Positioning methods, devices, equipment and storage media

Abstract

This application provides a positioning method, apparatus, device, and storage medium, wherein a network device sends a PRS signal to a terminal device via a TRP, and the terminal device determines the corresponding DL-AOA based on the PRS signal. The positioning result of the terminal device can be obtained based on the DL-AOA. Thus, in the absence of standardized specifications for terminal positioning via DL-AOA in the prior art, this embodiment can provide a relevant process for terminal positioning based on DL-AOA, which can not only achieve accurate positioning of the terminal device, but also improve the existing communication positioning standards.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a positioning method, apparatus, device and storage medium. Background Technology

[0002] Currently, in the 3GPP (3rd Generation Partnership Project) standard, network equipment and terminal equipment can use various positioning methods to locate the terminal and obtain the current location coordinates of the terminal equipment.

[0003] Existing technologies include NR Enhanced Cell ID (E-CID) positioning method, NR Downlink Time Difference of Arrival (DL-TDOA) positioning method, NR Uplink Time Difference of Arrival (UL-TDOA) positioning method, NR Multi-Round Trip Time (Multi-RTT) positioning method, NR Downlink Angle of Departure (DL-AoD) positioning method, and NR Uplink Angle of Arrival (UL-AoA) positioning method.

[0004] However, existing technologies lack corresponding standards and specifications for terminal positioning (Downlink Angle of Arrival, DL-AoA) based on the angle of arrival of the NR signal received by the terminal device. Summary of the Invention

[0005] This application provides a positioning method, apparatus, device, and storage medium to solve the problems existing in the prior art.

[0006] Firstly, this application provides a positioning method applied to a terminal device, comprising:

[0007] Receive a Position Reference Signal (PRS) from at least one network-side transceiver node (TRP) in the network device;

[0008] Determine the downlink signal arrival angle (DL-AOA) of the PRS signal for each TRP;

[0009] The positioning result of the terminal device is obtained based on the DL-AOA.

[0010] In some embodiments, the method further includes:

[0011] Receive positioning configuration information from the network device, the positioning configuration information including the coordinate information of at least one TRP;

[0012] The step of obtaining the positioning result of the terminal device based on the DL-AOA includes:

[0013] Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained;

[0014] Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained;

[0015] The coordinate information of the terminal device in the global coordinate system is obtained based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector.

[0016] In some embodiments, obtaining the coordinate information of the terminal device in the global coordinate system based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector includes:

[0017] Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0018] Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained;

[0019] Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained;

[0020] Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed;

[0021] Solving the system of equations yields the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0022] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0023] The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes:

[0024] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations.

[0025] Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes:

[0026] Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0027] In some embodiments, the number of TRPs is N, where N is 1 or 2;

[0028] The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes:

[0029] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes N or 2N equations.

[0030] Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes:

[0031] Obtain historical location information of the terminal device, wherein the historical location information includes at least one of historical spatial transformation matrix or historical coordinate information;

[0032] Based on the historical positioning information, the system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0033] In some embodiments, the system of equations is solved iteratively.

[0034] Solving the system of equations includes:

[0035] Obtain historical location information of the terminal device, wherein the historical location information includes at least one of historical spatial transformation matrix or historical coordinate information;

[0036] The historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

[0037] In some embodiments, it also includes:

[0038] After obtaining the positioning result of the terminal device, a first positioning feedback information is sent to the network device. The first positioning feedback information includes the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0039] In some embodiments, the first positioning feedback information further includes: the angle measurement time window corresponding to the DL-AOA, wherein the angle measurement time window is used to represent the correspondence between the DL-AOA and the angle measurement time.

[0040] In some embodiments, obtaining the positioning result of the terminal device based on the DL-AOA includes:

[0041] Send a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP and the angle measurement time window corresponding to the DL-AOA. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP.

[0042] Receive the location result of the terminal device from the network device.

[0043] In some embodiments, receiving PRS signals from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes:

[0044] For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times respectively;

[0045] The step of obtaining the positioning result of the terminal device based on the DL-AOA includes:

[0046] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and the at least two initial positioning results are differentially processed to obtain the positioning result;

[0047] The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are initial positioning results among the at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0048] In some embodiments, it also includes:

[0049] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results are obtained for the terminal device. After differential processing is performed on the at least two initial positioning results to obtain the positioning result, a third positioning feedback information is sent to the network device. The third positioning feedback information includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value.

[0050] In some embodiments, the third positioning feedback information further includes: an angle measurement time window corresponding to each DL-AOA, wherein the angle measurement time window is used to represent the correspondence between the DL-AOA and the angle measurement time.

[0051] In some embodiments, receiving PRS signals from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes:

[0052] For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times respectively;

[0053] The step of obtaining the positioning result of the terminal device based on the DL-AOA includes:

[0054] Send a fourth positioning feedback information to the network device. The fourth positioning feedback information includes the DL-AOA corresponding to each TRP at at least two times and the angle measurement time window corresponding to each DL-AOA. The fourth positioning feedback information is used to instruct the network device to obtain at least two initial positioning results of the terminal device based on the DL-AOA corresponding to each TRP at at least two times, and to perform differential processing on the at least two initial positioning results to obtain the positioning result.

[0055] Receive the location result from the terminal device in the network device;

[0056] The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are initial positioning results among the at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0057] Secondly, this application provides a positioning method applied to a network device, comprising:

[0058] A PRS signal is sent to the terminal device through at least one TRP, the PRS signal being used to instruct the terminal device to determine the DL-AOA of the PRS signal for each TRP;

[0059] Obtain the positioning result of the terminal device determined according to the DL-AOA.

[0060] In some embodiments, the method further includes:

[0061] Send positioning configuration information to the terminal device, the positioning configuration information including the coordinate information of the at least one TRP;

[0062] The step of obtaining the positioning result of the terminal device determined according to the DL-AOA includes:

[0063] The system receives the positioning result of the terminal device, which is determined by the terminal device based on the coordinate information of the DL-AOA and at least one TRP.

[0064] In some embodiments, obtaining the positioning result of the terminal device determined according to the DL-AOA includes:

[0065] DL-AOA receives the PRS signal from each TRP of the terminal device;

[0066] Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained;

[0067] Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained;

[0068] The coordinate information of the terminal device in the global coordinate system is obtained based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector.

[0069] In some embodiments, obtaining the second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP includes:

[0070] Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0071] Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained;

[0072] Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained;

[0073] Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed;

[0074] Solving the system of equations yields the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0075] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0076] The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes:

[0077] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations.

[0078] Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes:

[0079] Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0080] In some embodiments, the number of TRPs is N, where N is 1 or 2;

[0081] The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes:

[0082] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes N or 2N equations.

[0083] Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes:

[0084] Obtain historical location information of the terminal device, wherein the historical location information includes at least one of historical spatial transformation matrix or historical coordinate information;

[0085] Based on the historical positioning information, the system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0086] In some embodiments, the system of equations is solved iteratively.

[0087] Solving the system of equations includes:

[0088] Obtain historical location information of the terminal device, wherein the historical location information includes at least one of historical spatial transformation matrix or historical coordinate information;

[0089] The historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

[0090] In some embodiments, it also includes:

[0091] After obtaining the positioning result of the terminal device, the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system are sent to the terminal device.

[0092] In some embodiments, obtaining the positioning result of the terminal device determined according to the DL-AOA includes:

[0093] Receive the DL-AOA corresponding to each TRP at at least two times from the terminal device;

[0094] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and the at least two initial positioning results are differentially processed to obtain the positioning result;

[0095] The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are initial positioning results among the at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0096] In some embodiments, it also includes:

[0097] After obtaining the positioning result of the terminal device, the positioning result reference value and other initial positioning results relative to the positioning result reference value are sent to the terminal device.

[0098] Thirdly, this application provides a terminal device, including a memory, a transceiver, and a processor:

[0099] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0100] Receive a Position Reference Signal (PRS) from at least one network-side transceiver node (TRP) in the network device;

[0101] Determine the downlink signal arrival angle (DL-AOA) of the PRS signal for each TRP;

[0102] The positioning result of the terminal device is obtained based on the DL-AOA.

[0103] Fourthly, this application provides a network device, including a memory, a transceiver, and a processor:

[0104] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0105] A PRS signal is sent to the terminal device through at least one TRP, the PRS signal being used to instruct the terminal device to determine the DL-AOA of the PRS signal for each TRP;

[0106] Obtain the positioning result of the terminal device determined according to the DL-AOA.

[0107] Fifthly, this application provides a positioning device for use in a terminal device, the device comprising:

[0108] The signal receiving module is used to receive the positioning reference signal (PRS) from at least one network-side transceiver node (TRP) in the network device.

[0109] An angle measurement module is used to determine the downlink signal arrival angle DL-AOA of the PRS signal for each TRP;

[0110] The first processing module is used to obtain the positioning result of the terminal device based on the DL-AOA.

[0111] Sixthly, this application provides a positioning device for use in network equipment, the device comprising:

[0112] A signal transmitting module is used to transmit a PRS signal to a terminal device through at least one TRP, wherein the PRS signal is used to instruct the terminal device to determine the DL-AOA of the PRS signal for each TRP;

[0113] The second processing module is used to obtain the positioning result of the terminal device determined according to the DL-AOA.

[0114] In a seventh aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described positioning method.

[0115] The positioning method, apparatus, device, and storage medium provided in this application involve a network device sending a PRS signal to a terminal device via a TRP. The terminal device determines the corresponding DL-AOA based on the PRS signal, and the positioning result of the terminal device can be obtained according to the DL-AOA. Thus, in the absence of standardized specifications for terminal positioning via DL-AOA in the prior art, this embodiment can provide a relevant process for terminal positioning based on DL-AOA, which can not only achieve accurate positioning of the terminal device, but also improve the existing communication positioning standards. Attached Figure Description

[0116] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0117] Figure 1 This is a schematic diagram illustrating the application scenario of the positioning method in this application;

[0118] Figure 2 A schematic diagram illustrating the positioning method provided in an embodiment of this application;

[0119] Figure 3 Another schematic diagram of the positioning method provided in the embodiments of this application;

[0120] Figure 4 Another schematic diagram of the positioning method provided in the embodiments of this application;

[0121] Figure 5 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application;

[0122] Figure 6 This is a schematic diagram of the network device provided in the embodiments of this application;

[0123] Figure 7 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application;

[0124] Figure 8 This is another structural schematic diagram of the communication device provided in an embodiment of this application.

[0125] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0126] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0127] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms "a" and "the" as used in the embodiments of this application are also intended to include the plural forms unless the context clearly indicates otherwise.

[0128] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes that element.

[0129] For 5G NR systems, supporting various positioning technologies to provide reliable and accurate user equipment (UE) location has always been a key area of ​​3GPP standards. 3GPP completed the first standard version for UE positioning based on New Radio (NR) signals in Rel-16 (the second version of the 5G specification). Different positioning scenarios require different solutions. For most scenarios, in addition to positioning accuracy requirements, UEs also have high requirements for power consumption and positioning latency.

[0130] 3GPP introduced the following positioning methods based on NR signals in the Rel-16NR standard:

[0131] 1) Enhanced Cell ID Location Method (E-CID)

[0132] 2) NR downlink time difference of arrival positioning method (DL-TDOA)

[0133] 3) NR uplink time difference of arrival location method (UL-TDOA)

[0134] 4) NR Multi-cell Round-trip Time Positioning (Multi-RTT)

[0135] 5) NR Downlink Departure Angle Positioning (DL-AoD)

[0136] 6) NR uplink angle of arrival positioning method (UL-AoA)

[0137] Specifically, taking UL-AoA as an example, UL AoA positioning is achieved by measuring the angle of arrival (AoA) of the uplink sounding reference signal (SRS) sent by the terminal device in the network device.

[0138] UL AoA positioning mainly includes the following process: The network device's Transmission and Reception Point (TRP) antenna measures the SRS signal transmitted by the UE to obtain the AoA value relative to the TRP antenna in the Local Coordinate System (LCS). Based on the AoA value in the LCS coordinate system, and combined with the transformation relationship from the LCS coordinate system to the Global Coordinate System (GCS), the AoA value in the GCS coordinate system can be obtained for positioning calculation. The transformation relationship from the LCS coordinate system to the GCS coordinate system can be obtained based on the TRP antenna's installation information, and since the TRP antenna is generally fixed, the above transformation relationship is also usually fixed.

[0139] In existing technologies, the UL-AoA positioning method is implemented by network devices. Its positioning calculation requires AoA values ​​in the GCS coordinate system, which relies on the fixed and known transformation relationship from the LCS coordinate system to the GCS coordinate system in the network device. If the transformation relationship is unknown, the UL-AoA positioning method cannot be implemented.

[0140] The positioning method, apparatus, device, and storage medium provided in this application are intended to solve the above-mentioned technical problems of the prior art.

[0141] The main concept of this application is as follows: This application proposes a method for terminal positioning (DL-AoA) based on the angle of arrival (Angle of Arrival) of the NR signal received by the terminal device. When the transformation relationship from the LCS coordinate system to the GCS coordinate system is unknown, the terminal device can measure the downlink angle of arrival (DL-AOA) by receiving the positioning reference signal (PRS) sent by the TRP with a known location. Then, the positioning solution is performed by combining the position coordinates of the TRP and the DL-AOA to obtain the transformation relationship from the LCS coordinate system to the GCS coordinate system and the position coordinates of the terminal device in the GCS coordinate system, that is, to obtain the position information and orientation information of the terminal device, thereby realizing terminal positioning.

[0142] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0143] It is understood that the processing steps of the communication method in this application can be implemented by network devices or terminal devices.

[0144] In this application, the network equipment can be a base station, specifically a base transceiver station (BTS) and / or base station controller in Global System for Mobile communication (GSM) or Code Division Multiple Access (CDMA), a base station (NodeB, NB) and / or radio network controller (RNC) in Wideband Code Division Multiple Access (WCDMA), an evolved Node B (eNB or eNodeB) in Long Term Evolution (LTE), a relay station or access point, or a base station (gNB) in a future 5G network, etc. The embodiments in this application are not limited to this.

[0145] It should be noted that, in the various embodiments of this application, the actions performed by the network device side can be specifically performed by the Location Management Function (LMF) on the network device side or the serving base station corresponding to the terminal device.

[0146] Furthermore, the terminal device can be either a wireless terminal or a wired terminal. A wireless terminal can be a device that provides voice and / or other service data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The wireless terminal can communicate with one or more core network devices via a Radio Access Network (RAN). The wireless terminal can be a mobile terminal, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal, for example, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device, which exchanges voice and / or data with the RAN. As another example, a wireless terminal can also be a Personal Communication Service (PCS) phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), and other similar devices. A wireless terminal can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile, remote station, remote terminal, access terminal, user terminal, user agent, user device, or user equipment; no specific terminology is used here. Optionally, the aforementioned terminal devices can also be smartwatches, tablets, or other similar devices.

[0147] It should be noted that in the various embodiments of this application, the terminal device includes a UE in a conventional cellular network and a UE in a V2X (vehicle to everything) network based on a Sidelink link. Specifically, for a UE in a conventional cellular network, the positioning method is DL-AoA; for a UE in a V2X network based on a Sidelink link, the positioning method is SL-AoA. For ease of description, DL and SL are used interchangeably.

[0148] Figure 1 This is a schematic diagram illustrating the application scenario of the positioning method in this application, such as... Figure 1As shown, this application scenario includes network devices and terminal devices (UEs). The network devices include core network device 5GC and base station gNB. The base station and core network device are connected via the NG interface. Base stations within the same Radio Access Network Notification Area (NG-RAN) can be connected via the Xn interface. The terminal device can access any of these base stations via random access or other methods. The base station accessed by the terminal device becomes its serving base station. For example, when the terminal device accesses base station gNB1, gNB1 becomes the serving base station of the terminal device, and gNB2, which is in the same RAN area as gNB1, becomes a neighboring base station of gNB1.

[0149] When a network device does not have the accurate location of one or more terminal devices, the core network device "wants" to obtain the accurate location of one or more terminal devices by locating them. In this case, the Location Management Function (LMF) unit, the serving base station, or the terminal device in the core network device can use the location method of this application to locate the terminal devices, thereby obtaining the accurate location of one or more terminal devices.

[0150] In some embodiments, a positioning method is provided. Figure 2 This is a schematic diagram of a positioning method provided in an embodiment of this application. The entities involved in the positioning method include terminal devices and network devices, such as... Figure 2 As shown, the positioning method includes the following steps:

[0151] S100. The network device sends a PRS signal to the terminal device through at least one network-side transceiver node (TRP). The PRS signal is used to instruct the terminal device to determine the DL-AOA of the PRS signal of each TRP.

[0152] The number of TRPs is at least one, specifically one, two, three, or other numbers. The PRS signal is a signal sent by the TRP to the terminal device for terminal device positioning. In this embodiment, the network device sends a PRS signal to the terminal device via the TRP, enabling the terminal device to determine the corresponding DL-AOA based on the received PRS signal for terminal device positioning.

[0153] S200, The terminal device receives a PRS signal from at least one TRP in the network device;

[0154] After the network device sends a PRS signal to the terminal device through at least one network-side transceiver node (TRP), the terminal device receives the PRS signal sent by the at least one TRP.

[0155] S300, The terminal equipment determines the downlink signal arrival angle DL-AOA of the PRS signal for each TRP;

[0156] When a terminal device receives a PRS signal from at least one TRP in a network device, it determines the DL-AOA corresponding to each PRS signal based on the reception status of each PRS signal.

[0157] The method by which the terminal device determines the DL-AOA of the PRS signal can be achieved through existing measurement methods, and this embodiment does not limit this method.

[0158] Furthermore, when determining the DL-AOA of the PRS signal, the terminal device specifically performs the measurement within the angle measurement time window. The angle measurement time window refers to a time interval during which the terminal device receives the PRS signal sent by the TRP and measures the DL-AOA of the PRS signal. In this embodiment, the terminal device only needs to measure the DL-AOA within the time interval corresponding to the angle measurement time window, thus helping to reduce the power consumption of the terminal device.

[0159] Optionally, the angle measurement time window can be indicated by the network device and sent to the terminal device through positioning configuration information. The specific configuration information of the angle measurement time window includes: the start time t_window1, the duration, and the end time t_window2, etc.

[0160] Correspondingly, after receiving the configuration information of the angle measurement time window sent by the network device, the terminal device can either directly measure the DL-AOA according to the time interval indicated by the configuration information of the angle measurement time window, or select a smaller time interval from the time interval to measure the DL-AOA.

[0161] Optionally, the angle measurement time window can also be configured by the terminal device itself. For example, the angle measurement time window can be configured according to the DL-PRS configuration and / or measurement interval of different TRPs.

[0162] The S400, terminal equipment, and network equipment obtain the location results of the terminal equipment based on DL-AOA.

[0163] After the terminal device determines the DL-AOA of the PRS signal for each TRP, the terminal device and network devices can obtain the positioning result of the terminal device based on the DL-AOA.

[0164] Specifically, since the DL-AOA is determined by the terminal device, the terminal device can directly determine the location result based on the DL-AOA and then report the location result to the network device. Thus, both the network device and the terminal device can obtain the location result of the terminal device.

[0165] Alternatively, the network device can determine the location result of the terminal device based on DL-AOA. That is, after the terminal device determines the DL-AOA, it can report the DL-AOA to the network device, and then the network device can perform relevant positioning calculations based on the DL-AOA to obtain the location result of the terminal device, and then send the obtained location result back to the terminal device. Thus, both the network device and the terminal device can obtain the location result of the terminal device.

[0166] This embodiment provides a positioning method in which a network device sends a PRS signal to a terminal device via a TRP. The terminal device determines the corresponding DL-AOA based on the PRS signal, and the positioning result of the terminal device can be obtained according to the DL-AOA. Thus, in the absence of a standard specification for terminal positioning based on DL-AOA in the existing technology, this embodiment can provide a relevant process for terminal positioning based on DL-AOA, which can not only achieve accurate positioning of the terminal device, but also improve the existing communication positioning standard.

[0167] In some embodiments, the scenario where the positioning result is determined by the terminal device is explained.

[0168] Figure 3 Another schematic diagram of the positioning method provided in the embodiments of this application is shown below. Figure 3 As shown, the positioning method includes the following steps:

[0169] S010. The network device sends location configuration information to the terminal device. The location configuration information includes the coordinate information of at least one TRP.

[0170] S020. The terminal device receives positioning configuration information from the network device, the positioning configuration information including the coordinate information of at least one TRP;

[0171] Since the location of each TRP is essentially fixed, meaning the coordinate information of each TRP is a fixed value, network devices can directly obtain the existing TRP coordinate information and send it to the terminal devices. Specifically, the TRP coordinate information refers to the TRP's coordinates in the GCS coordinate system, which are three-dimensional coordinates, including coordinate values ​​in the x, y, and z dimensions.

[0172] In addition, at least one TRP can be a TRP located near the terminal device, such as a TRP that is less than a certain distance threshold from the terminal device, which can help improve positioning accuracy.

[0173] S100. The network device sends a PRS signal to the terminal device through at least one network-side transceiver node (TRP).

[0174] S200, The terminal device receives a PRS signal from at least one TRP in the network device;

[0175] S300, The terminal equipment determines the downlink signal arrival angle DL-AOA of the PRS signal for each TRP;

[0176] S410. The terminal device obtains the first unit direction vector from TRP to the terminal device in the local coordinate system according to DL-AOA.

[0177] S420. The terminal device obtains the second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP.

[0178] S430. The terminal device obtains the coordinate information of the terminal device in the global coordinate system based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector.

[0179] S500: The terminal device sends the positioning result, which includes the spatial transformation matrix and coordinate information, to the network device.

[0180] Therefore, after determining the downlink signal arrival angle (DL-AOA) of the PRS signal for each TRP, the terminal device directly obtains the positioning result based on the DL-AOA and the coordinate information of the TRP, and sends the positioning result to the network device, so that both the network device and the terminal device can obtain the positioning result of the terminal device.

[0181] In some embodiments, when a network device sends positioning configuration information to a terminal device, such as configuration information for an angle measurement time window or coordinate information of a TRP, it may do so in any of the following ways:

[0182] (1) When the network device is specifically an LMF, the LMF sends the configuration information to the terminal device through LPP (LTE Positioning Protocol) signaling;

[0183] (2) When the network device is specifically an LMF, the LMF will send the configuration information to the serving base station corresponding to the terminal device, and the serving base station will forward it to the terminal device through RRC (Radio Resource Control) signaling;

[0184] (3) When the network device is specifically an LMF, the LMF sends the configuration information to the serving base station corresponding to the terminal device, and the serving base station forwards it to the terminal device through signaling such as MAC-CE (MAC Control Element) and DCI (Downlink Control Information);

[0185] (4) When the network device is a serving base station corresponding to the terminal device, the serving base station sends the configuration information to the terminal device through RRC signaling;

[0186] (5) When the network device is a serving base station corresponding to the terminal device, the serving base station sends the configuration information to the terminal device through MAC-CE, DCI and other signaling.

[0187] In some embodiments, S430 specifically includes:

[0188] S431. Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0189] S432. Based on the spatial relationship between the first unit direction vector and DL-AOA, the second relationship equation is obtained;

[0190] S433. Based on the spatial relationship between the second unit direction vector and the coordinate information of TRP, the third relationship equation is obtained;

[0191] S434. Construct a system of equations based on the first relational equation, the second relational equation, and the third relational equation;

[0192] S435. Solve the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0193] Specifically, the first relational equation, the second relational equation, and the third relational equation are shown in the following formulas (1), (2), and (3):

[0194] e' n =A(α,β,γ)e n ;n=1,2,....N (1)

[0195]

[0196]

[0197] In formula (1), N represents the total number of TRPs, e' n e represents the first unit direction vector from the nth (n=1,…,N) TRP to the terminal device in the local coordinate system. n Let A(α,β,γ) represent the second unit direction vector from TRP to the terminal device in the global coordinate system. Let A(α,β,γ) represent the spatial transformation matrix from the GCS coordinate system to the LCS coordinate system, where {α,β,γ} represent the azimuth angle of the terminal device, α is the axial angle, β is the downtilt angle, and γ is the tilt angle.

[0198] In formula (2), This represents the DL-AOA of the PRS signal transmitted by the nth TRP, measured by the terminal device in the LCS coordinate system, where... θ represents the angle reached by the DL-AOA projection onto the xy plane in the LCS coordinate system. n This represents the arrival angle of the DL-AOA and LCS coordinate systems along the z-axis.

[0199] In formula (3), X n ={x n ,y n ,z n} T This represents the coordinate vector of the nth TRP in the GCS coordinate system, consisting of three coordinate values. X = {x, y, z} T This represents the coordinate vector of the terminal device in the GCS coordinate system, which includes three coordinate values.

[0200] Furthermore, the definition of the spatial transformation matrix is ​​as shown in the following formula (4):

[0201]

[0202] Since the terminal device receives coordinate information of at least one TRP from the network device, and the terminal device can obtain the DL-AOA of the PRS signal through measurement, the known quantities in the above formula include the coordinate vector {x} of each TRP. n ,y n ,z n}as well as

[0203] Based on the above formulas (1), (2), and (3), a system of equations can be constructed. By solving the system of equations, the coordinate vector {x,y,z} of the terminal device and the spatial transformation matrix A(α,β,γ) can be obtained. The azimuth angle {α,β,γ} of the terminal device can be obtained by solving formula (4).

[0204] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0205] Based on the first relation equation, the second relation equation, and the third relation equation, a set of equations is constructed, including: S434a, based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, the set of equations includes 3N equations;

[0206] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including: S435a, solving the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0207] Specifically, when the number of TRPs is N, the constructed system of equations includes 3N equations, including 2N mutually independent equations, namely formula (2) and formula (3). Since the unknowns to be solved include {x,y,z} and {α,β,γ}, the number of unknowns is 6.

[0208] Therefore, when N≥3, the constructed system of equations includes at least 9 equations, including at least 6 mutually independent equations. Thus, the above 6 unknowns can be directly solved through the constructed system of equations, thereby obtaining the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0209] In some embodiments, the number of TRPs is N, where N can be 1 or 2;

[0210] Based on the first relation equation, the second relation equation, and the third relation equation, construct a set of equations, including: S434b, based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, construct a set of equations, the set of equations includes N or 2N equations;

[0211] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including: S435b, obtaining the historical positioning information of the terminal device, which includes at least one of the historical spatial transformation matrix or historical coordinate information; based on the historical positioning information, the system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0212] Specifically, in the constructed system of equations, since there are 6 unknowns, when N=1 or N=2, the constructed system of equations includes 3 or 6 equations, including 2 or 4 independent equations. Since the number of independent equations is less than the number of unknowns, the solution cannot be obtained solely from the system of equations.

[0213] Based on this, this embodiment also includes the step of obtaining the historical positioning information of the terminal device. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. Thus, by obtaining more known quantities, the number of unknown quantities can be reduced, thereby solving the equation and obtaining the positioning result of the terminal device.

[0214] For example, if the location coordinates of the terminal device can be accurately obtained based on historical location information, then {x,y,z} becomes a known quantity; if the spatial transformation matrix of the terminal device can be accurately obtained based on historical location information, then {α,β,γ} becomes a known quantity.

[0215] In some embodiments, the method for obtaining the historical spatial transformation matrix includes any of the following:

[0216] (1) The azimuth angle information of the terminal device obtained by the terminal device through its own sensors;

[0217] (2) Azimuth angle information obtained based on other existing methods;

[0218] (3) The azimuth angle information stored by the terminal device at the previous time before this positioning was performed.

[0219] In some embodiments, the method for obtaining historical coordinate information includes any of the following:

[0220] (1) The location coordinates of the terminal device obtained based on beam scanning.

[0221] (2) Position coordinates obtained based on other existing methods;

[0222] (3) The location coordinates of the terminal device at the previous time before this positioning was performed.

[0223] In some embodiments, since the system of equations is nonlinear, it is solved iteratively.

[0224] Solving the system of equations includes: obtaining historical positioning information of the terminal device, which includes at least one of historical spatial transformation matrix or historical coordinate information; using the historical positioning information as the initial value for iteration, and solving the system of equations iteratively.

[0225] Specifically, when solving a system of equations iteratively, the conventional method uses random numbers as the initial values ​​for iteration and performs iterative solutions. However, the conventional method suffers from a large number of iterations and slow convergence, resulting in low solution efficiency.

[0226] In this embodiment, when iteratively solving the system of equations, if it is determined that the historical positioning information is also an accurate value at the current positioning time, the historical positioning information can be directly used as a known quantity; if it is not possible to determine whether the historical positioning information is an accurate value at the current positioning time, the historical positioning information can be used as the initial value for iteration, and then the system of equations can be solved iteratively, thereby reducing the number of iterations, improving the efficiency of solving the equations, and thus improving the positioning efficiency.

[0227] In some embodiments, the method further includes: after obtaining the positioning result of the terminal device, sending first positioning feedback information to the network device, the first positioning feedback information including a spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0228] Specifically, when the terminal device determines the positioning result, after obtaining the positioning result, the terminal device sends the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system to the network device through the first positioning feedback message. Thus, both the network device and the terminal device can obtain the positioning result of the terminal device.

[0229] In some embodiments, the first positioning feedback information further includes: an angle measurement time window corresponding to DL-AOA, wherein the angle measurement time window is used to represent the correspondence between DL-AOA and angle measurement time.

[0230] Specifically, when the terminal device measures DL-AOA exactly according to the angle measurement time window configured by the network device, the terminal device does not need to feed back the angle measurement time window corresponding to DL-AOA to the network device.

[0231] If the angle measurement time window of the terminal device for measuring DL-AOA is inconsistent with the time window configured by the network device, or if the angle measurement time window corresponding to DL-AOA is entirely configured by the terminal device itself, the terminal device will send the actual angle measurement time window corresponding to DL-AOA to the network device through the first positioning feedback information, so that the network device knows the actual angle measurement time of each DL-AOA.

[0232] In some embodiments, when the terminal device determines the positioning result, the terminal device can perform multiple positioning processes to obtain multiple positioning results, and then perform differential processing based on the multiple positioning results to obtain differential positioning results, thereby obtaining the changes in the positioning results of the terminal device, such as the relative changes in the arrival angle, position, and orientation.

[0233] In this embodiment, receiving PRS signals sent from at least one TRP in the network device and determining the DL-AOA of the PRS signal of each TRP includes: for each TRP, receiving PRS signals sent by the TRP at at least two times and determining the DL-AOA corresponding to the TRP at each of the at least two times.

[0234] Correspondingly, according to DL-AOA, the positioning results of the terminal device are obtained, including: obtaining at least two initial positioning results of the terminal device according to the DL-AOA corresponding to each TRP at at least two times, and performing differential processing on the at least two initial positioning results to obtain the positioning result; wherein, the positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value, the positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results among the at least two initial positioning results whose positioning time is different from the positioning result reference value.

[0235] Specifically, during differential positioning processing, the terminal device can repeat the process at certain time intervals T. Figure 3 The steps S200, S300, S410, S420, and S430 shown are repeated M times, resulting in M ​​positioning results. In each positioning process, steps S200 and S300 yield a set of DL-AOA coordinates, while steps S410-S430 yield a set of location coordinates and azimuth angles for the terminal device.

[0236] The interval time T specifically refers to the time interval between the time windows of two DL-AOA measurements taken by the terminal device.

[0237] Optionally, the time interval T and the number of repetitions M can be specified by the network device and sent to the terminal device through configuration information, or they can be determined by the terminal device itself.

[0238] Optionally, when performing positioning processing for the first time, the positioning result obtained in the previous time can be used as the historical positioning result in the subsequent positioning process, thereby improving positioning efficiency.

[0239] After obtaining the positioning results of M, differential processing can be performed on data of the same type to obtain differential data.

[0240] For example, for a DL-AOA, one DL-AOA (e.g., the first DL-AOA) can be used as a reference value. By performing differential processing, the changes in other DL-AOAs relative to that first DL-AOA can be obtained, thus revealing the angular changes of the DL-AOA at different times. Similarly, by performing differential processing on the position coordinates and azimuth angles, the changes in position coordinates and azimuth angles at different times can be obtained.

[0241] For example, for a certain type of data, the processing results are {a, b, c, d, e}. If the first data is taken as the reference value, the corresponding differential positioning results are {a, ba, ca, da, ea}.

[0242] For example, in DL-AOA, for two adjacent data points, the previous value can be used as a reference, and the difference between the two data points can be used as the difference result for the next data point. Thus, the angular changes of DL-AOA at different times can be obtained. Similarly, by performing difference processing on the position coordinates and azimuth angles, the changes in position coordinates and azimuth angles at different times can be obtained.

[0243] For example, for a certain type of data, the processing results are {a, b, c, d, e}. If the first data is taken as the reference value, the corresponding differential positioning results are {a, ba, cb, dc, ed}.

[0244] In some embodiments, the method further includes: obtaining at least two initial positioning results of the terminal device based on the DL-AOA corresponding to each TRP at at least two times, performing differential processing on the at least two initial positioning results to obtain positioning results, and then sending third positioning feedback information to the network device. The third positioning feedback information includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value.

[0245] Specifically, when the terminal device determines the positioning result, after obtaining the differential positioning result, the terminal device sends the differential positioning result to the network device through a third positioning feedback message. Thus, both the network device and the terminal device can obtain the changes in the positioning result of the terminal device.

[0246] In some embodiments, the third positioning feedback information further includes: an angle measurement time window corresponding to each DL-AOA, wherein the angle measurement time window is used to represent the correspondence between DL-AOA and angle measurement time.

[0247] Specifically, when the terminal device measures DL-AOA exactly according to the angle measurement time window configured by the network device, the terminal device does not need to feed back the angle measurement time window corresponding to DL-AOA to the network device.

[0248] If the angle measurement time window of the terminal device for DL-AOA is inconsistent with the time window configured by the network device, or if the angle measurement time window corresponding to DL-AOA is entirely configured by the terminal device itself, the terminal device will feed back the actual angle measurement time window corresponding to DL-AOA to the network device through the third positioning feedback information, so that the network device knows the actual angle measurement time of each DL-AOA.

[0249] In some embodiments, the scenario where the location result is determined by a network device is explained.

[0250] Figure 4 Another schematic diagram of the positioning method provided in the embodiments of this application is shown below. Figure 4 As shown, the positioning method includes the following steps:

[0251] S010, The network device obtains the coordinate information of at least one TRP;

[0252] S100. The network device sends a PRS signal to the terminal device through at least one network-side transceiver node (TRP).

[0253] S200, The terminal device receives a PRS signal from at least one TRP in the network device;

[0254] S300, The terminal equipment determines the downlink signal arrival angle DL-AOA of the PRS signal for each TRP;

[0255] S400, The terminal device sends a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP and the angle measurement time window corresponding to the DL-AOA. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP.

[0256] S510: The network device obtains the first unit direction vector from TRP to the terminal device in the local coordinate system according to DL-AOA.

[0257] S520: The network device obtains the second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP.

[0258] S530: The network device obtains the coordinate information of the terminal device in the global coordinate system based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector.

[0259] S600: The network device sends a spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system to the terminal device.

[0260] It should be noted that the principle by which network devices determine the location of terminal devices based on DL-AOA is the same as the principle by which terminal devices determine the location of terminal devices based on DL-AOA. Therefore, the detailed process of network devices performing location processing can be found in the implementation examples of location processing through terminal devices, and will not be repeated here.

[0261] In some embodiments, obtaining the second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP includes: obtaining a first relational equation based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix; obtaining a second relational equation based on the spatial relationship between the first unit direction vector and the DL-AOA; obtaining a third relational equation based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP; constructing a system of equations based on the first, second, and third relational equations; and solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0262] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0263] Based on the first relation equation, the second relation equation, and the third relation equation, a set of equations is constructed, including: based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, and the set of equations includes 3N equations;

[0264] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including: solving the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0265] In some embodiments, the number of TRPs is N, where N can be 1 or 2;

[0266] Based on the first relation equation, the second relation equation, and the third relation equation, construct a set of equations, including: based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, construct a set of equations, which includes N or 2N equations;

[0267] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including: obtaining the historical positioning information of the terminal device, which includes at least one of the historical spatial transformation matrix or historical coordinate information; and based on the historical positioning information, solving the system of equations containing N or 2N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0268] In some embodiments, the system of equations is solved iteratively.

[0269] Solving the system of equations includes: obtaining historical positioning information of the terminal device, which includes at least one of historical spatial transformation matrix or historical coordinate information; using the historical positioning information as the initial value for iteration, and solving the system of equations iteratively.

[0270] In some embodiments, differential processing can also be used to obtain differential positioning results when the positioning result is determined by the network device.

[0271] Specifically, for a terminal device, receiving a PRS signal from at least one TRP in a network device and determining the DL-AOA of the PRS signal for each TRP includes: for each TRP, receiving the PRS signal sent by the TRP at at least two times and determining the DL-AOA corresponding to the TRP at each of the at least two times.

[0272] Correspondingly, based on DL-AOA, the location results of the terminal device are obtained, including:

[0273] The system sends a fourth positioning feedback message to the network device. This message includes the DL-AOA corresponding to each TRP at at least two time points and the angle measurement time window corresponding to each DL-AOA. The fourth positioning feedback message instructs the network device to obtain at least two initial positioning results for the terminal device based on the DL-AOA corresponding to each TRP at at least two time points, and to perform differential processing on the at least two initial positioning results to obtain the positioning result. The system also receives the positioning result from the network device. The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are those with positioning times different from the positioning result reference value.

[0274] For network devices, obtaining the positioning results of terminal devices determined according to DL-AOA includes: receiving the DL-AOA corresponding to each TRP of the terminal device at at least two times; obtaining at least two initial positioning results of the terminal device according to the DL-AOA corresponding to each TRP at at least two times, and performing differential processing on the at least two initial positioning results to obtain the positioning result; wherein, the positioning result includes a positioning result reference value and changes of other initial positioning results relative to the positioning result reference value, the positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results among the at least two initial positioning results whose positioning time is different from the positioning result reference value.

[0275] It should be noted that the principle by which network devices determine the location result of terminal devices using differential processing based on DL-AOA is the same as the principle by which terminal devices determine the location result of terminal devices using differential processing based on DL-AOA. Therefore, the detailed process of network devices using differential processing for location processing can be found in the implementation examples of terminal devices using differential processing for location processing, and will not be repeated here.

[0276] In some embodiments, the method further includes: after obtaining the positioning result of the terminal device, the network device sends a positioning result reference value and other initial positioning results relative to the positioning result reference value to the terminal device.

[0277] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0278] In some embodiments, a terminal device is provided. Figure 5 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application, such as... Figure 5 As shown, the terminal device includes: a memory 112, a transceiver 113, and a processor 111.

[0279] Memory 112 is used to store computer programs; transceiver 113 is used to send and receive data under the control of processor 111; processor 111 is used to read the computer program in memory 112 and perform the following operations:

[0280] Receive a Position Reference Signal (PRS) from at least one network-side transceiver node (TRP) in the network device;

[0281] Determine the downlink signal arrival angle (DL-AOA) of the PRS signal for each TRP;

[0282] Obtain the location results of the terminal device based on DL-AOA.

[0283] In some embodiments, the method further includes:

[0284] Receive location configuration information from network devices, the location configuration information including the coordinate information of at least one TRP;

[0285] Based on DL-AOA, obtain the location results of the terminal device, including:

[0286] Based on DL-AOA, the first unit direction vector from TRP to the terminal device in the local coordinate system is obtained;

[0287] Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained;

[0288] Based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the coordinate information of the terminal device in the global coordinate system is obtained.

[0289] In some embodiments, the coordinate information of the terminal device in the global coordinate system is obtained based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, including:

[0290] Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0291] Based on the spatial relationship between the first unit direction vector and DL-AOA, the second relationship equation is obtained;

[0292] Based on the spatial relationship between the second unit direction vector and the coordinate information of TRP, the third relationship equation is obtained;

[0293] Based on the first relation equation, the second relation equation, and the third relation equation, construct a system of equations;

[0294] Solving the system of equations yields the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0295] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0296] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0297] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations.

[0298] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0299] Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0300] In some embodiments, the number of TRPs is N, where N can be 1 or 2;

[0301] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0302] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, construct a set of equations, which includes N or 2N equations;

[0303] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0304] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0305] Based on historical positioning information, a system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0306] In some embodiments, the system of equations is solved iteratively.

[0307] Solving the system of equations includes:

[0308] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0309] Historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

[0310] In some embodiments, it also includes:

[0311] After obtaining the positioning result of the terminal device, the first positioning feedback information is sent to the network device. The first positioning feedback information includes the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0312] In some embodiments, the first positioning feedback information further includes: an angle measurement time window corresponding to DL-AOA, wherein the angle measurement time window is used to represent the correspondence between DL-AOA and angle measurement time.

[0313] In some embodiments, obtaining the positioning result of the terminal device based on DL-AOA includes:

[0314] Send a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP and the angle measurement time window corresponding to the DL-AOA. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP.

[0315] Receive the location results of the terminal device from the network device.

[0316] In some embodiments, receiving a PRS signal from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes:

[0317] For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times;

[0318] Based on DL-AOA, obtain the location results of the terminal device, including:

[0319] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and differential processing is performed on the at least two initial positioning results to obtain the positioning result;

[0320] The positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results of at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0321] In some embodiments, it also includes:

[0322] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results are obtained for the terminal device. Differential processing is performed on the at least two initial positioning results to obtain the positioning result. Then, a third positioning feedback information is sent to the network device. The third positioning feedback information includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value.

[0323] In some embodiments, the third positioning feedback information further includes: an angle measurement time window corresponding to each DL-AOA, wherein the angle measurement time window is used to represent the correspondence between DL-AOA and angle measurement time.

[0324] In some embodiments, receiving a PRS signal from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes:

[0325] For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times;

[0326] Based on DL-AOA, obtain the location results of the terminal device, including:

[0327] Send a fourth positioning feedback information to the network device. The fourth positioning feedback information includes the DL-AOA corresponding to each TRP at at least two times and the angle measurement time window corresponding to each DL-AOA. The fourth positioning feedback information is used to instruct the network device to obtain at least two initial positioning results of the terminal device based on the DL-AOA corresponding to each TRP at at least two times, and to perform differential processing on the at least two initial positioning results to obtain the positioning result.

[0328] Receive location results from terminal devices in the network equipment;

[0329] The positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results of at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0330] In some embodiments, a network device is provided. Figure 6 This is a schematic diagram of the network device provided in the embodiments of this application, such as... Figure 6 As shown, the network device includes: a memory 212, a transceiver 213, and a processor 211.

[0331] Memory 212 is used to store computer programs; transceiver 213 is used to send and receive data under the control of processor 211; processor 211 is used to read the computer program in memory 212 and perform the following operations:

[0332] A PRS signal is sent to the terminal device through at least one TRP. The PRS signal is used to instruct the terminal device to determine the DL-AOA of the PRS signal of each TRP.

[0333] Obtain the location results of the terminal device determined by DL-AOA.

[0334] In some embodiments, the method further includes:

[0335] Send positioning configuration information to the terminal device. The positioning configuration information includes the coordinate information of at least one TRP.

[0336] Obtain the location results of the terminal device determined by DL-AOA, including:

[0337] The terminal device receives the positioning results sent by the terminal device. The positioning results are determined by the terminal device based on the coordinate information of DL-AOA and at least one TRP.

[0338] In some embodiments, obtaining the positioning result of the terminal device determined according to DL-AOA includes:

[0339] DL-AOA receives PRS signals from each TRP of the terminal device;

[0340] Based on DL-AOA, the first unit direction vector from TRP to the terminal device in the local coordinate system is obtained;

[0341] Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained;

[0342] Based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the coordinate information of the terminal device in the global coordinate system is obtained.

[0343] In some embodiments, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained based on the coordinate information of the TRP, including:

[0344] Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0345] Based on the spatial relationship between the first unit direction vector and DL-AOA, the second relationship equation is obtained;

[0346] Based on the spatial relationship between the second unit direction vector and the coordinate information of TRP, the third relationship equation is obtained;

[0347] Based on the first relation equation, the second relation equation, and the third relation equation, construct a system of equations;

[0348] Solving the system of equations yields the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0349] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0350] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0351] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations.

[0352] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0353] Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0354] In some embodiments, the number of TRPs is N, where N can be 1 or 2;

[0355] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0356] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, construct a set of equations, which includes N or 2N equations;

[0357] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0358] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0359] Based on historical positioning information, a system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0360] In some embodiments, the system of equations is solved iteratively.

[0361] Solving the system of equations includes:

[0362] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0363] Historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

[0364] In some embodiments, it also includes:

[0365] After obtaining the positioning result of the terminal device, the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system are sent to the terminal device.

[0366] In some embodiments, obtaining the positioning result of the terminal device determined according to DL-AOA includes:

[0367] Receive the DL-AOA corresponding to each TRP from the terminal device at at least two times;

[0368] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and differential processing is performed on the at least two initial positioning results to obtain the positioning result;

[0369] The positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results of at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0370] In some embodiments, it also includes:

[0371] After obtaining the positioning result of the terminal device, the system sends the positioning result reference value and other initial positioning results relative to the positioning result reference value to the terminal device.

[0372] In some embodiments, a positioning device is provided for use in a terminal device. Figure 7 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application, such as... Figure 7 As shown, it includes:

[0373] Signal receiving module 110 is used to receive a positioning reference signal PRS from at least one network-side transceiver node TRP in the network device;

[0374] Angle measurement module 120 is used to determine the downlink signal arrival angle DL-AOA of the PRS signal for each TRP;

[0375] The first processing module 130 is used to obtain the positioning result of the terminal device according to DL-AOA.

[0376] In some embodiments, the method further includes:

[0377] Receive location configuration information from network devices, the location configuration information including the coordinate information of at least one TRP;

[0378] Based on DL-AOA, obtain the location results of the terminal device, including:

[0379] Based on DL-AOA, the first unit direction vector from TRP to the terminal device in the local coordinate system is obtained;

[0380] Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained;

[0381] Based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the coordinate information of the terminal device in the global coordinate system is obtained.

[0382] In some embodiments, the coordinate information of the terminal device in the global coordinate system is obtained based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, including:

[0383] Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0384] Based on the spatial relationship between the first unit direction vector and DL-AOA, the second relationship equation is obtained;

[0385] Based on the spatial relationship between the second unit direction vector and the coordinate information of TRP, the third relationship equation is obtained;

[0386] Based on the first relation equation, the second relation equation, and the third relation equation, construct a system of equations;

[0387] Solving the system of equations yields the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0388] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0389] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0390] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations.

[0391] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0392] Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0393] In some embodiments, the number of TRPs is N, where N can be 1 or 2;

[0394] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0395] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, construct a set of equations, which includes N or 2N equations;

[0396] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0397] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0398] Based on historical positioning information, a system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0399] In some embodiments, the system of equations is solved iteratively.

[0400] Solving the system of equations includes:

[0401] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0402] Historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

[0403] In some embodiments, it also includes:

[0404] After obtaining the positioning result of the terminal device, the first positioning feedback information is sent to the network device. The first positioning feedback information includes the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0405] In some embodiments, the first positioning feedback information further includes: an angle measurement time window corresponding to DL-AOA, wherein the angle measurement time window is used to represent the correspondence between DL-AOA and angle measurement time.

[0406] In some embodiments, obtaining the positioning result of the terminal device based on DL-AOA includes:

[0407] Send a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP and the angle measurement time window corresponding to the DL-AOA. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP.

[0408] Receive the location results of the terminal device from the network device.

[0409] In some embodiments, receiving a PRS signal from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes:

[0410] For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times;

[0411] Based on DL-AOA, obtain the location results of the terminal device, including:

[0412] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and differential processing is performed on the at least two initial positioning results to obtain the positioning result;

[0413] The positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results of at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0414] In some embodiments, it also includes:

[0415] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results are obtained for the terminal device. Differential processing is performed on the at least two initial positioning results to obtain the positioning result. Then, a third positioning feedback information is sent to the network device. The third positioning feedback information includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value.

[0416] In some embodiments, the third positioning feedback information further includes: an angle measurement time window corresponding to each DL-AOA, wherein the angle measurement time window is used to represent the correspondence between DL-AOA and angle measurement time.

[0417] In some embodiments, receiving a PRS signal from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes:

[0418] For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times;

[0419] Based on DL-AOA, obtain the location results of the terminal device, including:

[0420] Send a fourth positioning feedback information to the network device. The fourth positioning feedback information includes the DL-AOA corresponding to each TRP at at least two times and the angle measurement time window corresponding to each DL-AOA. The fourth positioning feedback information is used to instruct the network device to obtain at least two initial positioning results of the terminal device based on the DL-AOA corresponding to each TRP at at least two times, and to perform differential processing on the at least two initial positioning results to obtain the positioning result.

[0421] Receive location results from terminal devices in the network equipment;

[0422] The positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results of at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0423] In some embodiments, a positioning device is provided for use in network devices. Figure 8 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application, such as... Figure 8 As shown, the device includes:

[0424] Signal transmitting module 210 is used to transmit PRS signals to terminal devices through at least one TRP. The PRS signals are used to instruct the terminal devices to determine the DL-AOA of the PRS signals of each TRP.

[0425] The second processing module 220 is used to obtain the positioning results of the terminal device determined according to DL-AOA.

[0426] In some embodiments, the method further includes:

[0427] Send positioning configuration information to the terminal device. The positioning configuration information includes the coordinate information of at least one TRP.

[0428] Obtain the location results of the terminal device determined by DL-AOA, including:

[0429] The terminal device receives the positioning results sent by the terminal device. The positioning results are determined by the terminal device based on the coordinate information of DL-AOA and at least one TRP.

[0430] In some embodiments, obtaining the positioning result of the terminal device determined according to DL-AOA includes:

[0431] DL-AOA receives PRS signals from each TRP of the terminal device;

[0432] Based on DL-AOA, the first unit direction vector from TRP to the terminal device in the local coordinate system is obtained;

[0433] Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained;

[0434] Based on the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the coordinate information of the terminal device in the global coordinate system is obtained.

[0435] In some embodiments, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained based on the coordinate information of the TRP, including:

[0436] Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix, the first relational equation is obtained;

[0437] Based on the spatial relationship between the first unit direction vector and DL-AOA, the second relationship equation is obtained;

[0438] Based on the spatial relationship between the second unit direction vector and the coordinate information of TRP, the third relationship equation is obtained;

[0439] Based on the first relation equation, the second relation equation, and the third relation equation, construct a system of equations;

[0440] Solving the system of equations yields the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0441] In some embodiments, the number of TRPs is N, where N is greater than or equal to 3;

[0442] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0443] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations.

[0444] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0445] Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0446] In some embodiments, the number of TRPs is N, where N can be 1 or 2;

[0447] Based on the first relation equation, the second relation equation, and the third relation equation, a system of equations is constructed, including:

[0448] Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, construct a set of equations, which includes N or 2N equations;

[0449] Correspondingly, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system, including:

[0450] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0451] Based on historical positioning information, a system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

[0452] In some embodiments, the system of equations is solved iteratively.

[0453] Solving the system of equations includes:

[0454] Obtain historical location information of the terminal device, including at least one of historical spatial transformation matrix or historical coordinate information;

[0455] Historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

[0456] In some embodiments, it also includes:

[0457] After obtaining the positioning result of the terminal device, the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system are sent to the terminal device.

[0458] In some embodiments, obtaining the positioning result of the terminal device determined according to DL-AOA includes:

[0459] Receive the DL-AOA corresponding to each TRP from the terminal device at at least two times;

[0460] Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and differential processing is performed on the at least two initial positioning results to obtain the positioning result;

[0461] The positioning result includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are the initial positioning results of at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

[0462] In some embodiments, it also includes:

[0463] After obtaining the positioning result of the terminal device, the system sends the positioning result reference value and other initial positioning results relative to the positioning result reference value to the terminal device.

[0464] In some embodiments, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of various method embodiments of the present application.

[0465] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0466] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0467] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A positioning method applied to a terminal device, characterized in that, include: Receive a Position Reference Signal (PRS) from at least one network-side transceiver node (TRP) in the network device; Determine the downlink signal arrival angle (DL-AOA) of the PRS signal for each TRP; Based on the DL-AOA, the positioning result of the terminal device is obtained; The step of obtaining the positioning result of the terminal device based on the DL-AOA includes: Receive positioning configuration information from the network device, the positioning configuration information including the coordinate information of at least one TRP; Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained; Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained; Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the first relational equation is obtained; Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained; Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained; Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed; When the number N of the TRP is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; When the number N of the TRP is 1 or 2, the equations are solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; the historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. or, Send a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP. The network device receives the positioning result of the terminal device; the positioning result is obtained by the network device after receiving the DL-AOA of the PRS signal of each TRP from the terminal device, and based on the DL-AOA, obtaining the first unit direction vector from the TRP to the terminal device in the local coordinate system, and based on the coordinate information of the TRP, obtaining the second unit direction vector from the TRP to the terminal device in the global coordinate system, obtaining the first relational equation based on the spatial relationship of the first unit direction vector, the second unit direction vector, and the spatial transformation matrix of the first unit direction vector and the second unit direction vector, and obtaining the second relational equation based on the spatial relationship between the first unit direction vector and the DL-AOA. Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained. Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed. When the number of TRPs N is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. When the number of TRPs N is 1 or 2, the system of equations is solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information.

2. The method according to claim 1, characterized in that, When the number N of TRP is greater than or equal to 3, The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes: Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations. Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes: Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

3. The method according to claim 1, characterized in that, When the number N of TRP is 1 or 2, The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes: Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes N or 2N equations. Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes: Obtain the historical location information of the terminal device; Based on the historical positioning information, the system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

4. The method according to claim 1, characterized in that, The system of equations is solved iteratively. Solving the system of equations includes: Obtain the historical location information of the terminal device; The historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

5. The method according to any one of claims 1-4, characterized in that, Also includes: After obtaining the positioning result of the terminal device, a first positioning feedback information is sent to the network device. The first positioning feedback information includes the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

6. The method according to claim 5, characterized in that, The first positioning feedback information also includes: the angle measurement time window corresponding to the DL-AOA, the angle measurement time window being used to represent the correspondence between the DL-AOA and the angle measurement time.

7. The method according to any one of claims 1-4, characterized in that, The step of receiving PRS signals from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes: For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times respectively; The step of obtaining the positioning result of the terminal device based on the DL-AOA includes: Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and the at least two initial positioning results are differentially processed to obtain the positioning result; The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are initial positioning results among the at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

8. The method according to claim 7, characterized in that, Also includes: Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results are obtained for the terminal device. After differential processing is performed on the at least two initial positioning results to obtain the positioning result, a third positioning feedback information is sent to the network device. The third positioning feedback information includes the positioning result reference value and the changes of other initial positioning results relative to the positioning result reference value.

9. The method according to claim 8, characterized in that, The third positioning feedback information also includes: an angle measurement time window corresponding to each DL-AOA, wherein the angle measurement time window is used to represent the correspondence between the DL-AOA and the angle measurement time.

10. The method according to any one of claims 1-4, characterized in that, The step of receiving PRS signals from at least one TRP in the network device and determining the DL-AOA of the PRS signal for each TRP includes: For each TRP, receive the PRS signals sent by the TRP at at least two times, and determine the DL-AOA corresponding to the TRP at at least two times respectively; The step of obtaining the positioning result of the terminal device based on the DL-AOA includes: Send a fourth positioning feedback information to the network device. The fourth positioning feedback information includes the DL-AOA corresponding to each TRP at at least two times and the angle measurement time window corresponding to each DL-AOA. The fourth positioning feedback information is used to instruct the network device to obtain at least two initial positioning results of the terminal device based on the DL-AOA corresponding to each TRP at at least two times, and to perform differential processing on the at least two initial positioning results to obtain the positioning result. Receive the location result from the terminal device in the network device; The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are initial positioning results among the at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

11. A positioning method applied to network devices, characterized in that, include: A PRS signal is sent to the terminal device through at least one TRP, the PRS signal being used to instruct the terminal device to determine the DL-AOA of the PRS signal for each TRP; Obtain the positioning result of the terminal device determined according to the DL-AOA; The step of obtaining the positioning result of the terminal device determined according to the DL-AOA includes: Send positioning configuration information to the terminal device, the positioning configuration information including the coordinate information of the at least one TRP; The system receives the positioning result of the terminal device sent by the terminal device. The positioning result is obtained by the terminal device based on the DL-AOA, which yields a first unit direction vector from the TRP to the terminal device in the local coordinate system, and a second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP. Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, a first relational equation is obtained. Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relational equation is obtained. Based on the spatial relationship between the second unit direction vector and the TRP, a second relational equation is obtained. The spatial relationship of the coordinate information of TRPs is used to obtain a third relational equation. Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed. When the number of TRPs N is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. When the number of TRPs N is 1 or 2, the system of equations is solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. or, DL-AOA receives the PRS signal from each TRP of the terminal device; Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained; Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained; Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the first relational equation is obtained; Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained; Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained; Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed; When the number N of the TRP is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; When the number N of the TRP is 1 or 2, the equations are solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; the historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information.

12. The method according to claim 11, characterized in that, When the number N of TRP is greater than or equal to 3, The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes: Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes 3N equations. Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes: Solve the system of equations containing 3N equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

13. The method according to claim 11, characterized in that, When the number N of TRP is 1 or 2, The construction of a system of equations based on the first relational equation, the second relational equation, and the third relational equation includes: Based on the first relation equation, the second relation equation, and the third relation equation corresponding to each TRP, a set of equations is constructed, which includes N or 2N equations. Correspondingly, solving the system of equations to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system includes: Obtain the historical location information of the terminal device; Based on the historical positioning information, the system of equations containing N or 2N equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system.

14. The method according to claim 11, characterized in that, The system of equations is solved iteratively. Solving the system of equations includes: Obtain the historical location information of the terminal device; The historical location information is used as the initial value for iteration, and the system of equations is solved iteratively.

15. The method according to any one of claims 11-14, characterized in that, Also includes: After obtaining the positioning result of the terminal device, the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system are sent to the terminal device.

16. The method according to claim 11, characterized in that, The step of obtaining the positioning result of the terminal device determined according to the DL-AOA includes: Receive the DL-AOA corresponding to each TRP at at least two times from the terminal device; Based on the DL-AOA corresponding to each TRP at at least two times, at least two initial positioning results of the terminal device are obtained, and the at least two initial positioning results are differentially processed to obtain the positioning result; The positioning result includes a positioning result reference value and changes in other initial positioning results relative to the positioning result reference value. The positioning result reference value is any one of the at least two initial positioning results, and the other initial positioning results are initial positioning results among the at least two initial positioning results whose positioning time is different from that of the positioning result reference value.

17. The method according to claim 16, characterized in that, Also includes: After obtaining the positioning result of the terminal device, the positioning result reference value and other initial positioning results relative to the positioning result reference value are sent to the terminal device.

18. A terminal device, characterized in that, Includes memory, transceiver, and processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Receive a Position Reference Signal (PRS) from at least one network-side transceiver node (TRP) in the network device; Determine the downlink signal arrival angle (DL-AOA) of the PRS signal for each TRP; Based on the DL-AOA, the positioning result of the terminal device is obtained; The step of obtaining the positioning result of the terminal device based on the DL-AOA includes: Receive positioning configuration information from the network device, the positioning configuration information including the coordinate information of at least one TRP; Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained; Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained; Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the first relational equation is obtained; Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained; Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained; Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed; When the number N of the TRP is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; When the number N of the TRP is 1 or 2, the equations are solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; the historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. or, Send a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP. The network device receives the positioning result of the terminal device; the positioning result is obtained by the network device after receiving the DL-AOA of the PRS signal of each TRP from the terminal device, and based on the DL-AOA, obtaining the first unit direction vector from the TRP to the terminal device in the local coordinate system, and based on the coordinate information of the TRP, obtaining the second unit direction vector from the TRP to the terminal device in the global coordinate system, obtaining the first relational equation based on the spatial relationship of the first unit direction vector, the second unit direction vector, and the spatial transformation matrix of the first unit direction vector and the second unit direction vector, and obtaining the second relational equation based on the spatial relationship between the first unit direction vector and the DL-AOA. Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained. Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed. When the number of TRPs N is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. When the number of TRPs N is 1 or 2, the system of equations is solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information.

19. A network device, characterized in that, Includes memory, transceiver, and processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: A PRS signal is sent to the terminal device through at least one TRP, the PRS signal being used to instruct the terminal device to determine the DL-AOA of the PRS signal for each TRP; Obtain the positioning result of the terminal device determined according to the DL-AOA; The step of obtaining the positioning result of the terminal device determined according to the DL-AOA includes: Send positioning configuration information to the terminal device, the positioning configuration information including the coordinate information of the at least one TRP; The system receives the positioning result of the terminal device sent by the terminal device. The positioning result is obtained by the terminal device based on the DL-AOA, which yields a first unit direction vector from the TRP to the terminal device in the local coordinate system, and a second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP. Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, a first relational equation is obtained. Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relational equation is obtained. Based on the spatial relationship between the second unit direction vector and the TRP, a second relational equation is obtained. The spatial relationship of the coordinate information of TRPs is used to obtain a third relational equation. Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed. When the number of TRPs N is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. When the number of TRPs N is 1 or 2, the system of equations is solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. or, DL-AOA receives the PRS signal from each TRP of the terminal device; Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained; Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained; Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the first relational equation is obtained; Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained; Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained; Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed; When the number N of the TRP is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; When the number N of the TRP is 1 or 2, the equations are solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; the historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information.

20. A positioning device, applied to a terminal device, characterized in that, The device includes: The signal receiving module is used to receive the positioning reference signal (PRS) from at least one network-side transceiver node (TRP) in the network device. An angle measurement module is used to determine the downlink signal arrival angle DL-AOA of the PRS signal for each TRP; The first processing module is used to obtain the positioning result of the terminal device based on the DL-AOA. The step of obtaining the positioning result of the terminal device based on the DL-AOA includes: Receive positioning configuration information from the network device, the positioning configuration information including the coordinate information of at least one TRP; Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained; Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained; Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the first relational equation is obtained; Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained; Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained; Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed; When the number N of the TRP is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; When the number N of the TRP is 1 or 2, the equations are solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; the historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. or, Send a second positioning feedback information to the network device. The second positioning feedback information includes the DL-AOA of the PRS signal of each TRP. The second positioning feedback information is used to instruct the network device to determine the positioning result of the terminal device based on the DL-AOA and the coordinate information of at least one TRP. The network device receives the positioning result of the terminal device; the positioning result is obtained by the network device after receiving the DL-AOA of the PRS signal of each TRP from the terminal device, and based on the DL-AOA, obtaining the first unit direction vector from the TRP to the terminal device in the local coordinate system, and based on the coordinate information of the TRP, obtaining the second unit direction vector from the TRP to the terminal device in the global coordinate system, obtaining the first relational equation based on the spatial relationship of the first unit direction vector, the second unit direction vector, and the spatial transformation matrix of the first unit direction vector and the second unit direction vector, and obtaining the second relational equation based on the spatial relationship between the first unit direction vector and the DL-AOA. Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained. Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed. When the number of TRPs N is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. When the number of TRPs N is 1 or 2, the system of equations is solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information.

21. A positioning device, applied to network equipment, characterized in that, The device includes: A signal transmitting module is used to transmit a PRS signal to a terminal device through at least one TRP, wherein the PRS signal is used to instruct the terminal device to determine the DL-AOA of the PRS signal for each TRP; The second processing module is used to obtain the positioning result of the terminal device determined according to the DL-AOA; The step of obtaining the positioning result of the terminal device determined according to the DL-AOA includes: Send positioning configuration information to the terminal device, the positioning configuration information including the coordinate information of the at least one TRP; The system receives the positioning result of the terminal device sent by the terminal device. The positioning result is obtained by the terminal device based on the DL-AOA, which yields a first unit direction vector from the TRP to the terminal device in the local coordinate system, and a second unit direction vector from the TRP to the terminal device in the global coordinate system based on the coordinate information of the TRP. Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, a first relational equation is obtained. Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relational equation is obtained. Based on the spatial relationship between the second unit direction vector and the TRP, a second relational equation is obtained. The spatial relationship of the coordinate information of TRPs is used to obtain a third relational equation. Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed. When the number of TRPs N is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. When the number of TRPs N is 1 or 2, the system of equations is solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system. The historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information. or, DL-AOA receives the PRS signal from each TRP of the terminal device; Based on the DL-AOA, the first unit direction vector from the TRP to the terminal device in the local coordinate system is obtained; Based on the coordinate information of the TRP, the second unit direction vector from the TRP to the terminal device in the global coordinate system is obtained; Based on the spatial relationship between the first unit direction vector, the second unit direction vector, and the spatial transformation matrix between the first unit direction vector and the second unit direction vector, the first relational equation is obtained; Based on the spatial relationship between the first unit direction vector and the DL-AOA, a second relationship equation is obtained; Based on the spatial relationship between the second unit direction vector and the coordinate information of the TRP, a third relational equation is obtained; Based on the first relational equation, the second relational equation, and the third relational equation, a system of equations is constructed; When the number N of the TRP is greater than or equal to 3, the system of equations is solved to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; When the number N of the TRP is 1 or 2, the equations are solved based on the historical positioning information of the terminal device to obtain the spatial transformation matrix and the coordinate information of the terminal device in the global coordinate system; the historical positioning information includes at least one of the historical spatial transformation matrix or historical coordinate information.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the positioning method as described in any one of claims 1-17.

Images