Terminal positioning method and positioning apparatusMethod of locating terminal and positioner technical field
The present invention relates to moving communicating field, and in particular to a kind of method of locating terminal and positioner.Background technology
Observe reaching time-difference（Observed Time Difference of Arrival, OTDOA) it is a kind of common location technology, its principle is, when there is three or more than three base stations in system, the position of terminal can be determined according to the reaching time-difference of different base station downstream transmission signals.This downstream transmission signals can be reference signal or synchronizing signal.Known by hyp definition, a hyperbola is constituted apart from its difference for the point of steady state value to two fixed points.In OTDOA positioning schematic diagrames as shown in Figure 1, there is base station 0, base station 1 and base station 2 in system, to base station 0 and base station 1 apart from its difference for _ constitute a hyperbola, another hyperbolas are constituted for -4 apart from its difference to base station 1 and base station 2, two hyp intersection points are the position of terminal.When the base station number present in the system is more, it is determined that terminal location it is more accurate.
The precision of OTDOA positioning is largely dependent upon the reception and the first estimation for reaching footpath of PRS signals, in real network, because the building on periphery causes the propagation of signal not to be often that straight line reaches destination end, but reflection by surrounding enviroment or scatter to up to receiving terminal, at this moment the method for carrying out location Calculation by air line distance can have error, because the time of arrival (toa) that measurement is obtained（Time of Arrival, TOA) value is not the time that straight line is reached, it it is not just the time that signal experience straight line reaches target, the distance calculated according to this can have larger error nor air line distance with this apart from direct computing terminal coordinate yet.The content of the invention
The present invention provides a kind of method of locating terminal, larger to solve prior art OTDOA technologies measurement amount error based on channel measurements of arrival time in terminal positioning, so as to cause the problem of positioning precision of location-estimation algorithm is poor.
To achieve the above object, on the one hand the embodiment of the present invention provides a kind of method of locating terminal, and methods described includes：
Receive the location measurement information of user equipment to report；
Error compensation parameter corresponding with the location measurement information is searched in error compensation data storehouse；Error compensation is carried out to the first measurement value in the location measurement information according to the error compensation parameter, to obtain the second measurement value；
According to the described second measurement value, the positional information of the user equipment is obtained.
On the other hand, the embodiment of the present invention provides a kind of terminal positioning device, and described device includes：Receiving unit, the location measurement information for receiving user equipment to report；
Searching unit, for searching error compensation parameter corresponding with the location measurement information in error compensation data storehouse；
Compensating unit, for carrying out error compensation to the first measurement value in the location measurement information according to the error compensation parameter, to obtain the second measurement value；
Processing unit, for according to the described second measurement value, obtaining the positional information of the user equipment.Another further aspect, the embodiment of the present invention provides a kind of terminal positioning device, and described device includes：Network interface；
Memory；
Processor；
Application program of the physical store in the memory, the application program includes can be used for making the processor and the system perform the instruction of procedure below：
Receive the location measurement information of user equipment to report；Error compensation parameter corresponding with the location measurement information is searched in error compensation data storehouse；Error compensation is carried out to the first measurement value in the location measurement information according to the error compensation parameter, to obtain the second measurement value；
According to the described second measurement value, the positional information of the user equipment is obtained.
The embodiment of the present invention provides a kind of method of locating terminal, this method is by way of setting up error compensation data storehouse, in the case of non line of sight, due to error that the occlusion issues such as building are caused in the location measurement information reported to user terminal, search corresponding error compensation parameter in error compensation data storehouse, corresponding error compensation is carried out in location measurement information, so as to reach the purpose for improving terminal positioning precision.Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, the required accompanying drawing used in embodiment or description of the prior art will be briefly described below, apparently, drawings in the following description are only some embodiments of the present invention, for those of ordinary skill in the art, without having to pay creative labor, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 2 is a kind of flow chart of embodiment of method of locating terminal provided in an embodiment of the present invention；Fig. 3 is the structure a kind of flow chart of embodiment in error compensation data storehouse in method of locating terminal provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the structure another embodiment in error compensation data storehouse in method of locating terminal provided in an embodiment of the present invention；
Fig. 5 is the flow chart of the structure another embodiment in error compensation data storehouse in method of locating terminal provided in an embodiment of the present invention；
Fig. 6 is the flow chart of the structure another embodiment in error compensation data storehouse in method of locating terminal provided in an embodiment of the present invention；
Fig. 7 is a kind of framework reference of cell group in method of locating terminal provided in an embodiment of the present inventionFigure；
Fig. 8 is the flow chart of the structure another embodiment in error compensation data storehouse in method of locating terminal provided in an embodiment of the present invention；
Fig. 9 is a kind of state reference map of small distinguishable region in method of locating terminal provided in an embodiment of the present invention；
A kind of structure chart of embodiment of Figure 10 terminal positioning devices provided in an embodiment of the present invention；
Figure 11 is the structure chart of another embodiment of terminal positioning device provided in an embodiment of the present invention.Embodiment
In Long Term Evolution（LTE in), OTDOA positioning is used as a kind of technology of network assistance terminal positioning.Network side location-server be base station and mobile station specify location reference signals PRS send and receive configuration after, base station down sends location reference signals（Positioning Reference Signal, PRS), mobile station receives the PRS from multiple locating base stations, and recognizes that each PRS head reaches path position, the PRS reaching time-differences between different base station can be obtained, and are reported to location-server.The signal time that location-server receives different base station by mobile station is poor, can be mapped to the distance between mobile station and different base station difference, by above-mentioned hyperbolic model mathematical computations, location-server can be obtained by the accurate location of mobile station.
System based on more than, the embodiment of the present invention provides a kind of method of locating terminal, Fig. 2 is the flow chart of method of locating terminal in the embodiment, the executive agent of the embodiment is location-server, it can be the location-server in Fig. 1, can also possess the base station eNB of this function, as seen from the figure, the method for locating terminal includes：
Step 201, the location measurement information of user equipment to report is received；
Specifically, the location measurement information that location-server can be uploaded by base station or direct receiving terminal, for example, reference signal reaching time-difference TOA etc., simultaneously the ID of the cell residing for carried terminal or the information such as the ID of base station of residing cell, so as to get residing for general user terminalRegional location.
Step 202, error compensation parameter corresponding with the location measurement information is searched in error compensation data storehouse；
Specifically, location-server is after the location measurement information that terminal is reported is learnt, the region residing for terminal can be known, and the metrical information such as the reference signal reaching time-difference that gets of terminal, the reference signal that region and/or terminal of the location-server according to residing for terminal are obtained reaches the metrical informations such as time difference, it is determined that corresponding required error compensation parameter and the lookup error compensation parameter in database.
Step 203, error compensation is carried out to the first measurement value in the location measurement information according to the error compensation parameter, to obtain the second measurement value；
Specifically, location-server increases or subtracted the error compensation parameter found in the parameter that terminal is uploaded, more accurate second measurement value is obtained, for example, is subtracted in the TOA that terminal is uploaded because building blocks the time delay of generation, obtains more accurate TOA values.
Step 204, according to the described second measurement value, the positional information of the user equipment is obtained.In step 204, location-server is according to the second measurement value after error compensation, the accurate location information according to residing for the algorithm of setting obtains user.Algorithm therein, such as according to the hyp intersection point for the range difference formation for reaching several different base stations, the method by calculating hyperbola intersection point, the position of computing terminal reaches the purpose of positioning.
The method of locating terminal provided by above-described embodiment, can be in the case of non line of sight, due to error that the occlusion issues such as building are caused in the location measurement information reported to user terminal, search corresponding error compensation parameter in error compensation data storehouse, corresponding error compensation is carried out in location measurement information, so as to reach the purpose for improving terminal positioning precision.
In the step 202 of previous embodiment, the location measurement information of the user equipment to report includes the measurement and positioning reference signal reaching time-difference TDOA between user equipment and different base station, and step 202 is specially that TDOA error compensations parameter corresponding with the reference signal reaching time-difference TDOA of the user equipment to report is searched in error compensation data storehouse.In an embodiment of the present invention, it is necessary to set up error compensation data storehouse, then as shown in figure 3, the error compensation data storehouse is set up in the following manner：
Step 301, in setting regions, the actual position information of terminal is obtained, the actual position information of multiple base stations and the terminal are sent to the actual measurement arrival time of the location reference signals of each base station；Setting regions in this step, can be suburb and city, the administrative area in city in the case of rough, in the case of fine, can be the cell of different base station covering, the region that several base stations when three sectors of each cell and terminal positioning are covered etc.；
In the region of setting, actual measurement can be passed through, the modes such as GPS, obtain the actual position information of terminal, and carry out actual measurement in the particular location residing for terminal and obtain each base station of location reference signals arrival that terminal is sent, and by after each base station, the positioning returned after being handled in each base station reaches the time difference of the terminal with reference to auxiliary signal.
Step 302, according to the actual position information of the terminal, the actual position information of each base station, the actual measurement arrival time that terminal is sent to the location reference signals of each base station is obtained；
In the step 302, the actual position information of the actual position information of foundation terminal and the base station of reference obtains the actual measurement arrival time that terminal is sent to the location reference signals of some base station, if the coordinate residing for terminal is（xUE,yUE), the coordinate of some base station is（xeNB, yeNB) for example pass through formula below：
=XUE _XeNB ) + (3½ _ yeNB Q is light velocity step 303 in) standing, and obtains the difference between the preferable arrival time between terminal and each base station and the terminal actual measurement arrival time, sets up error compensation data storehouse.
Specifically, after preferable TOA is got, the difference of the actual measured value reported with terminal, you can as TOA errors, error compensation data storehouse is set up by these errors.
Difference between several preferable arrival times obtained between terminal and each base station introduced below and the terminal actual measurement arrival time, sets up the concrete mode in error compensation data storehouse, in a kind of embodiment shown in Fig. 4：First, the average of the difference between the preferable arrival time between each base station in the terminal and the setting regions and the terminal actual measurement arrival time is obtained, the global error offset of the setting regions is used as；
Afterwards, according to the global error offset in different set region, error compensation data storehouse is set up.Step 401, the actual position information of terminal is obtained；
For example, the position coordinates of terminal（XuE,yUE), certainly, terminal herein can be the terminals such as the mobile phone, tablet personal computer or HPC of different systems, and obtain the mode of those terminal locations, can be by drive test or by modes such as satellite fixes.
Step 402, the positional information of the base station of setting regions, and location reference signals metrical information are obtained；Wherein, the positional information of base station is " XeNB 1, YeNB 1), (XeNB2, ye), NB2 .., (β Ν Β η, Υ β Ν Β η)), location reference signals measurement metrical information is（ ( RTThRxTxi ) , ( RTT2,RxTx2) (RTTn,RxTxn) ).RTT is Loop Round Trip Time, and RxTx is the time difference that base station handles reference signal.
Step 403, ideal TOA and measurement TOA are obtained;
Specifically, according to formula（1) preferable TOA, that is, the TOA that air line distance is produced between base station and terminal are calculated;Preferable τ ο Α=^υΕ _χ )2 +0½ -yemF wherein,cFor the light velocity.According to formula（2) measurement TOA is calculated, that is, actually measured TOA actual measurements TOA=RTT~RxTx (2)
2
RxTx represents the transmitting-receiving time difference of base station, TOA by Loop Round Trip Time and RxTx difference again divided by
2 obtain.
Step 404, TOA error amounts are obtained；
Specifically, calculating TOA error according to formula (3).
TOA error=ideal TOA-actual measurement TOA (3)By step 401-404, the TOA error (i) of all drive test sampled points can be obtained, statistics is used as.
Step 405:The TOA error means of whole sampled points are obtained, global error offset is obtained, sets up global error compensation database.
Specifically, global error offset u passes through following formula（4) calculate and get.
n (4)
Wherein, n represents the points of the sampling in the region of setting.
In actual location, terminal reports TOA metrical informations to base station, location-server can know which setting regions is terminal be now in, afterwards, the database being had been built up according to us, the global TOA offsets of the corresponding setting regions of present terminal are taken out, global compensation is carried out to TOA（For example, being subtracted or plus a formula on the basis of original measurement TOA（4) u obtained), TOA after compensation is returned, the position of terminal is estimated further according to the location algorithm based on TOA after input offset.
The difference between the preferable arrival time and the terminal actual measurement arrival time between another acquisition terminal shown in Fig. 5 and each base station, sets up in error compensation data storehouse, specifically includes：Step 501, the actual position information of terminal is obtained；
Specifically, the actual position information of terminal in addition to coordinate, includes the cell ID of cell residing for terminal, that is, the cell that some base station is covered in this step（cell ) .
Step 502:Obtain the positional information of multiple base stations, and location reference signals metrical information；Wherein, the positional information of base station is in certain region（ ( XeNB 1 jYeNB 1 ) , ( XeNB2 ΥβΝΒ2 ) , · · · , ( XeNBn, yeNBn)), location reference signals measurement metrical information is（（ ) ,
( RTT2,RxTx2) ,· .., ( RTTn,RxTxn ) ).RTT is Loop Round Trip Time, and RxTx is the time difference that base station handles reference signal.
Step 503, ideal TOA and measurement TOA are obtained;
Specifically, according to formula（1) preferable TOA, that is, straight line between base station and terminal are calculatedThe TOA that distance is produced;Preferable TOA=UE X;(yuE )2(1), wherein, C is the light velocity.According to formula（2) measurement Τ Ο Α, that is, actually measured TOA are calculated
Actual measurement τ ο Α=RTT -RxTx (2)
2
RxTx represents the transmitting-receiving time difference of base station, TOA by Loop Round Trip Time and RxTx difference again divided by
2 obtain.
Step 504, TOA error amounts are obtained；
Specifically, according to formula（3) TOA error are calculated
TOA error=ideal TOA-actual measurement TOA (3)
By step 501-504, the TOA error (i) of all drive test sampled points can be obtained, statistics is used as.
Step 505, the TOA error amounts of whole sampled points are obtained；
Step 506, on the basis of cell ID, the TOA error average values of different districts are counted respectively；Specifically, minor family plot error offset u passes through following formula（4) calculate and get.
^ TOAerrort
"-I, wherein, n represents the points of the sampling in a cell.Step 507, according to the corresponding minor family plot error offset in different districts, error compensation data storehouse is set up.Specifically, the form in error compensation data storehouse refers to table 1, each different cell, a kind of error compensation value of correspondence.
Table 1In actual location, terminal reports TOA metrical informations to base station, and location-server can know which cell cell is terminals be now in, afterwards, the database being had been built up according to us, takes out the cell TOA offsets of present terminal respective cell, and error compensation is carried out to TOA（For example, being subtracted or plus a formula on the basis of original measurement TOA（4) u obtained), return to TOA after compensation.
Generally, in the embodiment, location-server is the average that the difference that different districts corresponded between the preferable arrival time of the terminal and the terminal actual measurement arrival time is obtained on the basis of cell ID, is used as the minor family plot error offset of the cell；
Afterwards, according to the minor family plot error offset of different districts in the setting regions, the error compensation data storehouse is set up.
In another embodiment shown in Fig. 6, the difference between the preferable arrival time between terminal and each base station and the terminal actual measurement arrival time is obtained, setting up error compensation data storehouse includes：
Step 601, the actual position information of terminal is obtained；
Specifically, the actual position information of terminal in addition to coordinate, includes the cell ID of cell residing for terminal, that is, the cell that some base station is covered in this step（cell) .
Step 602:Obtain the positional information of multiple base stations, and location reference signals metrical information；Wherein, the positional information of base station is in certain region（（ XeNB YeNBl ), ( XeNB2,ye...), NB2 (XeNBn, yeNBn)), location reference signals measurement metrical information is（（ ) ,
( RTT2,RxTx2) ,·.., ( RTTn,RxTxn ) ).RTT is Loop Round Trip Time, and RxTx is the time difference that base station handles reference signal.
Step 603, ideal TOA and measurement TOA are obtained;
Specifically, according to formula（1) preferable TOA, that is, the TOA that air line distance is produced between base station and terminal are calculated;Preferable τ ο Α=υΕ _ + ½ -yemWherein, c is the light velocity.According to formula（2) measurement TOA, that is, actually measured TOA are calculatedActual measurement TOA=K1 1 (2)
2
RxTx represents the transmitting-receiving time difference of base station, TOA by Loop Round Trip Time and RxTx difference again divided by
2 obtain.
Step 604, TOA error amounts are obtained；
Specifically, calculating TOA error according to formula (3).
TOA error=ideal TOA-actual measurement TOA (3)
By step 601-604, the TOA error (i) of all drive test sampled points can be obtained, statistics is used as.
Step 605, the TOA error amounts of whole sampled points are obtained；
Step 606, according to cell ID, the TOA error average values that different combinations count each cell in different grouping respectively are divided into small；
Wherein, for example, the combination of cell with three be one group, participate in positioning cell number be three or more than three.
Specifically, minor family plot error offset u passes through following formula（4) calculate and get.
u
(4), wherein, n represents the points of the sampling of a cell in different grouping.
When step 607, according to participating in positioning, the combination of cell is matched with the cell combination built in database；
Specifically, cell group state refers to Fig. 7, in positioning, and different terminals can choose different base stations as the object for sending location reference signals, at this point it is possible to by different cell groups.For example, during usual terminal positioning, to refer to the location reference signals of three different base stations, just the cell using this three base stations coverings is used as one group.
Step 608, the error mean of each cell in each combination is counted, to obtain cell group error compensation value.Afterwards, database is built according to the form of table 2, obtains error compensation value { the gr up based on cell groupx (uu , un , uu), group2 (w21 , "22 , "23) ... groupn {unX , un2 , un3)}
Table 2
In actual location, terminal reports TOA metrical informations to base station, location-server can know which cell cell is terminals be now in, afterwards, the database being had been built up according to us, the cell group error compensation value of present terminal respective cell is taken out, error compensation is carried out to TOA（For example, being subtracted or plus a formula on the basis of original measurement TOA（4) u obtained), return to TOA after compensation.
Generally, in this embodiment, on the basis of the cell group referred to when location-server is by terminal progress terminal positioning, the cell for obtaining different grouping corresponds to the preferable arrival time and the actual average for measuring the difference between arrival time of the terminal of the terminal, is used as cell group error compensation value；
According to the cell group error compensation value of different grouping in the setting regions, the error compensation data storehouse is set up.
In another embodiment shown in Fig. 8, the difference between the preferable arrival time between terminal and each base station and the terminal actual measurement arrival time is obtained, setting up error compensation data storehouse includes：
Step 801, the actual position information of terminal is obtained；
Specifically, the actual position information of terminal in addition to coordinate, includes the cell ID of cell residing for terminal, that is, the cell that some base station is covered in this step（cell ) .
Step 802:Obtain the positional information of multiple base stations, and location reference signals metrical information；
12
26 Wherein, the positional information of base station is in certain region（ ( XeNB 1 jYeNB 1 ) , ( XeNB2 Υ β Ν Β 2), (XeNBn, yeNBn)), location reference signals measurement metrical information is（（ ) ,
( RTT2,RxTx2) ,·.., ( RTTn,RxTxn ) ).RTT is Loop Round Trip Time, and RxTx is the time difference that base station handles reference signal.
Step 803, ideal TOA and measurement TOA are obtained;
Specifically, according to formula（1) preferable TOA, that is, the TOA that air line distance is produced between base station and terminal are calculated;Preferable TOA=^UE _χ )2 + 0½ -yemF wherein,cFor the light velocity.According to formula（2) measurement TOA, that is, actually measured TOA are calculated
Survey (2)
RxTx represents the transmitting-receiving time difference of base station, TOA by Loop Round Trip Time and RxTx difference again divided by
2 obtain.
Step 804, TOA error amounts are obtained；
Specifically, calculating TOA error according to formula (3).
TOA error=ideal TOA-actual measurement TOA (3)
By step 801-803, the TOA error (i) of all drive test sampled points can be obtained, statistics is used as.
Step 805, the TOA error amounts of whole sampled points are obtained；
Step 806, it is defined by the cell ID residing for terminal, the TOA error average values of different zones is counted respectively；
Wherein, the different zones in cell, can combine the traffic informations such as actual landform to cell zoning.
Specifically, the error compensation value u of different zones passes through following formula（4) calculate and get.
N (4), wherein, n represents the points of the sampling in a region.
Specifically, zone state refers to Fig. 7, when terminal is in different regions, there are different errors, therefore there are different error compensation values.
Step 807, the error mean in each region is counted, to obtain subregion error compensation value.
In actual location, terminal reports TOA metrical informations to base station, location-server can know that terminal is now in which of which cell cell region, afterwards, the database being had been built up according to us, the corresponding subregion error compensation value of present terminal is taken out, error compensation is carried out to TOA（For example, being subtracted or plus a formula on the basis of original measurement TOA（4) u obtained), TOA after compensation is returned to, the subregion state residing for cell refers to Fig. 9.
Generally, in this embodiment, on the basis of different zones residing for being referred to when location-server is by terminal progress terminal positioning, corresponding to the average of the difference between the preferable arrival time of the terminal and the terminal actual measurement arrival time when obtaining terminal in different zones, subregion error compensation value is used as；
According to the domain error offset, the error compensation data storehouse is set up.
Accordingly, as shown in Figure 10, the embodiment of the present invention provides a kind of terminal positioning device, and the terminal positioning device can be location-server, or possess the base station of terminal positioning function, and described device includes：Receiving unit 1001, the location measurement information for receiving user equipment to report；
Searching unit 1002, for searching error compensation parameter corresponding with the location measurement information in error compensation data storehouse；
Compensating unit 1003, for carrying out error compensation to the first measurement value in the location measurement information according to the error compensation parameter, to obtain the second measurement value；
Processing unit 1004, for according to the described second measurement value, obtaining the positional information of the user equipment.
Accordingly, as shown in figure 11, the embodiment of the present invention provides a kind of terminal positioning device, the terminalPositioner can be location-server, or possess the base station of terminal positioning function, and Figure 11 is the schematic diagram of management control system of the embodiment of the present invention, as illustrated, the present embodiment includes network interface 61, processor 62 and memory 63.System bus 64 is used to connect network interface 61, processor 62 and memory 63.
Network interface 61 is used for and terminal or base station communication.
Memory 63 can have software module and device driver in permanent memory, such as hard disk drive and flash memory, memory 63.Software module is able to carry out the various functions module of the above method of the present invention；Device driver can be network and interface drive program.
On startup, these component softwares are loaded into memory 63, are then accessed and are performed by processor 62 and such as give an order：
Receive the location measurement information of user equipment to report；
Error compensation parameter corresponding with the location measurement information is searched in error compensation data storehouse；Error compensation is carried out to the first measurement value in the location measurement information according to the error compensation parameter, to obtain the second measurement value；
According to the described second measurement value, the positional information of the user equipment is obtained.
Professional should further appreciate that, the unit and algorithm steps of each example described with reference to the embodiments described herein, it can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate the interchangeability of hardware and software, the composition and step of each example are generally described according to function in the above description.These functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel can realize described function to each specific application using distinct methods, but this realization is it is not considered that beyond the scope of this invention.
The step of method or algorithm for being described with reference to the embodiments described herein, can be implemented with hardware, the software module of computing device, or the combination of the two.Software module can be placed in random access memory (RAM), internal memory, read-only storage（ROM), electrically programmable ROM, electrically erasableIn ROM, register, hard disk, moveable magnetic disc, any other form of storage medium well known in CD-ROM, or technical field.
Above-described embodiment; the purpose of the present invention, technical scheme and beneficial effect are further described; it should be understood that; it the foregoing is only the embodiment of the present invention; the protection domain being not intended to limit the present invention; within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., should be included in the scope of the protection.