Locate the target device

Abstract

Embodiments of the present disclosure relate to positioning a target device. According to embodiments of the present disclosure, the position of the target device is measured by two anchor devices. The distance between the target device at a certain position and the anchor device is measured, and the distance between the target device at another position and the anchor device is also measured. The position of the target device is estimated based on these distances. In this way, fewer anchor devices are used to perform positioning.

Description

Technical Field

[0001] Embodiments of the present disclosure relate generally to communication technology, and more particularly to methods, devices, and computer-readable media for locating a target device. Background Art

[0002] Location information is intended as knowledge about the location of a specific node (i.e., source location). This information can be obtained by estimation techniques generally referred to as positioning. Positioning or locating is a very broad and important topic throughout history. Today, location awareness has become a key technology in wireless systems for the development of future mobile networks, ad hoc networks, and sensor networks. More and more location-based services are emerging at an increasingly rapid pace. In a nutshell, location information will be ubiquitous in our daily work and life in the future. The requirements for positioning are huge. Summary of the invention

[0003] Generally speaking, embodiments of the present disclosure relate to a method for locating a target device and a corresponding device.

[0004] In a first aspect, an embodiment of the present disclosure provides a target device. The target device includes: at least one processor; and at least one memory including computer program code. The at least one memory and the computer code are configured to, together with the at least one processor, enable the target device to obtain a first distance between the target device at a first position and a first anchor device at a second position, and a second distance between the target device at the first position and a second anchor device at a third position. The target device is also caused to obtain a third distance between the target device at a fourth position and the first anchor device at the second position, and a fourth distance between the target device at the fourth position and the second anchor device at the third position. The terminal device is also caused to determine the angle between the first line connecting the first position and the fourth position and the second line connecting the second position and the third position. The terminal device is caused to obtain the first coordinate of the first position and the second coordinate of the fourth position relative to the first anchor device and the second anchor device based at least in part on the first distance, the second distance, the third distance, the fourth distance, and the angle.

[0005] In a second aspect, an embodiment of the present disclosure provides a method. The method includes obtaining, at a target device, a first distance between a target device at a first position and a first anchor device at a second position, and a second distance between the target device at the first position and a second anchor device at a third position. The method also includes obtaining a third distance between a target device at a fourth position and the first anchor device at the second position, and a fourth distance between a target device at the fourth position and the second anchor device at the third position. The method also includes determining an angle associated with the first position, the second position, the third position, and the fourth position. The method also includes obtaining a first coordinate of the first position and a second coordinate of the fourth position relative to the first anchor device and the second anchor device based at least in part on the first distance, the second distance, the third distance, the fourth distance, and the angle.

[0006] In a third aspect, an embodiment of the present disclosure provides a computer-readable medium having instructions stored thereon, which, when executed by at least one processing unit of a machine, causes the machine to implement the method according to the second aspect of the present disclosure.

[0007] In a fourth aspect, an embodiment of the present disclosure provides a communication device. The device includes a component for obtaining, at the target device, a first distance between a target device at a first position and a first anchor device at a second position, and a second distance between the target device at the first position and a second anchor device at a third position. The device also includes a component for obtaining a third distance between a target device at a fourth position and the first anchor device at the second position, and a fourth distance between a target device at the fourth position and the second anchor device at the third position. The device also includes a component for determining an angle associated with the first position, the second position, the third position, and the fourth position. The device also includes a component for obtaining a first coordinate of the first position and a second coordinate of the fourth position relative to the first anchor device and the second anchor device based at least in part on the first distance, the second distance, the third distance, the fourth distance, and the angle.

[0008] Other features and advantages of the embodiments of the present disclosure will also be apparent from the following description of specific embodiments when read in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Some example embodiments will now be described with reference to the accompanying drawings, in which

[0010] Figure 1 A schematic diagram showing a communication system according to conventional technology is shown;

[0011] Figure 2 A schematic diagram of a communication system according to an embodiment of the present disclosure is shown;

[0012] Figure 3 A flow chart of a method for communication implemented at a target device according to an embodiment of the present disclosure is shown;

[0013] Figure 4 A schematic diagram showing a positioning method according to an embodiment of the present disclosure is shown;

[0014] Figure 5 A schematic diagram showing a positioning method according to an embodiment of the present disclosure is shown;

[0015] Figure 6 is a schematic diagram illustrating interactions between devices according to an example embodiment of the present disclosure;

[0016] Figure 7 is a schematic diagram illustrating interactions between devices according to an example embodiment of the present disclosure;

[0017] Figure 8 is a schematic diagram illustrating interactions between devices according to an example embodiment of the present disclosure;

[0018] Fig. 9 shows a simplified block diagram of an apparatus suitable for implementing an embodiment of the present disclosure; and

[0019] Fig.10 A block diagram of an example computer-readable medium is shown according to some example embodiments of the present disclosure.

[0020] Throughout the drawings, the same or similar reference numerals refer to the same or similar elements. DETAILED DESCRIPTION

[0021] The subject matter described herein will now be discussed with reference to several example embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the subject matter described herein, rather than implying any limitation on the scope of the subject matter.

[0022] The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the example embodiments. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes", and / or "including" when used herein specify the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof.

[0023] It should also be noted that in some alternative implementations, the functions / actions noted may not occur in the order noted in the figures. For example, depending on the functions / actions involved, two functions or actions shown in succession may actually be performed simultaneously, or may sometimes be performed in the reverse order.

[0024] As used herein, the term "communication network" refers to a network that complies with any suitable communication standard, such as Long Term Evolution (LTE), Advanced LTE (LTE-A), Wideband Code Division Multiple Access (WCDMA), High Speed ​​Packet Access (HSPA), Narrowband Internet of Things (NB-IoT), etc. In addition, the communication between the terminal devices and the network devices in the communication network can be performed according to any suitable generation of communication protocols, including but not limited to first generation (1G), second generation (2G), 2.5G, 2.75G, third generation (3G), fourth generation (4G), 4.5G, future fifth generation (5G) communication protocols, and / or any other protocols currently known or developed in the future.

[0025] The embodiments of the present disclosure can be applied to various communication systems. In view of the rapid development of communication, there will certainly be future types of communication technologies and systems that can implement the present disclosure. It should not be considered that the scope of the present disclosure is limited to the above-mentioned systems.

[0026] The term "network equipment" includes, but is not limited to, base stations (BS), gateways, management entities, and other suitable equipment in a communication system. The term "base station" or "BS" means a Node B (NodeB or NB), an evolved Node B (eNodeB or eNB), a remote radio unit (RRU), a radio head (RH), a remote radio head (RRH), a relay, a low power node (such as a femto, a pico), a relay node (e.g., an unmanned aerial vehicle / drone (UAV)), etc.

[0027] The term "terminal device" includes, but is not limited to, "user equipment (UE)" and other suitable terminal devices capable of communicating with network devices. For example, "terminal device" may refer to a terminal, a mobile terminal (MT), a subscriber station (SS), a portable subscriber station, a mobile station (MS), or an access terminal (AT).

[0028] The term "circuitry" as used herein may refer to one or more or all of the following:

[0029] (a) a pure hardware circuit implementation (such as an implementation using only analog and / or digital circuitry), and

[0030] (b) a combination of hardware circuitry and software such as (where applicable):

[0031] (i) a combination of analog hardware circuits and / or digital hardware circuits and software / firmware, and

[0032] (ii) any portion of a hardware processor (including a digital signal processor) with software, software and memory that work together to cause a device (such as a mobile phone or server) to perform various functions, and

[0033] (c) Hardware circuits and / or processors, such as a microprocessor or portion of a microprocessor, that require software (e.g., firmware) to operate, but the software may not be present when the software is not required for operation.

[0034] This definition of circuitry applies to all uses of the term in this application, including in any claims. As another example, as used in this application, the term circuitry also covers an implementation of only a hardware circuit or processor (or multiple processors) or a portion of a hardware circuit or processor and its (or their) accompanying software and / or firmware. For example, if applicable to a particular claim element, the term circuitry also covers a baseband integrated circuit or processor integrated circuit for a mobile device, or a similar integrated circuit in a server, cellular network device, or other computing device or network device.

[0035] In a positioning system via wireless communication, there may be two types of devices, anchors and targets. The term "anchor device" refers to a device with a fixed known location. The term "target device" refers to a device whose location is to be determined. An anchor device can be a base station in a cellular network or an access point in a local area network, or in some application scenarios, a node located via a global positioning system (GPS). A target device can be any other device, such as a laptop, tablet, mobile phone, tag, etc. The goal of a positioning algorithm is to estimate the unknown location of a target device.

[0036] Based on the type of information, different positioning techniques can be designed. Among the conventional techniques, three main categories can be identified: fingerprinting methods based on the channel impulse response, angle-based methods (angle of arrival (AoA)), and distance-based methods based on received signal strength index (RSSI), time of arrival (ToA) and time difference of arrival (TDoA). Among these categories, distance-based positioning is probably the most interesting method due to its potential high accuracy, applicability to different radio technologies and ease of implementation.

[0037] In distance-based positioning, the simplest system is one in which the information is a direct measure of the distance (ranging) between an anchor device and a target device. Range positioning algorithms rely on trilateration.

[0038] In the trilateration method, at least three anchor devices are required for positioning because the position of the target device has three variables (coordinates x, y, z). Figure 1 FIG. 2 shows a schematic diagram of a communication system according to conventional technology. Figure 1 As shown, in order to estimate the position of the target device 110, several anchor devices (eg, anchor devices 120-1, 120-2, 120-3, and 120-4) may be used to perform positioning.

[0039] Although more anchor devices may help to more accurately locate the target device, it may not be easy to find three or more appropriate anchor devices that wirelessly communicate with the target device in the real world. Even if AoA is used for positioning, three or more anchor devices are still required to locate the target device in three-dimensional (3D) space. When angle triangulation (angle measurement) is used, two base stations are sufficient. Angle utilizes AoA measurement provided by dedicated antennas installed at reference points. AOA is the angle between the arriving signal and the fixed reference direction. In addition, AOA requires anchor devices to measure the angle between the arriving signal and the fixed reference direction. It only works properly when the signal measured by the anchor device is in the same direction as the line of sight between the anchor device and the target device. It is difficult to be accurate and there may be large errors when the signal has multipath transmission or there is signal reflection and diffusion. Unfortunately, multipath, signal reflection and diffusion are common in wireless communication systems.

[0040] Figure 2 Schematic diagram of a communication system in which embodiments of the present disclosure may be implemented is shown. The communication system 200 as part of a communication network includes target devices 210-1, 210-2, ..., and 210-N, which may be collectively referred to as "target devices" 210. The number N may be any suitable integer. The communication system 200 also includes anchor devices 220-1 and 220-2. It should be noted that Figure 1 The number of target devices and the number of anchor devices shown are given for illustrative purposes and do not imply any limitation. Communication system 200 may include any suitable number of anchor devices and target devices. It should be noted that communication system 200 may also include other elements, such as device 230, which are omitted for clarity. Anchor device 220 may communicate with target device 210.

[0041] The communication in the communication system 200 may be implemented according to any appropriate communication protocol, including but not limited to first generation (1G), second generation (2G), third generation (3G), fourth generation (4G) and fifth generation (5G) cellular communication protocols, wireless fidelity (wifi), Bluetooth, ultrasound, infrared, UWB, sonar, etc., wireless local area network communication protocols such as Institute of Electrical and Electronics Engineers (IEEE) 802.11, and / or any other protocol currently known or developed in the future. In addition, the communication may utilize any appropriate wireless communication technology, including but not limited to: code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), frequency division duplexer (FDD), time division duplexer (TDD), multiple input multiple output (MIMO), orthogonal frequency division multiple access (OFDMA) and / or any other technology currently known or developed in the future.

[0042] According to an embodiment of the present disclosure, the position of the target device is measured by two anchor devices. The distance between the target device at a certain position and the anchor device is measured, and the distance between the target device at another position and the anchor device is also measured. The position of the target device is estimated based on the distance. In this way, fewer anchor devices are used to perform positioning.

[0043] Figure 3 A flow chart of a method 300 according to an embodiment of the present disclosure is shown. For illustration purposes only, the method 300 may be described as being implemented at the target device 210-1. Figure 4 and Figure 5 FIG. 1 is a schematic diagram showing a positioning method according to an embodiment of the present disclosure. Figures 3 to 5 Give a description.

[0044] In block 310, the target device 210-1 obtains a first distance (R) between the target device 210-1 at the first position 410 and the first anchor device 220-1 at the second position 420. AS1 The target device 210-1 also obtains a second distance (R ) between the target device 210-1 at the first position 410 and the second anchor device 220-2 at the third position 430. AS2 ). The second position 420 and the third position 430 are known.

[0045] In some embodiments, the first distance may be measured by the first anchor device 220-1 or the target device 210-1. The second distance may be measured by the second anchor device 220-2 or the target device 210-1. For example, the target device 210-1 may send a request to the first anchor device 220-1 for measuring the first distance. The target device 210-1 may receive information indicating the first distance from the first anchor device 220-1. In an example embodiment, the first distance and / or the second distance may be measured via wireless transmission (e.g., time of flight). It should be noted that the first distance and the second distance may be measured by any suitable method.

[0046] In block 320, the target device 210-1 obtains a third distance (R) between the target device 210-1 at the fourth position 440 and the first anchor device 220-1 at the second position 420. BS1 The target device 210-1 also obtains a fourth distance (R ) between the target device 210-1 at the fourth position 440 and the second anchor device 220-2 at the third position 430. BS2 ).

[0047] In some embodiments, the third distance may be measured by the first anchor device 220-1 or the target device 210. The fourth distance may be measured by the second anchor device 220-2 or the target device 210. In an example embodiment, the third distance and / or the fourth distance may be measured via wireless transmission (e.g., time of flight). It should be noted that the first distance and the second distance may be measured in any suitable manner.

[0048] In some embodiments, the target device 210-1 may move to a fifth position 450. The target device 210-1 may acquire a fifth distance between the target device 210-1 at the fifth position 450 and the first anchor device 220-1 at the second position 420. The target device 210-1 may also acquire a sixth distance between the target device 210-1 at the fifth position 450 and the second anchor device 220-2 at the third position 430.

[0049] In some embodiments, the target device 210-1 can continue its movement and continue the same measurement and calculation process. The target device 210-1 can move to any suitable number of locations to obtain coordinates. For example, the target device 210-1 can obtain one or more distances between the target device 210-1 at one or more additional locations and the first anchor device 220-1 at the second location 420, and one or more additional distances between the target device 210-1 at one or more additional locations and the second anchor device 220-2 at the third location 430. The target device 210-1 can obtain the first coordinate, the second coordinate, and the one or more coordinates corresponding to the one or more locations based at least in part on the first distance, the second distance, the third distance, the fourth distance, the one or more distances, and the one or more additional distances.

[0050] At block 330, the target device 210-1 determines an angle 4010 associated with the first position 410, the second position 420, the third position 430, and the fourth position 440. In some embodiments, the target device 210-1 may measure multiple angles in space associated with the first position 410 and the third position 430. The target device 210-1 may determine multiple angles based on its capabilities. For example, if the target device 210-1 may have a gyroscope, the target device 210-1 may determine multiple angles using the gyroscope. In other embodiments, if the target device 210-1 may have an accelerometer, the target device 210-1 may determine multiple angles using the accelerometer. Alternatively or additionally, if the target device 210-1 has a G sensor, the target device 210-1 may determine multiple angles using the G sensor. It should be noted that multiple angles may be acquired using any suitable method. In some embodiments, the target device 210 - 1 may send information of the angle 4010 to other devices (eg, the anchor devices 220 - 1 and 220 - 2 or the device 230 ).

[0051] like Figure 5 As shown, target device 210-1 may determine angles 5010, 5020, and 5030. Angle 5010 may be an angle between a line connecting first position 410 and fourth position 440 and plane YZ. Angle 5020 may be an angle between a line connecting first position 410 and fourth position 440 and plane XZ. Angle 5030 may be an angle between a line connecting first position 410 and fourth position 440 and plane XY.

[0052] Target device 210-1 may determine angle 4010 based on angles 5010, 5020, and 5030. Angle 4010 may be an angle between a line connecting first position 410 and fourth position 440 and a line connecting second position 420 and third position 430. In some embodiments, angle 4010 may be obtained by the following formula:

[0053]

[0054] The parameter β represents the angle 5010, the parameter γ represents the angle 5020, the parameter θ represents the angle 5030, and the parameter x represents the angle 5010. S1 ,y S1 and z S1 represents the coordinates of the second position 420, parameter x S2 ,y S2 and z S2 represents the coordinates of the third position 430, and the parameter α represents the angle 4010. It should be noted that the angle 4010 may be determined in any suitable manner.

[0055] At block 340, the target device 210-1 obtains first coordinates of the first location 410 relative to the first anchor device 220-1 and the second anchor device 220-2 based on the first distance, the second distance, the third distance, and the fourth distance and the angle 4010. In some embodiments, the first coordinates of the first location 410 may be determined by the target device 210-1. For example, the target device 210-1 may obtain the third coordinates of the second location 420 and the fourth coordinates of the third location 430. The target device 210-1 may determine the first coordinates of the first location 410 and the second coordinates of the location 420 based on the third coordinates and the fourth coordinates.

[0056] Alternatively or additionally, the first coordinates of the first location 410 may be determined by an anchor device or other device. For example, the target device 210-1 may send a request to the anchor device to estimate the first coordinates. The target device 210-1 may receive information indicating the first coordinates.

[0057] Just as an example, the first coordinate can be obtained as follows:

[0058] (x A -x S1 ) 2 +(y A -y S1 ) 2 +(z A -z S1 ) 2 =R AS1 2 (2)

[0059] (xA -x S2 ) 2 +(y A -y S2 ) 2 +(z A -z S2 ) 2 =R AS2 2 (3)

[0060] (x B -x S1 ) 2 +(y B -y S1 ) 2 +(z B -z S1 ) 2 =R BS1 2 (4)

[0061] (x B -x S2 ) 2 +(y B -y S2 ) 2 +(z B -z S2 ) 2 =R BS2 2 (5)

[0062]

[0063]

[0064]

[0065] The parameter β represents the angle 5010, the parameter γ represents the angle 5020, the parameter θ represents the angle 5030, and the parameter x represents the angle 5010. S1 ,y S1 and z S1 represents the coordinates of the second position 420, parameter x S2 ,y S2 and z S2 represents the coordinates of the third position 430, parameter α represents the angle 4010, and parameter R AS1 represents a first distance between the first position 410 and the second position 420, and the parameter R AS2 represents the second distance between the first position 410 and the third position 430, and the parameter R BS1 represents a third distance between the fourth position 440 and the first position 410, and the parameter R BS2represents a fourth distance between the fourth position 440 and the second position 420, parameter α represents an angle 4010, and parameter x A ,y A and z A represents the first coordinate of the first position 410, parameter x B ,y B and z B Indicates the second coordinate of the fourth position 440 .

[0066] The distance between the first position 410 and the fourth position 440 may be h / cosα. Since the following parameters are known: parameter β, parameter γ, parameter θ, parameter x S1 ,y S1 and z S1 , parameter x S2 ,y S2 and z S2 , parameter α, parameter R AS1 , parameter R AS2 , parameter R BS1 , parameter R BS2 , parameter α, so the first coordinate (x A ,y A , z A ) and the second coordinate (x B ,y B , z B It should be noted that the first coordinate (x A ,y A ,z A ) and the second coordinate (x B ,y B ,z B ) may be obtained using any suitable method.

[0067] In an example embodiment, as described above, the target device 210-1 may move to the fifth position 450. The target device 210-1 may acquire the first coordinate, the second coordinate, and the fifth coordinate of the fifth position based at least in part on the first distance, the second distance, the third distance, the fourth distance, the fifth distance, and the sixth distance. It should be noted that the target device 210-1 may move to more than three positions and acquire the coordinates of these positions.

[0068] According to an embodiment of the present disclosure, a target device can be positioned using only two anchor devices in 3-D space, thus reducing the number of anchor devices. It reduces most of the difficulties in finding a suitable anchor device for the target device, or reduces the initial investment in anchor devices for positioning, and also reduces the signaling and measurements used for positioning. Compared with the AOA positioning method, the anchor device does not need to measure the transmission angle with the target, but the target device measures the angle of its own movement. This is more accurate and easier because it does not rely on wave transmission in the air, which means that there will be no errors due to multipath or signal reflection.

[0069] The embodiments of the present disclosure can be applied indoors or outdoors. For example, the terminal device (ie, the target device) can obtain a position by using signals of two cells (ie, anchor devices) and its own movement, thereby improving the handover success rate.

[0070] Figure 6 6 is a schematic diagram showing the interaction between a target device and an anchor device. For the purpose of illustrating 600 only, the interaction is described as being implemented at the target device 210-1, the anchor device 220-1, and the anchor device 220-2. It should be noted that the interaction may be implemented at any suitable device.

[0071] The target device 210-1 at the first position 410 acquires 6005 a first distance between the target device 210-1 at the first position 410 and the first anchor device 220-1 at the second position 420. The target device 210-1 at the first position 410 acquires 6010 a second distance between the target device 210-1 at the first position 410 and the second anchor device 220-2 at the third position 430.

[0072] The target device 210-1 moves 6015 to the fourth position 440. The target device 210-1 acquires 6020 a third distance between the target device 210-1 at the fourth position 440 and the first anchor device 220-1 at the second position 420. The target device 210-1 acquires 6025 a fourth distance between the target device 210-1 at the fourth position 440 and the second anchor device 220-2 at the third position 430.

[0073] The target device 210-1 determines 6030 an angle associated with the first position, the second position, the third position, and the fourth position. The first anchor device 220-1 notifies 6035 the target device 210-1 of the third coordinate of the first anchor device 220-1. The second anchor device 220-2 notifies 6040 the target device 210-1 of the fourth coordinate of the second anchor device 220-2. The target device 210-1 obtains 6045 a first coordinate of the first position 410 and a second coordinate of the fourth position 440 relative to the first anchor device 220-1 and the second anchor device 220-2 based at least in part on the first distance, the second distance, the third distance, and the fourth distance and the angle.

[0074] Figure 7 7 is a schematic diagram showing the interaction between a target device and an anchor device. For illustrative purposes only, the interaction 700 is described as being implemented at the target device 210-1, the first anchor device 220-1, and the anchor second device 220-2. It should be noted that the interaction may be implemented at any suitable device.

[0075] The target device 210-1 at the first location 410 sends 7005 a first request to measure a first distance to the first anchor device 220-1. The first anchor device 220-1 determines 7010 the first distance. The target device 210-1 sends 7015 a second request to measure a second distance to the second anchor device 220-2. The second anchor device 220-2 determines 7020 the first distance. The target device 210-1 moves 7025 to a fourth location 440.

[0076] The target device 210-1 at the fourth position 440 sends 7030 a third request to measure a third distance to the first anchor device 220-1. The first anchor device 220-1 determines 7035 the third distance. The target device 210-1 sends 7040 a fourth request to measure a fourth distance to the second anchor device 220-2. The second anchor device 220-2 determines 7045 the fourth distance.

[0077] The target device 210-1 determines 6050 an angle associated with the first position, the second position, the third position, and the fourth position. The target device 210-1 sends 7055 first information indicating the angle and another request for estimating the first coordinate to the first anchor device 220-1. The second anchor device 220-2 sends 7060 information including the fourth distance and the fourth coordinate to the first anchor device 220-1. The first anchor device 220-1 obtains 7065 a first coordinate of the first position 410 and a second coordinate of the fourth position 440 relative to the first anchor device 220-1 and the second anchor device 220-2 based at least in part on the first distance, the second distance, the third distance, and the fourth distance and the angle. The first anchor device 220-1 sends 7065 information about the first coordinate of the first position 410 and the second coordinate of the fourth position 440 to the target device 210-1.

[0078] Figure 8 8 is a schematic diagram illustrating the interaction between a target device and an anchor device. For illustrative purposes only, the interaction 800 is described as being implemented at the target device 210-1, the first anchor device 220-1, the second anchor device 220-2, and the device 230. It should be noted that the interaction may be implemented at any suitable device.

[0079] The target device 210-1 at the first location 410 sends 8005 a first request to measure a first distance to the first anchor device 220-1. The first anchor device 220-1 determines 8010 the first distance. The target device 210-1 sends 8015 a second request to measure a second distance to the second anchor device 220-2. The second anchor device 220-2 determines 8020 the first distance. The target device 210-1 moves 8025 to a fourth location 440.

[0080] The target device 210-1 at the fourth position 440 sends 8030 a third request to measure a third distance to the first anchor device 220-1. The first anchor device 220-1 determines 8035 the third distance. The target device 210-1 sends 8040 a fourth request to measure a fourth distance to the second anchor device 220-2. The second anchor device 220-2 determines 8045 the fourth distance.

[0081] The target device 210-1 determines 8050 an angle associated with the first position, the second position, the third position, and the fourth position. The target device 210-1 sends 8055 first information indicating the angle and another request for estimating the first coordinate to the device 230. The first anchor device 220-1 sends 8060 information including the first distance and the third distance and the third coordinate to the device 230. The second anchor device 220-2 sends 8065 information including the second distance and the fourth distance and the fourth coordinate to the device 230. The device 230 obtains 8070 a first coordinate of the first position 410 and a second coordinate of the fourth position 440 relative to the first anchor device 220-1 and the second anchor device 220-2 based at least in part on the first distance, the second distance, the third distance, and the fourth distance and the angle. The device 230 sends 8075 information about the first coordinate of the first position 410 and the second coordinate of the fourth position 440 to the target device 210-1.

[0082] In some embodiments, an apparatus for executing method 300 (eg, target device 210-1) may include corresponding components for executing corresponding steps in method 300. These components may be implemented in any suitable manner. For example, it may be implemented by a circuit system or a software module.

[0083] In some embodiments, the apparatus includes a component for acquiring, at a target device, a first distance between a target device at a first position and a first anchor device at a second position, and a second distance between the target device at the first position and a second anchor device at a third position; a component for acquiring a third distance between a target device at a fourth position and the first anchor device at the second position, and a fourth distance between the target device at the fourth position and the second anchor device at the third position; a component for determining an angle between a first line connecting the first position and the fourth position and a second line connecting the second position and the third position; and a component for acquiring a first coordinate of a first position and a second coordinate of a fourth position relative to the first anchor device and the second anchor device based at least in part on the first distance, the second distance, the third distance, the fourth distance, and the angle.

[0084] In some embodiments, the means for acquiring the first distance includes: means for sending a request for measuring the first distance to the first anchor device; means for receiving a measurement report including the first distance from the second device; and means for acquiring the first distance from the measurement report.

[0085] In some embodiments, the component for acquiring the first distance includes: a component for measuring the first distance between the target device and the first anchor device.

[0086] In some embodiments, the means for determining the angle comprises: means for measuring a plurality of angles in space associated with the first position and the third position; and means for determining the angle based on the plurality of angles.

[0087] In some embodiments, the component for acquiring the first coordinate and the second coordinate includes: a component for sending first information indicating the first distance, the second distance, the third distance and the fourth distance and the angle to a fourth device; and a component for receiving second information indicating the first coordinate and the second coordinate from the fourth device.

[0088] In some embodiments, the component for acquiring the first coordinate and the second coordinate includes: a component for acquiring the third coordinate of the second position; a component for acquiring the fourth coordinate of the third position; and a component for determining the first coordinate and the second coordinate based on the second coordinate, the third coordinate, the first distance, the second distance, the third distance and the fourth distance and the angle.

[0089] In some embodiments, the means for acquiring the first coordinate and the second coordinate include: means for acquiring a fifth distance between the target device at the fifth position and the first anchor device at the second position and a sixth distance between the target device at the fifth position and the second anchor device at the third position; and means for acquiring the first coordinate, the second coordinate, and a fifth coordinate of the fifth position based at least in part on the first distance, the second distance, the third distance, the fourth distance, the fifth distance, and the sixth distance. In some embodiments, the target device 210-1 can continue its movement and continue the same measurement and calculation process.

[0090] In some embodiments, the target device 210-1 can continue its movement and continue the same measurement and calculation process. The target device 210-1 can move to any suitable number of locations to obtain coordinates. For example, the target device 210-1 can obtain one or more distances between the target device 210-1 at one or more additional locations and the first anchor device 220-1 at the second location 420, and one or more additional distances between the target device 210-1 at one or more additional locations and the second anchor device 220-2 at the third location 430. The target device 210-1 obtains the first coordinate, the second coordinate, and the one or more coordinates corresponding to the one or more locations based at least in part on the first distance, the second distance, the third distance, the fourth distance, the one or more distances, and the one or more additional distances.

[0091] Fig. 9 900 is a simplified block diagram of a device suitable for implementing an embodiment of the present disclosure. The device 900 may be provided to implement a communication device, such as Figure 2The target device 210 and the anchor devices 220 - 1 and 220 - 2 are shown. As shown, the device 900 includes one or more processors 910 , one or more memories 920 coupled to the processors 910 , and one or more communication modules 940 coupled to the processors 910 .

[0092] The communication module 940 is used for two-way communication. The communication module 940 has at least one antenna to facilitate communication. The communication interface may represent any interface necessary to communicate with other network elements.

[0093] Processor 910 may be of any type suitable for the local technology network, and may include, as non-limiting examples, one or more of: a general purpose computer, a special purpose computer, a microprocessor, a digital signal processor (DSP), and a processor based on a multi-core processor architecture. Device 1000 may have multiple processors, such as application specific integrated circuit chips that are time slaved to a clock synchronized with a main processor.

[0094] The memory 920 may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, read-only memory (ROM) 924, electrically programmable read-only memory (EPROM), flash memory, hard disks, compact disks (CDs), digital video disks (DVDs), and other magnetic storage devices and / or optical storage devices. Examples of volatile memories include, but are not limited to, random access memory (RAM) 922 and other volatile memories that do not persist during power outages.

[0095] The computer program 930 includes computer executable instructions executed by the associated processor 910. The program 930 may be stored in the ROM 924. The processor 910 may perform any suitable actions and processes by loading the program 930 into the RAM 922.

[0096] The embodiments of the present disclosure can be implemented by means of program 920, so that the device 900 can execute the following steps: Figures 3 to 8 Any process of the present disclosure discussed. The embodiments of the present disclosure may also be implemented by hardware or a combination of software and hardware.

[0097] In some example embodiments, the program 930 may be tangibly embodied in a computer-readable medium, which may be included in the device 900 (such as in the memory 920) or in other storage devices accessible to the device 900. The device 900 may load the program 930 from the computer-readable medium to the RAM 922 for execution. The computer-readable medium may include any type of tangible non-volatile memory, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc. Fig.10An example of a computer readable medium 1000 in the form of a CD or DVD is shown. The computer readable medium has a program 930 stored thereon.

[0098] It should be understood that future networks may utilize network function virtualization (NFV), which is a network architecture concept that proposes virtualizing network node functions into "building blocks" or entities that can be operationally connected or linked together to provide services. A virtualized network function (VNF) may include one or more virtual machines that use standard or general-purpose servers rather than customized hardware to run computer program code. Cloud computing or data storage devices may also be used. In radio communications, this may mean that node operations are at least partially performed in a central / centralized unit CU (e.g., a server, host, or node) that is operationally coupled to a distributed unit DU (e.g., a radio head / node). Node operations may also be distributed among multiple servers, nodes, or hosts. It should also be understood that the division of labor between core network operations and base station operations may vary depending on the implementation.

[0099] In one embodiment, the server can generate a virtual network through which the server communicates with the distributed unit. In general, a virtual network can involve the process of combining hardware and software network resources and network functions into a single software-based management entity (virtual network). Such a virtual network can provide a flexible distribution of operations between the server and the radio head / node. In practice, any digital signal processing task can be performed in the CU or DU, and the boundary of the transfer of responsibilities between the CU and the DU can be selected according to the implementation.

[0100] Thus, in one embodiment, a CU-DU architecture is implemented. In this case, the device 1000 may be included in a central unit (e.g., a control unit, an edge cloud server, a server) that is operably coupled to a distributed unit (e.g., a remote radio head / node) (e.g., via a wireless network or a wired network). That is, the central unit (e.g., an edge cloud server) and the distributed units may be independent devices that communicate with each other via a radio path or via a wired connection. Alternatively, they may be in the same entity that communicates via a wired connection, etc. The edge cloud or edge cloud server may serve multiple distributed units or radio access networks. In one embodiment, at least some of the described processes may be performed by the central unit. In another embodiment, the device 1000 may instead be included in a distributed unit, and at least some of the described processes may be performed by the distributed unit.

[0101] In one embodiment, the execution of at least some functions of the device 600 can be shared between two physically separate devices (DU and CU) that form an operational entity. Therefore, the device can be regarded as depicting an operational entity including one or more physically separate devices for performing at least some of the described processes. In one embodiment, such a CU-DU architecture can provide a flexible distribution of operations between the CU and the DU. In practice, any digital signal processing task can be performed in the CU or the DU, and the boundary of the transfer of responsibilities between the CU and the DU can be selected according to the implementation. In one embodiment, the device 1000 controls the execution of the process regardless of the location of the device and where the process / function is executed.

[0102] Generally, various embodiments of the present disclosure may be implemented using hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects may be implemented using hardware, while other aspects may be implemented using firmware or software that may be executed by a controller, microprocessor, or other computing device. Although various aspects of the embodiments of the present disclosure are illustrated and described as block diagrams, flow charts, or using some other graphical representations, it should be understood that, as non-limiting examples, the blocks, devices, systems, techniques, or methods described herein may be implemented using hardware, software, firmware, dedicated circuits or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0103] The present disclosure also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a target real processor or a target virtual processor to perform the above reference Figure 3 Method 300 described. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or split between program modules as needed. The machine executable instructions of the program modules can be executed in a local device or a distributed device. In a distributed device, the program modules can be located in both local storage media and remote storage media.

[0104] The program code for executing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device so that the program code causes the function / operation specified in the flow chart and / or block diagram to be realized when executed by the processor or controller. The program code can be executed completely on the machine, partially on the machine, as an independent software package, partially on the machine and partially on a remote machine, or completely on a remote machine or server.

[0105] In the context of the present disclosure, computer program codes or related data may be carried by any suitable carrier to enable a device, apparatus or processor to perform various processes and operations as described above. Examples of carriers include signals, computer readable media, etc.

[0106] The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. A more specific example of a computer readable storage medium will include an electrical connection with one or more wires, a portable computer floppy disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0107] In addition, although the operations are described in a particular order, this should not be understood as requiring such operations to be performed in the particular order shown or in order or performing all the operations shown to obtain the desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be interpreted as limitations on the scope of the present disclosure, but rather descriptions of features that may be specific to a particular embodiment. Certain features described in the context of a separate embodiment may also be implemented in combination in a single embodiment. On the contrary, the various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0108] Although the present disclosure has been described in language specific to structural features and / or methodological acts, it should be understood that the present disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Instead, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A target device, comprising: at least one processor; as well as at least one memory including computer program code; The at least one memory and the computer program code are configured to, with the at least one processor, cause the target device to: Acquire a first distance between the target device at the first position and a first anchor device at the second position, and a second distance between the target device at the first position and a second anchor device at a third position; Acquire a third distance between the target device at a fourth position and the first anchor device at the second position, and a fourth distance between the target device at the fourth position and the second anchor device at the third position; determining an angle between a first line connecting the first position and the fourth position and a second line connecting the second position and the third position, wherein the angle is determined based on an angle between the first line and each of XY, YZ, and XZ planes, respectively; as well as Based at least in part on the first distance, the second distance, the third distance, the fourth distance, and the angle, first coordinates of the first position and second coordinates of the fourth position relative to the first anchor device and the second anchor device are obtained.

2. The target device according to claim 1, wherein the target device is configured to obtain the first distance by: Sending a request for measuring the first distance to the first anchor device; receiving a measurement report including the first distance from a second device; and The first distance is obtained from the measurement report.

3. The target device according to claim 1, wherein the target device is caused to obtain the first distance by: The first distance between the target device and the first anchor device is measured.

4. The target device of claim 1 , wherein the target device is caused to determine the angle by: measuring a plurality of angles in space associated with the first position and the third position; and The angle is determined based on the plurality of angles.

5. The target device according to claim 1, wherein the target device is caused to acquire the first coordinate and the second coordinate by: sending first information to a fourth device, the first information indicating the first distance, the second distance, the third distance, the fourth distance and the angle; and Second information is received from the fourth device, the second information indicating the first coordinate and the second coordinate.

6. The target device according to claim 1, wherein the target device is caused to acquire the first coordinate and the second coordinate by: Obtaining a third coordinate of the second position; acquiring a fourth coordinate of the third position; and The first coordinate and the second coordinate are determined based on the third coordinate, the fourth coordinate, the first distance, the second distance, the third distance, the fourth distance, and the angle.

7. The target device according to claim 1, wherein the target device is further caused to acquire the first coordinate of the first position and the second coordinate of the fourth position by: acquiring one or more distances between the target device at one or more additional locations and the first anchor device at the second location, and one or more additional distances between the target device at the one or more additional locations and the second anchor device at the third location; and The first coordinate, the second coordinate, and one or more coordinates corresponding to the one or more locations are obtained based at least in part on the first distance, the second distance, the third distance, the fourth distance, the one or more distances, and the one or more additional distances.

8. A method comprising: At the target device, acquiring a first distance between the target device at the first position and a first anchor device at the second position, and a second distance between the target device at the first position and a second anchor device at the third position; Acquire a third distance between the target device at a fourth position and the first anchor device at the second position, and a fourth distance between the target device at the fourth position and the second anchor device at the third position; determining an angle between a first line connecting the first position and the fourth position and a second line connecting the second position and the third position, wherein the angle is determined based on an angle between the first line and each of XY, YZ, and XZ planes, respectively; as well as Based at least in part on the first distance, the second distance, the third distance, the fourth distance, and the angle, first coordinates of the first position and second coordinates of the fourth position relative to the first anchor device and the second anchor device are obtained.

9. The method according to claim 8, wherein obtaining the first distance comprises: Sending a request for measuring the first distance to the first anchor point device; receiving, from a second device, a measurement report including the first distance; as well as The first distance is obtained from the measurement report.

10. The method according to claim 8, wherein obtaining the first distance comprises: The first distance between the target device and the first anchor device is measured.

11. The method of claim 8, wherein determining the angle comprises: measuring a plurality of angles in space associated with the first position and the third position; as well as The angle is determined based on the plurality of angles.

12. The method according to claim 8, wherein acquiring the first coordinate and the second coordinate comprises: Sending first information to a fourth device, where the first information indicates the first distance, the second distance, the third distance, the fourth distance, and the angle; as well as Second information is received from the fourth device, the second information indicating the first coordinate and the second coordinate.

13. The method according to claim 8, wherein acquiring the first coordinate and the second coordinate comprises: Obtaining a third coordinate of the second position; Acquire a fourth coordinate of the third position; as well as The first coordinate and the second coordinate are determined based on the third coordinate, the fourth coordinate, the first distance, the second distance, the third distance, the fourth distance, and the angle.

14. The method according to claim 8, wherein acquiring the first coordinate of the first position and the second coordinate of the fourth position comprises: acquiring one or more distances between the target device at one or more additional locations and the first anchor device at the second location, and one or more additional distances between the target device at the one or more additional locations and the second anchor device at the third location; as well as The first coordinate, the second coordinate, and one or more coordinates corresponding to the one or more locations are obtained based at least in part on the first distance, the second distance, the third distance, the fourth distance, the one or more distances, and the one or more additional distances.

15. A computer readable medium having instructions stored thereon, which when executed by at least one processing unit of a machine, cause the machine to perform the method according to any one of claims 8 to 14.

16. An apparatus comprising: A component for acquiring, at a target device, a first distance between the target device at a first position and a first anchor device at a second position, and a second distance between the target device at the first position and a second anchor device at a third position; a component for acquiring a third distance between the target device at a fourth position and the first anchor device at the second position, and a fourth distance between the target device at the fourth position and the second anchor device at the third position; means for determining an angle between a first line connecting the first position and the fourth position and a second line connecting the second position and the third position, wherein the angle is determined based on an angle between the first line and each of the XY, YZ and XZ planes, respectively; as well as Means for obtaining first coordinates of the first location and second coordinates of the fourth location relative to the first anchor device and the second anchor device based at least in part on the first distance, the second distance, the third distance, and the fourth distance and the angle.

17. The apparatus according to claim 16, wherein the means for acquiring the first distance comprises: means for sending a request to the first anchor device for measuring the first distance; means for receiving, from a second device, a measurement report comprising said first distance; as well as Means for obtaining the first distance from the measurement report.

18. The apparatus according to claim 16, wherein the means for acquiring the first distance comprises: A component for measuring the first distance between the target device and the first anchor device.

19. The apparatus of claim 16, wherein the means for determining the angle comprises: means for measuring a plurality of angles in space relative to the first position and the third position; as well as Means for determining the angle based on the plurality of angles.

20. The apparatus according to claim 16, wherein the means for acquiring the first coordinate and the second coordinate comprises: a means for sending first information to a fourth device, the first information indicating the first distance, the second distance, the third distance, the fourth distance and the angle; as well as Means for receiving second information from the fourth device, the second information indicating the first coordinate and the second coordinate.

21. The apparatus according to claim 16, wherein the means for acquiring the first coordinate and the second coordinate comprises: means for obtaining a third coordinate of the second position; means for obtaining a fourth coordinate of the third position; as well as Means for determining the first coordinate and the second coordinate based on the third coordinate, the fourth coordinate, the first distance, the second distance, the third distance and the fourth distance, and the angle.

22. The apparatus according to claim 16, wherein the means for acquiring the first coordinate of the first position and the second coordinate of the fourth position comprises: means for acquiring one or more distances between the target device at one or more additional locations and the first anchor device at the second location, and one or more further distances between the target device at the one or more additional locations and the second anchor device at the third location; as well as Means for obtaining the first coordinate, the second coordinate, and one or more coordinates corresponding to the one or more locations based at least in part on the first distance, the second distance, the third distance, the fourth distance, the one or more distances, and the one or more additional distances.

Images