-09-16 华为技术有限公司 一种定位方法和装置
CN115022960B (zh) * 2021-02-19 2024-10-29 大唐移动通信设备有限公司 位置识别方法、装置及处理器可读存储介质
WO2022213282A1 (en) * 2021-04-06 2022-10-13 Apple Inc. Positioning techniques for user equipment in a network
CN114269013B (zh) * 2021-12-14 2022-10-14 电子科技大学 一种层间过渡区域的室内定位方法
CN115562440A (zh) * 2022-09-30 2023-01-03 合肥君蓬信息科技有限公司 一种带有引流功能的计算机定位服务器及其定位方法
CN117042123A (zh) * 2023-08-18 2023-11-10 赛力斯汽车有限公司 基于基站位置的救援方法、装置及计算机可读存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102395197A (zh) * 2011-11-02 2012-03-28 北京理工大学 一种基于残差加权的tdoa蜂窝定位方法
WO2012128779A1 (en) * 2011-03-18 2012-09-27 Andrew Llc System and method for multiple range estimation location
CN103781095A (zh) * 2012-10-23 2014-05-07 华为技术有限公司 一种tdoa测量误差的校正方法、传输点和系统
CN103906228A (zh) * 2012-12-28 2014-07-02 中国电信股份有限公司 移动终端的基站差分定位方法、定位装置和系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4223923B2 (ja) * 2003-11-06 2009-02-12 株式会社日立製作所 測位方式及び測位システム及び無線基地局
DE102006040497A1 (de) * 2006-08-30 2008-03-27 Siemens Ag Verfahren und Vorrichtung zur laufzeitbasierten Ortung mit Hilfe eines getriggerten oder selbstauslösenden Referenzsignals
KR100896680B1 (ko) * 2007-04-13 2009-05-14 에스케이 텔레콤주식회사 Ｇ-ｐＣｅｌｌ 데이터베이스를 이용하여 위치에 따라이동통신 단말기에 네트워크 기반의 위치 측위를 제공하는방법 및 시스템
CN101938690A (zh) * 2009-06-28 2011-01-05 澳门科技大学 一种蜂窝网络定位方法及蜂窝网络定位装置
CN103698792A (zh) * 2013-11-29 2014-04-02 宇龙计算机通信科技(深圳)有限公司 网络服务器、终端、定位系统和定位方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012128779A1 (en) * 2011-03-18 2012-09-27 Andrew Llc System and method for multiple range estimation location
CN102395197A (zh) * 2011-11-02 2012-03-28 北京理工大学 一种基于残差加权的tdoa蜂窝定位方法
CN103781095A (zh) * 2012-10-23 2014-05-07 华为技术有限公司 一种tdoa测量误差的校正方法、传输点和系统
CN103906228A (zh) * 2012-12-28 2014-07-02 中国电信股份有限公司 移动终端的基站差分定位方法、定位装置和系统

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020026211A1 (en) * 2018-08-03 2020-02-06 Telefonaktiebolaget Lm Ericsson (Publ) Method for dynamic configuration of reference signal
CN112771394A (zh) * 2018-08-03 2021-05-07 瑞典爱立信有限公司 用于参考信号的动态配置的方法
CN112771394B (zh) * 2018-08-03 2025-05-13 瑞典爱立信有限公司 用于参考信号的动态配置的方法
US12261788B2 (en) 2018-08-03 2025-03-25 Telefonaktiebolaget Lm Ericsson (Publ) Method for dynamic configuration of reference signal
CN110824460A (zh) * 2019-10-18 2020-02-21 中国飞行试验研究院 一种连投件出舱速度实时测量方法及装置
CN110824460B (zh) * 2019-10-18 2023-03-31 中国飞行试验研究院 一种连投件出舱速度实时测量方法及装置
CN112637767A (zh) * 2020-07-24 2021-04-09 成都精位科技有限公司 定位方法、装置、电子设备和可读存储介质
CN112637767B (zh) * 2020-07-24 2023-02-03 成都精位科技有限公司 定位方法、装置、电子设备和可读存储介质
CN111999220A (zh) * 2020-08-26 2020-11-27 西安建筑科技大学 一种追踪碎石颗粒运动轨迹的方法
CN116458174A (zh) * 2020-09-15 2023-07-18 上海诺基亚贝尔股份有限公司 用于执行监控的设备、方法、装置和计算机可读介质
CN112462391A (zh) * 2020-10-22 2021-03-09 瑞驰博方（北京）科技有限公司 目标对象坐标位置确定方法、装置、计算机设备和介质
CN115119535A (zh) * 2021-01-22 2022-09-27 北京小米移动软件有限公司 定位测量信息确定方法和装置、同步误差发送方法和装置
CN112924930A (zh) * 2021-01-25 2021-06-08 北京永安信通科技有限公司 用于井下环境的定位系统的时间同步方法和时间同步装置
CN116008910A (zh) * 2022-12-29 2023-04-25 南京北路智控科技股份有限公司 综采工作面人员定位方法、装置、电子设备和存储介质

Also Published As

Publication number Publication date
EP3541126B1 (en) 2021-02-24
CN108112071A (zh) 2018-06-01
EP3541126A1 (en) 2019-09-18
CN108112071B (zh) 2021-07-20
EP3541126A4 (en) 2019-10-02
ES2871825T3 (es) 2021-11-02

Similar Documents

Publication Publication Date Title
WO2018086495A1 (zh) 定位方法、定位基站、定位服务器和定位系统
JP5450081B2 (ja) ユーザ装置の位置を判定する方法、ソフトウエア及びシステム
US9500738B2 (en) Utilizing a reference signal for indoor positioning
KR101227820B1 (ko) 위치 결정 전송의 시스템 및 방법
US10866303B2 (en) Determining the location of a mobile computing device
CN103260237B (zh) 一种网络定位方法和相关设备
TWI509276B (zh) 用於位置估計的方法、用於定位系統的定位網路
US8848565B2 (en) Method for performing measurements and positioning in a network based WLAN positioning system
US20160360370A1 (en) Support of otdoa positioning using ambiguous cells
US20140235273A1 (en) Method for determining position of terminal in cellular mobile communication system
JP2023527637A (ja) バイスタティック無線に基づく物体場所検出のためのシステムおよび方法
CN112578424B (zh) 终端设备的定位方法、装置、终端设备及存储介质
WO2017113054A1 (zh) 一种楼层定位方法、设备及系统
WO2017041850A1 (en) Fingerprint positioning for mobile terminals
US20200408872A1 (en) Scaled tdoa 3d positioning
US20150133150A1 (en) Apparatus for determining indoor location and method for determining indoor location in multi-story building using the same
CN111713146B (zh) 缩放的3d位置信息的信令
CN113015079B (zh) 定位方法、装置以及系统
WO2023237213A1 (en) Methods and apparatuses relating to wireless communication
WO2016049551A1 (en) Method for transmission of the quantized value in wireless communication
CN119045026B (zh) 基于4g模块的多重定位方法、装置、电子设备及存储介质
CN120303576A (zh) 用于定位的设备、方法、系统、定位辅助数据和计算机程序
HK40041021A (zh) 终端设备的定位方法、装置、终端设备及存储介质
HK40041021B (zh) 终端设备的定位方法、装置、终端设备及存储介质
HK1191406A (zh) 使用往返延遲和到達角的位置確定

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17870364

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2017870364

Country of ref document: EP

Effective date: 20190611