Granted Patent B2

US 12,557,061 · App. 17/925,325 · Granted Feb 17, 2026

Inventors: Zhenyu Zhang (Beijing, CN); Bin Ren (Beijing, CN); Ren Da (Beijing, CN); Gang Li (Beijing, CN); Rongyi Fang (Beijing, CN); Shaohui Sun (Beijing, CN)

Assignee: DATANG MOBILE COMMUNICATIONS EQUIPMENT CO., LTD.

H04W64/00G01S5/0036G01S5/10

Abstract

Claims (31)

1 . A positioning method, comprising:

determining an integer ambiguity according to a positioning measurement value provided by a receiving end of a positioning reference signal, wherein the positioning measurement value comprises a virtual phase measurement value constructed by the receiving end via utilizing a carrier phase measurement value, the carrier phase measurement value is obtained by measuring Carrier Phase Positioning Reference Signals (C-PRSs) by the receiving end, and the positioning reference signal comprises C-PRSs sent by a sending end of the positioning reference signal via at least two carrier frequencies; and

determining a terminal position according to the integer ambiguity.

2 . The method according to claim 1 , wherein determining the integer ambiguity according to the positioning measurement value provided by the receiving end of the positioning reference signal comprises:

determining a first integer ambiguity according to the virtual phase measurement value and a Time of Arrival (TOA) measurement value;

determining a second integer ambiguity by calculating the first integer ambiguity utilizing an Extended Kalman Filter (EKF), and determining a third integer ambiguity based on the second integer ambiguity.

3 . The method according to claim 2 , wherein for an m-th base station, a target terminal i and a reference terminal j, when the sending end of the positioning reference signal sends a first C-PRS via a first carrier frequency and sends a second C-PRS via a second carrier frequency, the first integer ambiguity N v,m ij is determined by a formula as follow:

N v,m ij =(λ v P v,m ij −T m ij )/λ v +( w T,m ij −w v,m ij )/λ v

wherein λ v −1 =λ 1 −1 −λ 2 −1 , λ 1 represents a carrier wavelength of the first C-PRS, λ 2 represents a carrier wavelength of the second C-PRS, wherein P v,m ij =P 1,m ij −P 2,m ij ,P 1,m ij represents a phase single-difference measurement value in the unit of a cycle of the first carrier frequency, P 2,m ij represents a phase single-difference measurement value in the unit of a cycle of the second carrier frequency, T m ij represents a single-difference TOA measurement value in the unit of meters, w T,m ij represents a single-difference TOA measurement error, and wherein w v,m ij =(λ 2 w 1,m ij −λ 1 w 2,m ij )/(λ 2 −λ 1 ), w 1,m ij and w 2,m ij represent single-difference phase measurement errors of a first carrier and a second carrier, respectively.

4 . The method according to claim 3 , wherein the determining a second integer ambiguity by calculating the first integer ambiguity utilizing the EKF, comprises:

determining a second integer ambiguity N v,1,ekf ij , . . . , N v,m,ekf ij by inputting parameters N v,1 ij , . . . , N v,m ij , P v,1 ij , . . . , P v,m ij , λ v , T 1 ij , . . . , T m ij into the EKF, wherein N v,m,ekf ij is a second integer ambiguity of a carrier for the m-th base station.

5 . The method according to claim 4 , wherein a third integer ambiguity N 1,m ij of a first carrier and a third integer ambiguity N 2,m ij of a second carrier for the m-th base station are determined by following formulas:

N 1,m ij =(λ 1 P 1,m ij −λ v P v,m ij +λ v N v,m,ekf ij )/λ 1 +( w v,m ij −w 1,m ij )/λ 1 ,

N 2,m ij =(λ 2 P 2,m ij −λ v P v,m ij +λ v N v,m,ekf ij )/λ 2 +( w v,m ij −w 2,m ij )/λ 2 .

6 . The method according to claim 2 , wherein determining a terminal position according to the integer ambiguity comprises: determining the terminal position according to the third integer ambiguity.

7 . A positioning device, comprising:

a memory, configured to store program instructions;

a processor, configured to call the program instructions stored in the memory, and to execute the method of claim 1 .

8 . The device according to claim 7 , wherein the processor is configured to:

determine a first integer ambiguity according to the virtual phase measurement value and a Time of Arrival (TOA) measurement value;

determine a second integer ambiguity by calculating the first integer ambiguity utilizing an Extended Kalman Filter (EKF), and; determine a third integer ambiguity based on the second integer ambiguity.

9 . The device according to claim 8 , wherein for an m-th base station, a target terminal i and a reference terminal j, when the sending end of the positioning reference signal sends a first C-PRS via a first carrier frequency and sends a second C-PRS via a second carrier frequency, the processor determines the first integer ambiguity N v,m ij by a formula as follow:

N v,m ij =(λ v P v,m ij −T m ij )/λ v +( w T,m ij −w v,m ij )/λ v

wherein λ v −1 =λ 1 −1 −λ 2 −1 , λ 1 represents a carrier wavelength of the first C-PRS, λ 2 represents a carrier wavelength of the second C-PRS; wherein P v,m ij =P 1,m ij −P 2,m ij , P 1,m ij represents a phase single-difference measurement value in the unit of a cycle of the first carrier frequency, P 2,m ij represents a phase single-difference measurement value in the unit of a cycle of the second carrier frequency, T m ij represents a single-difference TOA measurement value in the unit of meters, w T,m ij represents a single-difference TOA measurement error, wherein w v,m ij =(λ 2 w 1,m ij −λ 1 w 2,m ij )/(λ 2 −λ 1 ), w 1,m ij and w 2,m ij are single-difference phase measurement errors of a first carrier and a second carrier, respectively.

10 . The device according to claim 9 , wherein the processor is configured to:

determine a second integer ambiguity N v,1,ekf ij , . . . , N v,m,ekf ij by inputting parameters N v,1 ij , . . . , N v,m ij , P v,1 ij , . . . , P v,m ij , λ v , T 1 ij , . . . , T m ij into the EKF, wherein N v,m,ekf ij is a second integer ambiguity of a carrier for the m-th base station.

11 . The device according to claim 10 , the processor is configured to determine a third integer ambiguity N 1,m ij of a first carrier and a third integer ambiguity N 2,m ij of a second carrier for the m-th base station by the following formulas:

N 1,m ij =(λ 1 P 1,m ij −λ v P v,m ij +λ v N v,m,ekf ij )/λ 1 +( w v,m ij −w 1,m ij )/λ 1 ,

N 2,m ij =(λ 2 P 2,m ij −λ v P v,m ij +λ v N v,m,ekf ij )/λ 2 +( w v,m ij −w 2,m ij )/λ 2 .

12 . The device according to claim 8 , the processor is configured to determine the terminal position according to the third integer ambiguity.

13 . A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer executable instructions that are configured to cause a computer to perform the method according to claim 1 .

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (14)