WO2020177041A1 - Procédé de traitement d'informations et dispositif terminal - Google Patents

Procédé de traitement d'informations et dispositif terminal Download PDF

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Publication number
WO2020177041A1
WO2020177041A1 PCT/CN2019/076774 CN2019076774W WO2020177041A1 WO 2020177041 A1 WO2020177041 A1 WO 2020177041A1 CN 2019076774 W CN2019076774 W CN 2019076774W WO 2020177041 A1 WO2020177041 A1 WO 2020177041A1
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WIPO (PCT)
Prior art keywords
terminal device
vehicle
pseudorange
angle
variance
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PCT/CN2019/076774
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English (en)
Chinese (zh)
Inventor
卢前溪
沈渊
刘袁鹏
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Tsinghua University
Guangdong Oppo Mobile Telecommunications Corp Ltd
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Tsinghua University
Guangdong Oppo Mobile Telecommunications Corp Ltd
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Priority to PCT/CN2019/076774 priority Critical patent/WO2020177041A1/fr
Priority to CN201980081599.7A priority patent/CN113196107B/zh
Publication of WO2020177041A1 publication Critical patent/WO2020177041A1/fr
Anticipated expiration legal-status Critical
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    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Definitions

  • This application relates to the field of communications, and in particular to an information processing method and terminal equipment.
  • the Internet of Vehicles system is a kind of Sidelink (SL) transmission technology based on the terminal-to-device (D2D) transmission mode. It is the same as the traditional Long Term Evaluation (LTE) system in which the communication data passes through the base station. The way of receiving or sending is different.
  • the Internet of Vehicles system uses terminal-to-terminal direct communication, so it has higher spectrum efficiency and lower transmission delay.
  • the embodiments of the present application provide an information processing method and terminal device, which can improve the positioning accuracy of vehicles in the Internet of Vehicles.
  • an information processing method including:
  • the first terminal device acquires at least one of the following parameters: the first terminal device is based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the clock noise of the first terminal device Variance;
  • the first terminal device determines the current location of the first terminal device according to the at least one parameter.
  • a terminal device which is used to execute the method in the first aspect or its implementation manners.
  • the terminal device includes a functional module for executing the method in the foregoing first aspect or each implementation manner thereof.
  • a terminal device including a processor and a memory.
  • the memory is used to store a computer program
  • the processor is used to call and run the computer program stored in the memory to execute the method in the above-mentioned first aspect or each of its implementation modes.
  • a chip is provided, which is used to implement any one of the above-mentioned first aspects or the methods in each of its implementation modes.
  • the chip includes: a processor, configured to call and run a computer program from the memory, so that a device installed with the chip executes any one of the above-mentioned first aspects or the methods in each implementation manner thereof.
  • a computer-readable storage medium for storing a computer program that enables a computer to execute any aspect of the above-mentioned first aspect or the method in each implementation manner thereof.
  • a computer program product including computer program instructions, which cause a computer to execute any one of the foregoing aspects of the first aspect or the method in each implementation manner thereof.
  • a computer program which when running on a computer, causes the computer to execute any one of the above-mentioned aspects of the first aspect or the method in each implementation manner thereof.
  • the first terminal device can perform positioning according to at least one parameter based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the variance of the clock noise of the first terminal device. Based on the relative position of the first terminal device based on the second terminal device, the first terminal device is positioned, so that the positioning of the first terminal device can be more accurate, and the accuracy of the positioning can be improved. If the first terminal device does not introduce the angle measurement with the network device during the positioning process, the first terminal device may need at least 4 different network devices to complete the positioning. However, the signal of the network device is easily blocked, so the first terminal device is easily blocked. The number of network devices acquired by one terminal device is limited, and there may be less than four.
  • the positioning of the first terminal device may not be realized or the error may be large.
  • two network devices can be used to realize positioning, which can improve the accuracy of positioning. Since the positioning process may be affected by the clock noise of the first terminal device, considering the influence of the clock noise, the positioning accuracy of the first terminal device can be improved. In addition, if the multiple parameters mentioned above are considered in the positioning process, a variety of data can be merged into a unified positioning scheme, so that the obtained positioning information is richer, and the accuracy of positioning can be greatly improved. .
  • Fig. 1 is a schematic diagram of a communication architecture according to an embodiment of the present application.
  • Fig. 2 is a schematic diagram of another communication architecture according to an embodiment of the present application.
  • Fig. 3 is a schematic flowchart of an information processing method according to an embodiment of the present application.
  • Fig. 4 is a schematic diagram of a rectangular array measuring angle according to an embodiment of the present application.
  • Fig. 5 is a schematic flowchart of a positioning solution according to an embodiment of the present application.
  • Fig. 6 is a schematic block diagram of a terminal device according to an embodiment of the present application.
  • Fig. 7 is a schematic block diagram of a communication device according to an embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a chip according to an embodiment of the present application.
  • GSM Global System of Mobile Communication
  • CDMA Code Division Multiple Access
  • WCDMA Wideband Code Division Multiple Access
  • GSM Global System of Mobile Communication
  • GPRS General Packet Radio Service
  • LTE Long Term Evolution
  • FDD Frequency Division Duplex
  • TDD Time Division Duplex
  • UMTS Universal Mobile Telecommunication System
  • WiMAX Worldwide Interoperability for Microwave Access
  • the embodiments of the present application describe various embodiments in conjunction with network equipment.
  • the network device can provide communication coverage for a specific geographic area, and can communicate with terminal devices located in the coverage area.
  • the network equipment may be a base station (Base Transceiver Station, BTS) in a GSM system or a CDMA system, a base station (NodeB, NB) in a WCDMA system, or an evolved base station (Evolutional Base Station) in the LTE system.
  • BTS Base Transceiver Station
  • NodeB, NB base station
  • Evolutional Base Station evolved base station
  • PLMN Public Land Mobile Network
  • Terminal equipment includes, but is not limited to, connection via wired lines, such as via Public Switched Telephone Networks (PSTN), Digital Subscriber Line (DSL), digital cable, direct cable connection; and/or another data Connection/network; and/or via wireless interfaces, such as for cellular networks, Wireless Local Area Network (WLAN), digital TV networks such as DVB-H networks, satellite networks, AM-FM broadcast transmitters; and/ Or another terminal device that is set to receive/send communication signals; and/or Internet of Things (IoT) equipment.
  • a terminal device set to communicate through a wireless interface may be referred to as a "wireless communication terminal", a "wireless terminal” or a "mobile terminal".
  • Examples of mobile terminals include, but are not limited to, satellites or cellular phones; Personal Communications System (PCS) terminals that can combine cellular radio phones with data processing, fax, and data communication capabilities; can include radio phones, pagers, Internet/intranet PDA with internet access, web browser, memo pad, calendar, and/or Global Positioning System (GPS) receiver; and conventional laptop and/or palmtop receivers or others including radio phone transceivers Electronic device.
  • Terminal equipment can refer to access terminals, user equipment (UE), user units, user stations, mobile stations, mobile stations, remote stations, remote terminals, mobile equipment, user terminals, terminals, wireless communication equipment, user agents, or User device.
  • the access terminal can be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a wireless local loop (Wireless Local Loop, WLL) station, a personal digital processing (Personal Digital Assistant, PDA), with wireless communication Functional handheld devices, computing devices or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, terminal devices in 5G networks, or terminal devices in the future evolution of PLMN, etc.
  • SIP Session Initiation Protocol
  • WLL Wireless Local Loop
  • PDA Personal Digital Assistant
  • system and “network” in this article are often used interchangeably in this article.
  • network in this article is only an association relationship describing the associated objects, which means that there can be three relationships, for example, A and/or B, which can mean: A alone exists, A and B exist at the same time, and exist alone B these three situations.
  • Figures 1 and 2 are schematic diagrams of an application scenario of an embodiment of the present application.
  • Figure 1 exemplarily shows a network device and two terminal devices.
  • the communication system may include multiple network devices and the coverage of each network device may include other numbers of terminal devices.
  • This application is implemented The example does not limit this.
  • the terminal device 20 and the terminal device 30 can communicate in a D2D communication mode.
  • the terminal device 20 and the terminal device 30 communicate directly through the D2D link, namely SL, as shown in FIG. 1 or FIG. 2, for example.
  • the terminal device 20 and the terminal device 30 communicate through a side link, and the transmission resources are allocated by the network device.
  • the terminal device 20 and the terminal device 30 communicate via a side link, and the transmission resources are independently selected by the terminal device, and no network device is required to allocate transmission resources.
  • Mode 3 In the 3rd Generation Partnership Project (3rd Generation Partnership Project, 3GPP) Release 14 (Rel-14), two transmission modes are defined for the Internet of Vehicles technology, namely Mode 3 and Mode 4.
  • the scenario shown in FIG. 1 may be used in a vehicle to vehicle (V2V) scenario, and the mode shown in FIG. 1 may be referred to as mode 3, where the transmission resources of the vehicle terminal are allocated by the base station.
  • the vehicle-mounted terminal can send data on the side link according to the resources allocated by the base station.
  • the base station may allocate resources for a single transmission to the terminal, or may allocate resources for semi-static transmission to the terminal.
  • the scenario shown in FIG. 2 may be used in a V2V scenario, and the mode shown in FIG. 2 may be referred to as mode 4.
  • the vehicle-mounted terminal adopts a sensing + reservation transmission mode.
  • the vehicle-mounted terminal can obtain a collection of available transmission resources in the resource pool by means of interception, and then can randomly select a resource from the collection for data transmission. Since the services in the Internet of Vehicles system have periodic characteristics, terminal equipment usually adopts semi-static transmission, that is, after the terminal equipment selects a transmission resource, it can continue to use the resource in multiple transmission cycles, thereby reducing resource repetition. Selection and the probability of resource conflicts.
  • the terminal device can carry the information to reserve resources for the next transmission in the control information of this transmission, so that other terminal devices can determine whether this resource is reserved and used by the user by detecting the control information of the user, thereby reducing resources The purpose of the conflict.
  • the D2D communication method can be used for V2V communication or vehicle to other device (Vehicle to Everything, V2X) communication, or enhanced (cellular) vehicle networking (enhanced Vehicle to Everything, eV2X).
  • V2X communication X can generally refer to any device with wireless receiving and sending capabilities, such as but not limited to slow-moving wireless devices, fast-moving vehicle-mounted devices, or network control nodes with wireless transmitting and receiving capabilities. It should be understood that the embodiment of the present application is mainly applied to the scenario of V2X communication, but may also be applied to any other D2D communication scenario, which is not limited in the embodiment of the present application.
  • 3GPP has stipulated three positioning methods, namely the cell-ID-based (CID) method, the Observed Time Difference of Arrival (OTDOA) method, and the Assisted Global Navigation Satellite System (Assisted Global Navigation Satellite System) method.
  • CID cell-ID-based
  • OTDOA Observed Time Difference of Arrival
  • Assisted Global Navigation Satellite System Assisted Global Navigation Satellite System
  • A-GNSS Global Navigation Satellite System
  • the specific method can be: using the identification code of each cell, by identifying which cell in the network transmits terminal equipment calls, and translating the center location information of the cell into latitude and longitude, the terminal equipment can be determined s position.
  • the location information of the cell can be used as the current location of the terminal device.
  • the accuracy of this method is low, which is at the level of one hundred meters, and cannot meet the high-precision and high-reliability requirements of the Internet of Vehicles.
  • the positioning principle is the same as the Global Navigation Satellite System (GNSS), and the position is obtained by the hyperbolic positioning method based on the time difference of arrival.
  • GNSS Global Navigation Satellite System
  • it can achieve higher accuracy, but due to the co-frequency interference of the base station signal, at least 4 different base stations are required to locate, and the distance effect of the base station signal may cause the remote base station signal to be submerged, so the actual accuracy is not high. Roughly ten meters.
  • situations such as signal occlusion may easily occur in the actual environment, and the positioning method may be prone to unable to locate, and the reliability is not high enough.
  • the A-GNSS positioning scheme is currently the most widely used satellite positioning scheme, and its principle is also the classic hyperbolic positioning based on the time difference of arrival.
  • satellite systems can provide meter-level positioning accuracy.
  • positioning may not be possible, and long-term high-reliability services cannot be provided.
  • the above-mentioned high-precision OTDOA and A-GNSS positioning schemes may be affected by clock noise due to the use of time-of-arrival-based measurement, and the accuracy cannot reach the sub-meter accuracy required by the Internet of Vehicles. Therefore, the above three independent positioning schemes may not meet the high-precision requirements of the Internet of Vehicles.
  • the terminal device may perform positioning based on at least one parameter based on the relative position of other terminal devices, the angle between the network device and the terminal device, and the variance of the clock noise of the terminal device. This can provide positioning accuracy.
  • FIG. 3 is a schematic flowchart of an information processing method 100 according to an embodiment of the present application.
  • the method may be implemented by a terminal device, and the method 100 may include at least part of the following content.
  • the technical solutions of the embodiments of the present application may not only be applied to the Internet of Vehicles system, but also be applied to other scenarios of the communication system.
  • the technical solutions of the embodiments of the present application can also be used to provide various location-based services, such as inquiries about surrounding shops, gas stations, restaurants, etc., and can also be used for emergency rescue, vehicle dispatch and personnel Management and other services.
  • the first terminal device acquires at least one of the following parameters: the first terminal device is based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the variance of the clock noise of the first terminal device .
  • the first terminal device determines the current location of the first terminal device according to at least one parameter.
  • the second terminal device may include at least one terminal device.
  • the angle between the network device and the first terminal device may include a pitch angle and/or an azimuth angle.
  • the clock noise may be, but not limited to, caused by the clock drift of the first terminal device.
  • the terminal device is a vehicle and the network device is a base station as an example to describe the technical solutions provided by the embodiments of the present application, but the present invention is not limited to this.
  • the first vehicle in the process of acquiring the relative position based on the second vehicle by the first vehicle, as an example, the first vehicle may adopt a pseudo-range measurement method, that is, two-way measurement of the pseudo-range between the vehicles , To obtain the relative position of the first vehicle based on the second vehicle.
  • a pseudo-range measurement method that is, two-way measurement of the pseudo-range between the vehicles
  • the theoretical model considers the ground cooperative vehicle networking system assisted by satellites and ground base stations. It should be understood that this theoretical model is only an example and does not constitute a limitation to the embodiments of the present application.
  • N c vehicles M b base stations, and H s satellites in the network, where the positions of the base stations and the satellites are known.
  • the distance deviation introduced by the clock deviation can satisfy the formula (1):
  • b k is the distance deviation caused by the clock deviation of vehicle k
  • c is the speed of light
  • the distance between node k and observation node j can be defined as:
  • the signal received by node k from node j can be expressed in the following form:
  • s j (t) is a known signal, its Fourier transform is S j (f), ⁇ kj and ⁇ kj are the signal amplitude and time delay of the transmission link from node j to node k, respectively, n kj (t ) Is Gaussian white noise with a power spectral density of N 0 /2.
  • the relative position of any two vehicles in the vehicle network can be obtained by pseudo-range measurement.
  • any vehicle in the vehicle network can be used as the reference vehicle at this time, such as the first vehicle or the last vehicle.
  • any two vehicles in the vehicle network be vehicle k and vehicle j.
  • vehicle k receiving a signal from vehicle j
  • the following second pseudo-range model can be used:
  • d kj is the actual value of the distance between vehicle k and vehicle j
  • b k is the distance deviation introduced due to the clock deviation of vehicle k
  • b j is the clock deviation of vehicle j
  • the distance deviation introduced by the deviation, ⁇ jk is the clock noise term, if not calibrated, its variance May increase over time.
  • the clock deviation caused by clock noise is specifically random.
  • the clock deviation caused by clock noise at the previous time is 1 ms
  • the clock deviation caused by clock noise at the current time is 0.5 ms.
  • the clock deviation ⁇ k mentioned in the above content is the same at different moments, for example, 1ms.
  • ⁇ jk is an equivalent zero-mean Gaussian error introduced by signal noise n kj (t), subject to a mean value of 0, and a variance of The normal distribution of satisfies the following formula:
  • the variance It is inversely proportional to the signal-to-noise ratio and equivalent bandwidth. Therefore, improving the signal-to-noise ratio and equivalent bandwidth can improve the positioning accuracy of the vehicle.
  • the pseudo-range between vehicle k and vehicle j takes into account the influence of the clock noise of vehicle k, that is, the pseudo-range between vehicle k and vehicle j is determined based on the variance of the clock noise of vehicle k.
  • the second pseudorange model may not consider the influence of the clock noise of the vehicle k, and ⁇ jk may be set to 0 at this time.
  • the second pseudorange model may be preset on the vehicle k, or may be sent to the vehicle k by other communication devices.
  • vehicle j sends a signal to vehicle k, it can also send information including the second pseudorange model.
  • the estimated distance between vehicle k and vehicle j can be determined according to formula (6).
  • the least square method may be used to determine the distance estimation value.
  • the two-way distance measurement of vehicle k and vehicle j may be averaged to obtain a distance estimate.
  • the pseudo distance between vehicle j and vehicle k is determined Can be:
  • the first vehicle may determine the relative position based on the second vehicle according to the implementation manner mentioned in the above content. That is, the first vehicle can determine the second pseudo distance with the second vehicle, and then the relative position based on the second vehicle can be determined according to the second pseudo distance.
  • the first vehicle may determine the second pseudorange based on the variance of the clock noise of the first vehicle.
  • the second pseudorange may not be determined based on the variance of the clock noise of the first vehicle, which is not limited in the embodiment of the present application. It should be understood that the accuracy of the second pseudorange determined based on the variance of the clock noise of the first vehicle may be higher than the accuracy of the second pseudorange determined not based on the variance of the clock noise of the first vehicle.
  • the first vehicle may also obtain an angle with the second vehicle, and determine the relative position based on the second vehicle according to the angle with the second vehicle.
  • the first vehicle can measure the angle between the first vehicle and the second vehicle, or the second vehicle can measure the angle between the first vehicle and the second vehicle, and then the second vehicle can send the first vehicle the angle including the angle Information, after receiving the information, the first vehicle can determine the angle with the second vehicle.
  • the shape of the vehicle network can be obtained according to a predetermined algorithm, that is, the relative positioning of all vehicles in the vehicle network can be achieved.
  • the embodiment of the present application does not specifically limit the predetermined algorithm.
  • the predetermined algorithm may be a multi-dimensional calibration algorithm, or may be a semi-definite programming.
  • the k rows and j columns of the square distance matrix can be as follows:
  • the shape of the vehicle network can be obtained by using a multi-dimensional calibration algorithm.
  • the antenna of the first vehicle may broadcast a wireless signal containing the identification information of the first vehicle, and at the same time, it may monitor the wireless signals existing around it, and may converge the received signals to the vehicle-mounted device in real time.
  • the vehicle-mounted device can process the acquired data information by using the signal strength of multiple antennas, such as Received Signal Strength Indication (RSSI), to determine the relative position of the first vehicle based on the second vehicle.
  • RSSI Received Signal Strength Indication
  • the identification information of the first vehicle may include, but is not limited to, the Cell-Radio Network Temporary Identifier (C-RNTI) of the first vehicle, and the International Mobile Subscriber ID (International Mobile Subscriber) of the first vehicle.
  • C-RNTI Cell-Radio Network Temporary Identifier
  • IMSI International Mobile Subscriber ID
  • the identification of the first vehicle in the vehicle network may be the number of the first vehicle in the vehicle network. For example, there are 10 vehicles in the vehicle network, and the number of the first vehicle in the vehicle network is 4, then the identification of the first vehicle in the vehicle network Just 4.
  • the first vehicle may determine the relative position based on the second vehicle through a vision-based positioning method. It should be understood that the embodiments of the present application do not impose any limitation on the vision-based positioning method, and any method that can determine the relative position of the first vehicle based on the second vehicle through the vision-based positioning method may be included in the protection scope of the embodiments of the present application .
  • the first vehicle may determine the current position of the first vehicle based on satellites and/or base stations.
  • the first vehicle may determine the current position based on the determined relative position, based on any of the three current positioning methods specified by 3GPP, that is, CID, OTDOA or A-GNSS.
  • the first vehicle may determine the current position of the first vehicle according to the determined relative position and according to the first pseudorange between the satellite and/or the base station.
  • the first terminal device may receive a signal sent by a satellite and/or a base station, and determine the first pseudorange based on the signal.
  • the technical solutions for determining the current position of the first vehicle based on the relative position and the first pseudorange are respectively introduced below.
  • the solution for determining the relative position of the first vehicle based on the second vehicle is referred to as a vehicle-vehicle cooperation solution below.
  • the position of the first vehicle in the earth coordinate system can be determined through the assistance of satellites, that is, the current position of the first vehicle.
  • the first vehicle may receive the signal sent by the satellite, and then determine the first pseudorange according to the signal sent by the satellite.
  • observation node j is satellite j.
  • the first pseudorange model between the vehicle and the satellite may be:
  • the first vehicle can determine the first pseudorange with the satellite.
  • the first vehicle can determine the current position of the first vehicle according to the first pseudo-range with the satellite, based on the relative position of the second vehicle and a specific algorithm.
  • the specific algorithm may be a least square method, a gradient descent algorithm, and the like.
  • the positioning results are generally based on the XY plane, which can ensure the accuracy of two-dimensional positioning, while the positioning error in altitude is relatively large, and the positioning accuracy can reach ten meters.
  • the base station may also provide positioning assistance for the first vehicle.
  • the first vehicle may acquire the first pseudorange with the base station.
  • the first vehicle may receive the signal sent by the base station, and then determine the first pseudorange with the base station according to the signal sent by the base station.
  • the pseudorange model between the two vehicles and the base station may be:
  • the pseudo-range model between the two vehicles and the base station may also be:
  • formula (12) considers the influence of the clock noise of the first vehicle, that is, formula (12) is determined based on the variance of the clock noise of the first vehicle, and formula (13) does not consider the influence of clock noise.
  • the first vehicle can determine the first pseudorange with the base station. After that, the first vehicle may determine the current position of the first vehicle based on the first pseudorange with the base station and based on the relative position of the second vehicle.
  • the first vehicle uses the first pseudo-range from the base station to determine the current location of the first vehicle. You can refer to the implementation of using the first pseudo-range from the satellite to determine the current location of the first vehicle. For the sake of brevity of content, I won’t repeat them here.
  • the first vehicle can obtain the angle between the base station and the first vehicle, so that the current position of the first vehicle can be determined based on the angle and the first pseudo-distance with the base station.
  • the first vehicle may obtain the angle between the base station and the first vehicle by measuring the angle between the base station and the first vehicle.
  • the base station may measure the angle to the first vehicle, and then send a signal to the first vehicle at the same time to send information including the angle to the first vehicle to the first vehicle. After the first vehicle receives the information, the angle between the base station and the first vehicle can be determined.
  • the pitch angle and azimuth angle between the base station and the first vehicle may satisfy the following formula:
  • ⁇ jk is the actual value of the pitch angle
  • ⁇ jk is the actual value of the azimuth angle
  • ⁇ jk is the angle measurement noise caused by the signal noise sent by the base station to the first vehicle
  • the angle measurement noise can be the equivalent zero-mean Gaussian noise on the two-dimensional angle
  • its covariance matrix is C jk
  • C jk is inversely proportional to the signal noise sent by the base station to the first vehicle
  • the specific form of C jk may be related to the spatial structure of the array.
  • the array can be an array of any shape, such as a rectangular array, a circular array, and the like.
  • the following description takes a rectangular array as an example.
  • the rectangular array is an M*N matrix.
  • a black dot represents an antenna array of the base station, and a point S represents the first vehicle.
  • ⁇ is the distance between the array elements in the figure, that is, the distance between two black dots, ⁇ is the signal wavelength, and the inverse matrix of the covariance matrix C jk can satisfy the following formula:
  • the first vehicle may determine the current position of the first vehicle based on the angle and the first pseudo-distance with the base station.
  • the angle measurement when angle measurement is not introduced, at least 4 different base stations may be required to achieve positioning. However, in harsh environments such as signal obstruction, it is easy to cause less than 4 base stations to be seen. At this time, positioning may be possible Invalidate. After the angle measurement is introduced, positioning can be achieved with only two base stations, which can improve positioning accuracy and system reliability.
  • the shape of the vehicle network is determined through mutual measurement of vehicles, and combined with the measurement of the base station, the three-dimensional coordinates of the vehicle network in the earth coordinate system (including the three-dimensional coordinates of the first vehicle in the earth coordinate system) can be obtained to realize positioning. After using the ground base station, the height error is also small, and the function of high-precision three-dimensional positioning can be realized.
  • the positioning error in height is small, and the function of high-precision three-dimensional positioning can be realized.
  • the first vehicle can use the second pseudo-range before the vehicle, the pseudo-range between the first vehicle and the satellite, and the pseudo-range between the first vehicle and the base station to determine the current The location.
  • the first vehicle may also use the angle between the base station and the first vehicle to determine the current position.
  • the above technical solution can not only provide high-precision two-dimensional positioning when assisted by satellites and ground base stations at the same time, but also meet the requirements of high-precision three-dimensional positioning. Therefore, more reliable positioning services and higher positioning accuracy can be obtained.
  • the method 100 may further include: the first vehicle obtains data sent by a sensor in the first vehicle The data determines the current position of the first vehicle based on at least one parameter and data sent by the sensor.
  • the first vehicle may also rely on the vehicle's own sensors to assist in positioning.
  • the senor may include, but is not limited to, at least one of an inertial measurement unit (IMU), a visual sensor, and a vehicle-mounted radar.
  • IMU inertial measurement unit
  • visual sensor e.g., a radar
  • vehicle-mounted radar e.g., a radar
  • the IMU can measure the acceleration, angular velocity and other information of the first vehicle itself, and can provide relatively accurate measurements for the speed, orientation, and displacement of the first vehicle in a short time. Therefore, the first vehicle can determine the current position in combination with the position at the previous time and the acceleration and orientation at the current time.
  • the errors in the speed, direction, and displacement of the vehicle measured by the IMU may accumulate over time, and therefore, relying on the IMU for a long time may cause large positioning errors.
  • the above-mentioned method of passing at least one parameter may not be able to calculate or fail at certain moments. At this time, relying on IMU to maintain the estimation of the first vehicle position in a short time can obtain high positioning accuracy.
  • the IMU can also be used to assist positioning to improve positioning accuracy.
  • the first vehicle may use a visual sensor to acquire objects, landmark information, lane line information, etc. near itself, and the first vehicle may use an on-board radar to measure the distance and orientation between objects near itself and the vehicle.
  • Combining these different sensor information can provide assistance for vehicles to avoid collisions and change lanes, and on the other hand, it can improve the accuracy of vehicle positioning through these landmarks and other information. And even if the signal from the satellite and/or base station cannot be obtained for a short period of time, it has short-term maintenance capability for positioning in harsh environments, and there will be no failure to locate.
  • the above content describes an implementation in which the first vehicle determines the current position of the first vehicle based on the relative position of the second vehicle and the angle between the base station and the first vehicle.
  • the implementation manner in which the angle of the first vehicle determines the current position may also be implemented separately, and may not be implemented in combination with the implementation manner based on the relative position of the second vehicle.
  • the first vehicle may determine the current location of the first vehicle according to the angle between the base station and the first vehicle.
  • the first vehicle may determine the current position of the first vehicle according to the angle between the base station and the first vehicle, and according to the first pseudo-range with the base station and/or the satellite mentioned in the foregoing.
  • the first vehicle may determine the current location of the first vehicle according to the angle between the base station and the first vehicle, and according to the sensor of the first vehicle.
  • the above content describes the implementation in which the first vehicle determines the current position of the first vehicle based on the relative position of the second vehicle and the variance of the clock noise of the first vehicle.
  • the implementation manner of determining the current position by the variance of the clock noise of the first vehicle may also be implemented separately, and may not be implemented in combination with the implementation manner based on the relative position of the second vehicle.
  • the first vehicle may determine the current position of the first vehicle based on the variance of the clock noise of the first vehicle and the first pseudorange with the base station and/or the satellite mentioned in the foregoing. For example, the first vehicle may determine the first pseudo-range with the base station according to the variance of the clock noise, and then determine the current position of the first vehicle according to the first pseudo-range.
  • the first vehicle may determine the first pseudorange with the base station according to formula (12).
  • FIG. 5 shows an exemplary flowchart of a positioning solution of an embodiment of the present application. It should be understood that FIG. 5 is only an example, and does not constitute a limitation to the embodiment of the present application. It can be seen from Figure 5 that on the basis of the vehicle pseudorange measurement, the pseudorange and angle measurement of the base station can be introduced according to different scenarios, the pseudorange measurement of the satellite, and the measurement of the vehicle and other sensors. Combining these measurements, you can Obtain the shape and absolute position coordinates of the vehicle network.
  • the first vehicle can obtain the shape of the vehicle network.
  • the first vehicle can obtain The shape of the vehicle network can also determine the absolute position of the first vehicle, that is, the current position.
  • the formulas (3), (4) and (14) in the embodiments of the present application are determined in a three-dimensional space, and may also be determined in a two-dimensional plane.
  • a pseudo-range measurement model is used for the distance, which can also be converted into a time measurement model, where the time measurement model can be obtained by dividing both sides of the formula in the pseudo-range measurement model by the speed of light.
  • the first terminal device may perform positioning based on at least one parameter based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the variance of the clock noise of the first terminal device. Based on the relative position of the first terminal device based on the second terminal device, the first terminal device is positioned, so that the positioning of the first terminal device can be more accurate, and the accuracy of the positioning can be improved. If the first terminal device does not introduce the angle measurement with the network device during the positioning process, the first terminal device may need at least 4 different network devices to complete the positioning. However, the signal of the network device is easily blocked, so the first terminal device is easily blocked. The number of network devices acquired by one terminal device is limited, and there may be less than four.
  • the positioning of the first terminal device may not be realized or the error may be large.
  • two network devices can be used to realize positioning, which can improve the accuracy of positioning. Since the positioning process may be affected by the clock noise of the first terminal device, considering the influence of the clock noise, the positioning accuracy of the first terminal device can be improved. In addition, if the multiple parameters mentioned above are considered in the positioning process, a variety of data can be merged into a unified positioning scheme, so that the obtained positioning information is richer, and the accuracy of positioning can be greatly improved. .
  • the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, rather than corresponding to the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • FIG. 6 shows a schematic block diagram of a terminal device 200 according to an embodiment of the present application. It should be understood that the terminal device 200 is the first terminal device in the method 100. As shown in FIG. 6, the terminal device 200 includes:
  • the processing unit 210 is configured to obtain at least one of the following parameters: the terminal device 200 is based on the relative position of the second terminal device, the angle between the network device and the terminal device 200, and the clock noise of the terminal device 200 variance;
  • the processing unit 210 is further configured to determine the current location of the terminal device 200 according to the at least one parameter.
  • the processing unit 210 is specifically configured to: according to the relative position, and according to the satellite and/or the network device The first pseudorange between the two determines the current location of the terminal device 200.
  • the processing unit 210 is further configured to: determine a second pseudorange with the second terminal device; and determine the relative position according to the second pseudorange.
  • the second pseudorange is determined based on the variance of the clock noise.
  • the processing unit 210 is specifically configured to: according to the angle and the terminal device The first pseudorange between 200 and the network device determines the current location of the terminal device 200.
  • the angle includes a pitch angle and/or an azimuth angle.
  • the pitch angle and the azimuth angle satisfy the following formulas:
  • ⁇ jk is the actual value of the pitch angle
  • ⁇ jk is the actual value of the azimuth angle
  • ⁇ jk is the angle measurement noise caused by the signal noise sent by the network device to the terminal device 200.
  • the first pseudorange is the pseudorange between the terminal device 200 and the network device, the first pseudorange is determined based on the variance of the clock noise of.
  • the processing unit 210 is specifically configured to: determine the difference between the terminal device 200 and the clock noise according to the variance of the clock noise.
  • the first pseudorange between the network devices; according to the first pseudorange, the current location of the terminal device 200 is determined.
  • the terminal device 200 further includes: a communication unit 220, configured to receive signals sent by the satellite and/or the network device; and the processing unit 210 is further configured to: The signal sent by the satellite and/or the network device determines the first pseudorange.
  • the processing unit 210 yuan is also used to: obtain data sent by sensors in the 210;
  • the processing unit 210 is specifically configured to determine the current location of 210 according to the at least one parameter and the data sent by the sensor.
  • the senor includes at least one of an inertial measurement unit, a visual sensor, and a vehicle-mounted radar.
  • the terminal device 200 may correspond to the first terminal device in the method 100, and can implement the corresponding operations of the first terminal device in the method 100. For brevity, details are not described herein again.
  • FIG. 7 is a schematic structural diagram of a communication device 300 provided by an embodiment of the present application.
  • the communication device 300 shown in FIG. 7 includes a processor 310, and the processor 310 can call and run a computer program from a memory to implement the method in the embodiment of the present application.
  • the communication device 300 may further include a memory 320.
  • the processor 310 can call and run a computer program from the memory 320 to implement the method in the embodiment of the present application.
  • the memory 320 may be a separate device independent of the processor 310, or may be integrated in the processor 310.
  • the communication device 300 may further include a transceiver 330, and the processor 310 may control the transceiver 330 to communicate with other devices. Specifically, it may send information or data to other devices, or receive other devices. Information or data sent by the device.
  • the transceiver 330 may include a transmitter and a receiver.
  • the transceiver 330 may further include an antenna, and the number of antennas may be one or more.
  • the communication device 300 may specifically be the first terminal device of the embodiment of the present application, and the communication device 300 may implement the corresponding process implemented by the first terminal device in each method of the embodiment of the present application. For brevity, This will not be repeated here.
  • FIG. 8 is a schematic structural diagram of a chip of an embodiment of the present application.
  • the chip 400 shown in FIG. 8 includes a processor 410, and the processor 410 can call and run a computer program from a memory to implement the method in the embodiment of the present application.
  • the chip 400 may further include a memory 420.
  • the processor 410 may call and run a computer program from the memory 420 to implement the method in the embodiment of the present application.
  • the memory 420 may be a separate device independent of the processor 410, or may be integrated in the processor 410.
  • the chip 400 may further include an input interface 430.
  • the processor 410 can control the input interface 430 to communicate with other devices or chips, and specifically, can obtain information or data sent by other devices or chips.
  • the chip 400 may further include an output interface 440.
  • the processor 410 can control the output interface 440 to communicate with other devices or chips, and specifically, can output information or data to other devices or chips.
  • the chip can be applied to the first terminal device in the embodiment of the present application, and the chip can implement the corresponding process implemented by the first terminal device in each method of the embodiment of the present application.
  • the chip can implement the corresponding process implemented by the first terminal device in each method of the embodiment of the present application.
  • it will not be omitted here. Repeat.
  • the chip mentioned in the embodiment of the present application may also be referred to as a system-level chip, a system-on-chip, a system-on-chip, or a system-on-chip.
  • the processor of the embodiment of the present application may be an integrated circuit chip with signal processing capability.
  • the steps of the foregoing method embodiments can be completed by hardware integrated logic circuits in the processor or instructions in the form of software.
  • the above-mentioned processor may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (Field Programmable Gate Array, FPGA) or other Programming logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC application specific integrated circuit
  • FPGA Field Programmable Gate Array
  • the methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • the memory in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), and electrically available Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • the volatile memory may be a random access memory (Random Access Memory, RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • Synchronous DRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • Double Data Rate SDRAM Double Data Rate SDRAM
  • DDR SDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • Enhanced SDRAM Enhanced SDRAM, ESDRAM
  • Synchronous Link Dynamic Random Access Memory Synchronous Link Dynamic Random Access Memory
  • DR RAM Direct Rambus RAM
  • the memory in the embodiment of the present application may also be static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), Synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM), etc. That is to say, the memory in the embodiment of the present application is intended to include but not limited to these and any other suitable types of memory.
  • the embodiment of the present application also provides a computer-readable storage medium for storing computer programs.
  • the computer-readable storage medium may be applied to the first terminal device in the embodiment of the present application, and the computer program causes the computer to execute the corresponding process implemented by the first terminal device in each method of the embodiment of the present application, for It's concise, so I won't repeat it here.
  • the embodiments of the present application also provide a computer program product, including computer program instructions.
  • the computer program product can be applied to the first terminal device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding process implemented by the first terminal device in each method of the embodiment of the present application, for the sake of brevity , I won’t repeat it here.
  • the embodiment of the present application also provides a computer program.
  • the computer program can be applied to the first terminal device in the embodiment of the present application, and when the computer program runs on the computer, the computer is caused to execute the corresponding implementation of the first terminal device in each method of the embodiment of the present application.
  • the process will not be repeated here.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory,) ROM, random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé de traitement d'informations et un dispositif terminal. Le procédé comprend : l'acquisition, par un premier dispositif terminal, d'au moins l'un des paramètres suivants : l'emplacement relatif du premier terminal par rapport à un second dispositif terminal, l'angle entre un dispositif de réseau et le premier dispositif terminal, et une variance du bruit d'horloge du premier dispositif terminal (110); et la détermination, par le dispositif terminal et sur la base du ou des paramètres, de l'emplacement de l'instant du premier dispositif terminal (120). Le procédé de traitement d'informations et le dispositif terminal augmentent la précision de positionnement des véhicules dans l'Internet des véhicules.
PCT/CN2019/076774 2019-03-01 2019-03-01 Procédé de traitement d'informations et dispositif terminal Ceased WO2020177041A1 (fr)

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PCT/CN2019/076774 WO2020177041A1 (fr) 2019-03-01 2019-03-01 Procédé de traitement d'informations et dispositif terminal
CN201980081599.7A CN113196107B (zh) 2019-03-01 2019-03-01 信息处理的方法和终端设备

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