A method and apparatus for positioning

Abstract

The application provides a positioning method and device, the method comprising: a first device sending positioning request information to a second device and a third device respectively, the positioning request information being used to request the second device and the third device to initiate relative positioning; the first device receiving first measurement information from the second device and / or second measurement information from the third device, the first measurement information comprising a first measurement result and an error distribution of the first measurement result, the second measurement information comprising a second measurement result and an error distribution of the second measurement result, and the first measurement information and / or the second measurement information being used to determine a relative position result of the second device and the third device. Through the method, in relative positioning, the first measurement information reported by the second device and / or the second measurement information reported by the third device both comprise error distributions, which can be used to obtain more accurate positioning results.

Description

[0001] This application claims priority to the Chinese Patent Application No. 202110814960.1, filed on July 19, 2021, and entitled "A Cooperation Positioning Method and Device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, and more particularly, to a positioning method and device. BACKGROUND

[0003] Positioning of a terminal device refers to determining geographical position information of the terminal device by a mobile communication network through measuring wireless signals. Positioning service enables users to obtain geographical information service based on positioning information at any time and in any place, and meets the requirement of determining position of "who, when and where" in communication.

[0004] Existing positioning technology principles mainly include a positioning mode based on proximity relationship, a positioning mode based on radio frequency fingerprint, and a positioning mode based on spatial geometric relationship. Among them, the positioning mode based on spatial geometric relationship is the most mainstream positioning method in the current 5th generation (5G) system. In a side link (SL), when relative positioning is performed based on spatial geometric relationship, positioning mainly relies on a first path of electromagnetic wave propagation between two devices to determine the distance and angle between the two devices, and therefore the positioning accuracy is limited by the channel environment. For example, when the first path between two terminal devices is blocked by an object, the propagation speed of electromagnetic wave in the blocking object will be reduced, which will cause the signal propagation time of the first path between the two terminal devices to be larger, and thus the distance measurement value will be deviated.

[0005] When performing relative positioning, how to obtain more accurate positioning results becomes a problem to be solved. SUMMARY

[0006] The present application provides a positioning method to obtain more accurate positioning results.

[0007] In a first aspect, a positioning method is provided, which can be executed by a first device, or can also be executed by a chip, a chip system or a circuit in the first device, and the present application does not limit this. For ease of description, the following is described by taking execution by the first device as an example.

[0008] The method comprises: sending positioning request information to the second device and the third device respectively, the positioning request information being used to request the second device and the third device to initiate relative positioning; receiving first measurement information from the second device and / or second measurement information from the third device, the first measurement information being used to determine the relative position between the second device and the third device, the first measurement information comprising a first measurement result and an error distribution of the first measurement result, the second measurement information being used to determine the relative position between the second device and the third device, the second measurement information comprising a second measurement result and an error distribution of the second measurement result, the first measurement information and / or the second measurement information being used to determine the relative position result of the second device and the third device.

[0009] Based on the above technical solution, the first device can receive the first measurement information from the second device and / or the second measurement information from the third device, the first measurement information comprising a first measurement result and an error distribution of the first measurement result, and the second measurement information comprising a second measurement result and an error distribution of the second measurement result, so that the first device can determine the relative position result of the second device and the third device according to the first measurement information and / or the second measurement information. That is, in relative positioning, the first measurement information reported by the second device and / or the second measurement information reported by the third device both comprise error distributions, which can be used to obtain more accurate positioning results.

[0010] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: sending resource configuration information of the first reference signal and / or resource configuration information of the second reference signal to the second device and the third device, the resource configuration information of the first reference signal being used to indicate resources of the first reference signal sent by the second device to the third device, and the resource configuration information of the second reference signal being used to indicate resources of the second reference signal sent by the third device to the second device.

[0011] With reference to the first aspect, in some implementations of the first aspect, receiving the first measurement information from the second device and / or the second measurement information from the third device comprises: receiving the first measurement information from the second device or the second measurement information from the third device, wherein the first measurement result comprises first time difference information, and the second measurement result comprises second time difference information, the first time difference information being used to indicate a time difference between sending the second reference signal by the third device and receiving the second reference signal by the second device, and the second time difference information being used to indicate a time difference between sending the first reference signal by the second device and receiving the first reference signal by the third device.

[0012] With reference to the first aspect, in some implementations of the first aspect, the receiving the first measurement information from the second device and / or the second measurement information from the third device comprises: receiving the first measurement information from the second device and the second measurement information from the third device, wherein the first measurement result comprises third time difference information, and the second measurement result comprises fourth time difference information, the third time difference information is used to indicate a time difference between the second device sending the first reference signal and the second device receiving the second reference signal, and the fourth time difference information is used to indicate a time difference between the third device receiving the first reference signal and the third device sending the second reference signal.

[0013] With reference to the first aspect, in some implementations of the first aspect, the first measurement result comprises first angle measurement information, and / or the second measurement result comprises second angle measurement information, the first angle measurement information is determined according to the second reference signal, and the first angle measurement information is used to indicate an angle of the third device relative to the second device, the second angle measurement information is determined according to the first reference signal, and the second angle measurement information is used to indicate an angle of the second device relative to the third device.

[0014] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: receiving third measurement information from the third device and / or fourth measurement information from the fourth device, the third measurement information is used to determine a relative position between the third device and the fourth device, the third measurement information comprises a third measurement result and an error distribution of the third measurement result, the fourth measurement information is used to determine a relative position between the third device and the fourth device, and the fourth measurement information comprises a fourth measurement result and an error distribution of the fourth measurement result.

[0015] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: sending resource configuration information of the seventh reference signal and / or resource configuration information of the eighth reference signal to the third device and the fourth device, the resource configuration information of the seventh reference signal is used to indicate a resource of the third device sending the seventh reference signal to the fourth device, and the resource configuration information of the eighth reference signal is used to indicate a resource of the fourth device sending the eighth reference signal to the third device.

[0016] With reference to the first aspect, in some implementations of the first aspect, the receiving the third measurement information from the third device and / or the fourth measurement information from the fourth device comprises: receiving the third measurement information from the third device or the fourth measurement information from the fourth device, wherein the third measurement result comprises fifth time difference information, and the fourth measurement result comprises sixth time difference information, the fifth time difference information is used to indicate a time difference between the fourth device sending the eighth reference signal and the third device receiving the eighth reference signal, and the sixth time difference information is used to indicate a time difference between the third device sending the seventh reference signal and the fourth device receiving the seventh reference signal.

[0017] With reference to the first aspect, in some implementations of the first aspect, the receiving the third measurement information from the third device and / or the fourth measurement information from the fourth device comprises: receiving the third measurement information from the third device and the fourth measurement information from the fourth device, wherein the third measurement result comprises seventh time difference information, and the fourth measurement result comprises eighth time difference information, the seventh time difference information is used to indicate a time difference between the third device sending the seventh reference signal and the third device receiving the eighth reference signal, and the eighth time difference information is used to indicate a time difference between the fourth device receiving the seventh reference signal and the fourth device sending the eighth reference signal.

[0018] With reference to the first aspect, in some implementations of the first aspect, the third measurement result comprises third angle measurement information, and / or the fourth measurement result comprises fourth angle measurement information, the third angle measurement information is determined according to the eighth reference signal, and the third angle measurement information is used to indicate an angle of the fourth device relative to the third device, the fourth angle measurement information is determined according to the seventh reference signal, and the fourth angle measurement information is used to indicate an angle of the third device relative to the fourth device.

[0019] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: receiving fifth measurement information from the second device and / or sixth measurement information from the fourth device, the fifth measurement information is used to determine a relative position between the second device and the fourth device, the fifth measurement information comprises a fifth measurement result and an error distribution of the fifth measurement result, and the sixth measurement information is used to determine a relative position between the second device and the fourth device, the sixth measurement information comprises a sixth measurement result and an error distribution of the sixth measurement result.

[0020] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: sending resource configuration information of the ninth reference signal and / or resource configuration information of the tenth reference signal to the second device and the fourth device, the resource configuration information of the ninth reference signal is used to indicate a resource of the second device sending the ninth reference signal to the fourth device, and the resource configuration information of the tenth reference signal is used to indicate a resource of the fourth device sending the tenth reference signal to the second device.

[0021] With reference to the first aspect, in some implementations of the first aspect, the receiving the fifth measurement information from the second device and / or the sixth measurement information from the fourth device comprises: receiving the fifth measurement information from the second device or the sixth measurement information from the fourth device, wherein the fifth measurement result comprises ninth time difference information, and the sixth measurement result comprises tenth time difference information, the ninth time difference information is used to indicate a time difference between the fourth device sending the tenth reference signal and the second device receiving the tenth reference signal, and the tenth time difference information is used to indicate a time difference between the second device sending the ninth reference signal and the fourth device receiving the ninth reference signal.

[0022] With reference to the first aspect, in some implementations of the first aspect, the receiving the fifth measurement information from the second device and / or the sixth measurement information from the fourth device comprises: receiving the fifth measurement information from the second device and the sixth measurement information from the fourth device, wherein the fifth measurement result comprises eleventh time difference information, and the sixth measurement result comprises twelfth time difference information, the eleventh time difference information is used to indicate a time difference between the second device sending the ninth reference signal and the second device receiving the tenth reference signal, and the twelfth time difference information is used to indicate a time difference between the fourth device receiving the ninth reference signal and the fourth device sending the tenth reference signal.

[0023] With reference to the first aspect, in some implementations of the first aspect, the fifth measurement result comprises fifth angle measurement information, and / or the sixth measurement result comprises sixth angle measurement information, the fifth angle measurement information is determined according to the tenth reference signal, the fifth angle measurement information is used to indicate an angle of the fourth device relative to the second device, the sixth angle measurement information is determined according to the ninth reference signal, and the sixth angle measurement information is used to indicate an angle of the second device relative to the fourth device.

[0024] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: determining a relative position between the second device and the fourth device according to at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information, or the sixth measurement information.

[0025] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: receiving at least one of first prior distribution information, second prior distribution information, or third prior distribution information, the first prior distribution information is from the second device, the second prior distribution information is from the third device, and the third prior distribution information is from the second device or the third device, the first prior distribution information is used to indicate a prior distribution of a relative position between the second device and the fourth device, the second prior distribution information is used to indicate a prior distribution of a relative position between the third device and the fourth device, and the third prior distribution information is used to indicate a prior distribution of a relative position between the second device and the third device.

[0026] With reference to the first aspect, in some implementations of the first aspect, the method further includes determining the relative position between the second device and the fourth device according to at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information, or the sixth measurement information, and at least one of the first prior distribution information, the second prior distribution information, or the third prior distribution information.

[0027] With reference to the first aspect, in some implementations of the first aspect, the method further includes receiving first indication information and second indication information from at least one fifth device, the first indication information being used to indicate a positioning accuracy between the at least one fifth device and the fourth device and / or whether a first channel between the at least one fifth device and the fourth device is a line-of-sight (LoS) propagation channel, and the second indication information being used to indicate a positioning accuracy between the at least one fifth device and the second device and / or whether a second channel between the at least one fifth device and the second device is a LoS propagation channel, the at least one fifth device including the third device.

[0028] With reference to the first aspect, in some implementations of the first aspect, the first indication information is determined according to a measurement result of a third reference signal, and the second indication information is determined according to a measurement result of a fourth reference signal, and the method further includes sending, to the fourth device and the at least one fifth device, resource configuration information of the third reference signal, the resource configuration information of the third reference signal being used to indicate resources of the third reference signal sent by the fourth device to the at least one fifth device; and sending, to the second device and the at least one fifth device, resource configuration information of the fourth reference signal, the resource configuration information of the fourth reference signal being used to indicate resources of the fourth reference signal sent by the second device to the at least one fifth device.

[0029] With reference to the first aspect, in some implementations of the first aspect, the first indication information is determined according to a measurement result of a third reference signal, and the second indication information is determined according to a measurement result of a fourth reference signal, and the fourth device and the first device are the same device, and the method further includes sending, to the at least one fifth device, resource configuration information of the third reference signal, the resource configuration information of the third reference signal being used to indicate resources of the third reference signal sent by the first device to the at least one fifth device; and sending, to the second device and the at least one fifth device, resource configuration information of the fourth reference signal, the resource configuration information of the fourth reference signal being used to indicate resources of the fourth reference signal sent by the second device to the at least one fifth device.

[0030] With reference to the first aspect, in some implementations of the first aspect, the method further includes selecting the third device from the at least one fifth device according to the first indication information and / or the second indication information.

[0031] In some implementations of the first aspect, the error distribution includes a mean and a variance / covariance matrix of the error; or the error distribution includes sample points and weights of the error.

[0032] In some implementations of the first aspect, the prior distribution is a mean and a covariance matrix / variance of a two-dimensional or three-dimensional coordinate of the error; or the prior distribution is sample points and weights of the error of a two-dimensional or three-dimensional coordinate.

[0033] In the second aspect, a positioning method is provided, which can be executed by a third device, or can also be executed by a chip, a chip system or a circuit in the third device, and the present application does not limit this. For ease of description, the following is described by way of example of being executed by the third device.

[0034] The method includes: receiving positioning request information from a first device, the positioning request information being used to request the third device to initiate relative positioning with a second device; and sending second measurement information to the first device, the second measurement information being used to indicate a relative position between the second device and the third device, the second measurement information including a second measurement result and an error distribution of the second measurement result.

[0035] Based on the above technical solution, the first device can receive first measurement information from the second device and / or second measurement information from the third device, the first measurement information including a first measurement result and an error distribution of the first measurement result, and the second measurement information including a second measurement result and an error distribution of the second measurement result, so that the first device can determine a relative position result of the second device and the third device according to the first measurement information and / or the second measurement information. That is, in relative positioning, the first measurement information reported by the second device and / or the second measurement information reported by the third device both include error distributions, which can be used to obtain a more accurate positioning result.

[0036] In some implementations of the second aspect, the method further includes: receiving resource configuration information of a first reference signal and / or resource configuration information of a second reference signal from the first device, the resource configuration information of the first reference signal being used to indicate resources of the first reference signal sent by the second device to the third device, and the resource configuration information of the second reference signal being used to indicate resources of the second reference signal sent by the third device to the second device.

[0037] In some implementations of the second aspect, receiving the resource configuration information of the first reference signal and / or the resource configuration information of the second reference signal from the first device includes: receiving the resource configuration information of the first reference signal from the first device, and the method further includes: receiving the first reference signal according to the resource configuration information of the first reference signal.

[0038] With reference to the second aspect, in some implementations of the second aspect, the second measurement result comprises second time difference information, the second time difference information being used to indicate a time difference between the first device sending the first reference signal and the third device receiving the first reference signal.

[0039] With reference to the second aspect, in some implementations of the second aspect, receiving the resource configuration information of the first reference signal and / or the resource configuration information of the second reference signal from the first device comprises: receiving the resource configuration information of the first reference signal and the resource configuration information of the second reference signal from the first device, and the method further comprises: receiving the first reference signal according to the resource configuration information of the first reference signal; and sending the second reference signal according to the resource configuration information of the second reference signal.

[0040] With reference to the second aspect, in some implementations of the second aspect, the second measurement result comprises fourth time difference information, the fourth time difference information being used to indicate a time difference between the third device receiving the first reference signal and the third device sending the second reference signal.

[0041] With reference to the second aspect, in some implementations of the second aspect, the second measurement result comprises second angle measurement information, the second angle measurement information being determined according to the first reference signal, and the second angle measurement information being used to indicate an angle of the second device relative to the third device.

[0042] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: sending third measurement information to the first device, the third measurement information being used to indicate a relative position between the third device and the fourth device, and the third measurement information comprising a third measurement result and an error distribution of the third measurement result.

[0043] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: receiving resource configuration information of a seventh reference signal and / or resource configuration information of an eighth reference signal from the first device, the resource configuration information of the seventh reference signal being used to indicate resources of the seventh reference signal sent by the third device to the fourth device, and the resource configuration information of the eighth reference signal being used to indicate resources of the eighth reference signal sent by the fourth device to the third device.

[0044] With reference to the second aspect, in some implementations of the second aspect, receiving the resource configuration information of the seventh reference signal and / or the resource configuration information of the eighth reference signal from the first device comprises: receiving the resource configuration information of the eighth reference signal from the first device, and the method further comprises: receiving the eighth reference signal according to the resource configuration information of the eighth reference signal.

[0045] With reference to the second aspect, in some implementations of the second aspect, the third measurement result comprises fifth time difference information, the fifth time difference information being used to indicate a time difference between the fourth device sending the eighth reference signal and the third device receiving the eighth reference signal.

[0046] With reference to the second aspect, in some implementations of the second aspect, the receiving the resource configuration information of the seventh reference signal and / or the resource configuration information of the eighth reference signal from the first device comprises: receiving the resource configuration information of the seventh reference signal and the resource configuration information of the eighth reference signal from the first device, and the method further comprises: sending the seventh reference signal according to the resource configuration information of the seventh reference signal; and receiving the eighth reference signal according to the resource configuration information of the eighth reference signal.

[0047] With reference to the second aspect, in some implementations of the second aspect, the third measurement result comprises seventh time difference information, the seventh time difference information being used to indicate a time difference between the third device sending the seventh reference signal and the third device receiving the eighth reference signal.

[0048] With reference to the second aspect, in some implementations of the second aspect, the third measurement result comprises third angle measurement information, the third angle measurement information being determined according to the eighth reference signal, and the third angle measurement information being used to indicate an angle of the fourth device relative to the third device.

[0049] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: sending at least one of second prior distribution information or third prior distribution information to the first device, the second prior distribution information being used to indicate a prior distribution of a relative position between the third device and the fourth device, and the third prior distribution information being used to indicate a prior distribution of a relative position between the second device and the third device.

[0050] With reference to the second aspect, in some implementations of the second aspect, the method further comprises: sending first indication information and second indication information to the first device, the first indication information being used to indicate a positioning accuracy between the third device and the fourth device and / or whether a first channel between the third device and the fourth device is a line-of-sight (LoS) propagation channel, and the second indication information being used to indicate a positioning accuracy between the third device and the second device and / or whether a second channel between the third device and the second device is a LoS propagation channel.

[0051] With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving resource configuration information of a third reference signal and resource configuration information of a fourth reference signal from the first device, the resource configuration information of the third reference signal indicating resources for the fourth device to send the third reference signal to the third device, and the resource configuration information of the fourth reference signal indicating resources for the second device to send the fourth reference signal to the third device, wherein the first indication information is determined according to a measurement result of the third reference signal, and the second indication information is determined according to a measurement result of the fourth reference signal.

[0052] With reference to the second aspect, in some implementations of the second aspect, the error distribution is a mean and a covariance matrix / variance of the error; or the error distribution is a sampling point and a weight of the error.

[0053] With reference to the second aspect, in some implementations of the second aspect, the prior distribution is a mean and a covariance matrix / variance of a two-dimensional or three-dimensional coordinate of the error; or the prior distribution is a sampling point and a weight of the error of the two-dimensional or three-dimensional coordinate.

[0054] In a third aspect, a device for positioning is provided. The device can be a first device, or can be a chip, chip system or circuit in the first device. The device is not limited in the present application. For ease of description, the device is taken as the first device in the following description.

[0055] The device includes a transceiver configured to send positioning request information to a second device and a third device, respectively, the positioning request information being used to request the second device and the third device to initiate relative positioning; the transceiver is further configured to receive first measurement information from the second device and / or second measurement information from the third device, the first measurement information being used to determine a relative position between the second device and the third device, the first measurement information including a first measurement result and an error distribution of the first measurement result, the second measurement information being used to determine a relative position between the second device and the third device, the second measurement information including a second measurement result and an error distribution of the second measurement result, the first measurement information and / or the second measurement information being used to determine a relative position result of the second device and the third device.

[0056] Based on the above technical solution, the first device can receive the first measurement information from the second device and / or the second measurement information from the third device, the first measurement information including the first measurement result and the error distribution of the first measurement result, and the second measurement information including the second measurement result and the error distribution of the second measurement result, so that the first device can determine the relative position result of the second device and the third device according to the first measurement information and / or the second measurement information. That is, in relative positioning, the first measurement information reported by the second device and / or the second measurement information reported by the third device both include error distributions, which can be used to obtain more accurate positioning results.

[0057] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: send, to the second device and the third device, resource configuration information of the first reference signal and / or resource configuration information of the second reference signal, the resource configuration information of the first reference signal being used to indicate resources of the first reference signal sent by the second device to the third device, and the resource configuration information of the second reference signal being used to indicate resources of the second reference signal sent by the third device to the second device.

[0058] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: receive the first measurement information from the second device or the second measurement information from the third device, wherein the first measurement result includes first time difference information, and the second measurement result includes second time difference information, the first time difference information being used to indicate a time difference between sending, by the third device, the second reference signal and receiving, by the second device, the second reference signal, and the second time difference information being used to indicate a time difference between sending, by the second device, the first reference signal and receiving, by the third device, the first reference signal.

[0059] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: receive the first measurement information from the second device and the second measurement information from the third device, wherein the first measurement result includes third time difference information, and the second measurement result includes fourth time difference information, the third time difference information being used to indicate a time difference between sending, by the second device, the first reference signal and receiving, by the second device, the second reference signal, and the fourth time difference information being used to indicate a time difference between receiving, by the third device, the first reference signal and sending, by the third device, the second reference signal.

[0060] With reference to the third aspect, in some implementations of the third aspect, the first measurement result includes first angle measurement information, and / or the second measurement result includes second angle measurement information, the first angle measurement information being determined according to the second reference signal and being used to indicate an angle of the third device relative to the second device, and the second angle measurement information being determined according to the first reference signal and being used to indicate an angle of the second device relative to the third device.

[0061] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: receive third measurement information from the third device and / or fourth measurement information from the fourth device, the third measurement information being used to determine the relative position between the third device and the fourth device, the third measurement information comprising a third measurement result and an error distribution of the third measurement result, the fourth measurement information being used to determine the relative position between the third device and the fourth device, the fourth measurement information comprising a fourth measurement result and an error distribution of the fourth measurement result.

[0062] With reference to the third aspect, in some implementations of the third aspect, the transceiver is further configured to: transmit resource configuration information of the seventh reference signal and / or resource configuration information of the eighth reference signal to the third device and the fourth device, the resource configuration information of the seventh reference signal being used to indicate resources for the third device to transmit the seventh reference signal to the fourth device, the resource configuration information of the eighth reference signal being used to indicate resources for the fourth device to transmit the eighth reference signal to the third device.

[0063] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: receive the third measurement information from the third device or the fourth measurement information from the fourth device, wherein the third measurement result comprises fifth time difference information, and the fourth measurement result comprises sixth time difference information, the fifth time difference information being used to indicate a time difference between the fourth device transmitting the eighth reference signal and the third device receiving the eighth reference signal, and the sixth time difference information being used to indicate a time difference between the third device transmitting the seventh reference signal and the fourth device receiving the seventh reference signal.

[0064] With reference to the third aspect, in some implementations of the third aspect, the transceiver is specifically configured to: receive the third measurement information from the third device and the fourth measurement information from the fourth device, wherein the third measurement result comprises seventh time difference information, and the fourth measurement result comprises eighth time difference information, the seventh time difference information being used to indicate a time difference between the third device transmitting the seventh reference signal and the third device receiving the eighth reference signal, and the eighth time difference information being used to indicate a time difference between the fourth device receiving the seventh reference signal and the fourth device transmitting the eighth reference signal.

[0065] With reference to the third aspect, in some implementations of the third aspect, the third measurement result comprises third angle measurement information, and / or the fourth measurement result comprises fourth angle measurement information, the third angle measurement information being determined according to the eighth reference signal, the third angle measurement information being used to indicate an angle of the fourth device relative to the third device, and the fourth angle measurement information being determined according to the seventh reference signal, the fourth angle measurement information being used to indicate an angle of the third device relative to the fourth device.

[0066] In some implementations of the third aspect, in combination with the third aspect, the transceiver is further configured to: receive fifth measurement information from the second device and / or sixth measurement information from the fourth device, the fifth measurement information being used to determine the relative position between the second device and the fourth device, the fifth measurement information comprising a fifth measurement result and an error distribution of the fifth measurement result, the sixth measurement information being used to determine the relative position between the second device and the fourth device, the sixth measurement information comprising a sixth measurement result and an error distribution of the sixth measurement result.

[0067] In some implementations of the third aspect, in combination with the third aspect, the transceiver is further configured to: transmit resource configuration information of the ninth reference signal and / or resource configuration information of the tenth reference signal to the second device and the fourth device, the resource configuration information of the ninth reference signal being used to indicate resources for the second device to transmit the ninth reference signal to the fourth device, the resource configuration information of the tenth reference signal being used to indicate resources for the fourth device to transmit the tenth reference signal to the second device.

[0068] In some implementations of the third aspect, in combination with the third aspect, the transceiver is further configured to: receive the fifth measurement information from the second device or the sixth measurement information from the fourth device, wherein the fifth measurement result comprises ninth time difference information, and the sixth measurement result comprises tenth time difference information, the ninth time difference information being used to indicate a time difference between the fourth device transmitting the tenth reference signal and the second device receiving the tenth reference signal, and the tenth time difference information being used to indicate a time difference between the second device transmitting the ninth reference signal and the fourth device receiving the ninth reference signal.

[0069] In some implementations of the third aspect, in combination with the third aspect, the transceiver is further configured to: receive the fifth measurement information from the second device and the sixth measurement information from the fourth device, wherein the fifth measurement result comprises eleventh time difference information, and the sixth measurement result comprises twelfth time difference information, the eleventh time difference information being used to indicate a time difference between the second device transmitting the ninth reference signal and the second device receiving the tenth reference signal, and the twelfth time difference information being used to indicate a time difference between the fourth device receiving the ninth reference signal and the fourth device transmitting the tenth reference signal.

[0070] In some implementations of the third aspect, in combination with the third aspect, the fifth measurement result comprises fifth angle measurement information, and / or the sixth measurement result comprises sixth angle measurement information, the fifth angle measurement information being determined based on the tenth reference signal, the fifth angle measurement information being used to indicate an angle of the fourth device relative to the second device, and the sixth angle measurement information being determined based on the ninth reference signal, the sixth angle measurement information being used to indicate an angle of the second device relative to the fourth device.

[0071] In some embodiments of the third aspect, the apparatus further includes a processing unit configured to determine the relative position between the second device and the fourth device based on at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information, or the sixth measurement information.

[0072] In some embodiments of the third aspect, the transceiving unit is further configured to receive at least one of the first prior distribution information, the second prior distribution information, or the third prior distribution information, the first prior distribution information being from the second device, the second prior distribution information being from the third device, the third prior distribution information being from the second device or the third device, the first prior distribution information being indicative of a prior distribution of the relative position between the second device and the fourth device, the second prior distribution information being indicative of a prior distribution of the relative position between the third device and the fourth device, the third prior distribution information being indicative of a prior distribution of the relative position between the second device and the third device.

[0073] In some embodiments of the third aspect, the processing unit is further configured to determine the relative position between the second device and the fourth device based on at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information, or the sixth measurement information, and at least one of the first prior distribution information, the second prior distribution information, or the third prior distribution information.

[0074] In some embodiments of the third aspect, the transceiving unit is further configured to receive, from at least one fifth device, first indication information and second indication information, the first indication information being indicative of a positioning accuracy between the at least one fifth device and the fourth device and / or whether a first channel between the at least one fifth device and the fourth device is a line-of-sight (LoS) propagation channel, the second indication information being indicative of a positioning accuracy between the at least one fifth device and the second device and / or whether a second channel between the at least one fifth device and the second device is a LoS propagation channel, the at least one fifth device including the third device.

[0075] In some embodiments of the third aspect, the first indication information is determined based on a measurement of a third reference signal, the second indication information is determined based on a measurement of a fourth reference signal, and the transceiving unit is further configured to transmit, to the fourth device and the at least one fifth device, resource configuration information of the third reference signal, the resource configuration information of the third reference signal being indicative of resources for the fourth device to transmit the third reference signal to the at least one fifth device; and transmit, to the second device and the at least one fifth device, resource configuration information of the fourth reference signal, the resource configuration information of the fourth reference signal being indicative of resources for the second device to transmit the fourth reference signal to the at least one fifth device.

[0076] In some implementations of the third aspect, in combination with the third aspect, the first indication information is determined according to a measurement result of the third reference signal, the second indication information is determined according to a measurement result of the fourth reference signal, and the fourth device and the first device are the same device. The transceiver is further configured to: send, to at least one fifth device, resource configuration information of the third reference signal, the resource configuration information of the third reference signal being used to indicate resources of the third reference signal sent by the first device to the at least one fifth device; and send, to the second device and the at least one fifth device, resource configuration information of the fourth reference signal, the resource configuration information of the fourth reference signal being used to indicate resources of the fourth reference signal sent by the second device to the at least one fifth device.

[0077] In some implementations of the third aspect, in combination with the third aspect, the processing unit is further configured to: select the third device from the at least one fifth device according to the first indication information and / or the second indication information.

[0078] In some implementations of the third aspect, in combination with the third aspect, the error distribution includes a mean and a variance / covariance matrix of the error; or the error distribution includes sampling points and weights of the error.

[0079] In some implementations of the third aspect, in combination with the third aspect, the prior distribution is a mean and a covariance matrix / variance of two-dimensional or three-dimensional coordinate of the error; or the prior distribution is sampling points and weights of the error of the two-dimensional or three-dimensional coordinate.

[0080] A fourth aspect provides a device for positioning. The device can be a third device, or can be a chip, a chip system or a circuit in the third device. The present application does not limit the device. For ease of description, the device is taken as the third device in the following description.

[0081] The device includes a transceiver configured to receive positioning request information from a first device, the positioning request information being used to request the third device to initiate relative positioning with a second device. The transceiver is further configured to send, to the first device, second measurement information, the second measurement information being used to indicate a relative position between the second device and the third device, and the second measurement information including a second measurement result and an error distribution of the second measurement result.

[0082] Based on the above technical solution, the first device can receive the first measurement information from the second device and / or the second measurement information from the third device, the first measurement information including a first measurement result and an error distribution of the first measurement result, and the second measurement information including a second measurement result and an error distribution of the second measurement result, so that the first device can determine a relative position result of the second device and the third device according to the first measurement information and / or the second measurement information. That is, in relative positioning, the first measurement information reported by the second device and / or the second measurement information reported by the third device both include error distributions, which can be used to obtain a more accurate positioning result.

[0083] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to receive resource configuration information of the first reference signal and / or resource configuration information of the second reference signal from the first device, the resource configuration information of the first reference signal being used to indicate resources of the first reference signal sent by the second device to the third device, and the resource configuration information of the second reference signal being used to indicate resources of the second reference signal sent by the third device to the second device.

[0084] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is specifically configured to receive the resource configuration information of the first reference signal from the first device, and receive the first reference signal according to the resource configuration information of the first reference signal.

[0085] With reference to the fourth aspect, in some implementations of the fourth aspect, the second measurement result includes second time difference information, the second time difference information being used to indicate a time difference between sending, by the second device, the first reference signal and receiving, by the third device, the first reference signal.

[0086] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is specifically configured to receive the resource configuration information of the first reference signal and the resource configuration information of the second reference signal from the first device, receive the first reference signal according to the resource configuration information of the first reference signal, and send the second reference signal according to the resource configuration information of the second reference signal.

[0087] With reference to the fourth aspect, in some implementations of the fourth aspect, the second measurement result includes fourth time difference information, the fourth time difference information being used to indicate a time difference between receiving, by the third device, the first reference signal and sending, by the third device, the second reference signal.

[0088] With reference to the fourth aspect, in some implementations of the fourth aspect, the second measurement result includes second angle measurement information, the second angle measurement information being determined according to the first reference signal, and the second angle measurement information being used to indicate an angle of the second device relative to the third device.

[0089] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: receive, from the first device, resource configuration information of the seventh reference signal and / or resource configuration information of the eighth reference signal, the resource configuration information of the seventh reference signal indicating resources for the third device to transmit the seventh reference signal to the fourth device, and the resource configuration information of the eighth reference signal indicating resources for the fourth device to transmit the eighth reference signal to the third device.

[0090] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: receive, from the first device, resource configuration information of the seventh reference signal and / or resource configuration information of the eighth reference signal, the resource configuration information of the seventh reference signal indicating resources for the third device to transmit the seventh reference signal to the fourth device, and the resource configuration information of the eighth reference signal indicating resources for the fourth device to transmit the eighth reference signal to the third device.

[0091] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: receive, from the first device, resource configuration information of the seventh reference signal and / or resource configuration information of the eighth reference signal, the resource configuration information of the seventh reference signal indicating resources for the third device to transmit the seventh reference signal to the fourth device, and the resource configuration information of the eighth reference signal indicating resources for the fourth device to transmit the eighth reference signal to the third device.

[0092] With reference to the fourth aspect, in some implementations of the fourth aspect, the third measurement result comprises fifth time difference information, the fifth time difference information indicating a time difference between the fourth device transmitting the eighth reference signal and the third device receiving the eighth reference signal.

[0093] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: receive, from the first device, resource configuration information of the seventh reference signal and / or resource configuration information of the eighth reference signal, the resource configuration information of the seventh reference signal indicating resources for the third device to transmit the seventh reference signal to the fourth device, and the resource configuration information of the eighth reference signal indicating resources for the fourth device to transmit the eighth reference signal to the third device.

[0094] With reference to the fourth aspect, in some implementations of the fourth aspect, the third measurement result comprises seventh time difference information, the seventh time difference information indicating a time difference between the third device transmitting the seventh reference signal and the third device receiving the eighth reference signal.

[0095] With reference to the fourth aspect, in some implementations of the fourth aspect, the third measurement result comprises third angle measurement information, the third angle measurement information being determined according to the eighth reference signal, and the third angle measurement information indicating an angle of the fourth device relative to the third device.

[0096] With reference to the fourth aspect, in some implementations of the fourth aspect, the transceiver is further configured to: transmit, to the first device, at least one of second prior distribution information or third prior distribution information, the second prior distribution information indicating a prior distribution of the relative position between the third device and the fourth device, and the third prior distribution information indicating a prior distribution of the relative position between the second device and the third device.

[0097] In some implementations of the fourth aspect, the transceiver is further configured to: transmit, to the first device, first indication information and second indication information, the first indication information indicating a positioning accuracy between the third device and the fourth device and / or whether a first channel between the third device and the fourth device is a line-of-sight (LoS) propagation channel, and the second indication information indicating a positioning accuracy between the third device and the second device and / or whether a second channel between the third device and the second device is a LoS propagation channel.

[0098] In some implementations of the fourth aspect, the transceiver is further configured to: receive, from the first device, resource configuration information of a third reference signal and resource configuration information of a fourth reference signal, the resource configuration information of the third reference signal indicating resources for the fourth device to transmit the third reference signal to the third device, and the resource configuration information of the fourth reference signal indicating resources for the second device to transmit the fourth reference signal to the third device, wherein the first indication information is determined based on a measurement result of the third reference signal, and the second indication information is determined based on a measurement result of the fourth reference signal.

[0099] In some implementations of the fourth aspect, the error distribution is a mean and a covariance matrix / variance of the error, or the error distribution is a sampling point and a weight of the error.

[0100] In some implementations of the fourth aspect, the prior distribution is a mean and a covariance matrix / variance of a two-dimensional or three-dimensional coordinate of the error, or the prior distribution is a sampling point and a weight of the two-dimensional or three-dimensional coordinate of the error.

[0101] In a fifth aspect, a communication apparatus is provided, including: at least one processor coupled to at least one memory, the at least one processor configured to execute a computer program or instructions stored in the at least one memory to cause the communication apparatus to perform the method in any of the first aspect to the second aspect or any possible implementation of the first aspect to the second aspect.

[0102] In a sixth aspect, a computer readable storage medium is provided, having stored thereon a computer program or instructions, which when executed on a computer, cause the computer to perform the method in any of the first aspect to the second aspect or any possible implementation of the first aspect to the second aspect.

[0103] In a seventh aspect, a chip system is provided, comprising: a processor configured to execute computer programs or instructions in a memory to implement the method in any of the first aspect to the second aspect or any possible implementation of the first aspect to the second aspect.

[0104] In an eighth aspect, a computer program product is provided, comprising computer programs or instructions, which when executed, cause the method in any of the first aspect to the second aspect or any possible implementation of the first aspect to the second aspect to be performed. BRIEF DESCRIPTION OF DRAWINGS

[0105] Figure 1 FIG. 1 is a positioning architecture to which embodiments of the present application are applicable.

[0106] Figure 2 FIG. 2 is a schematic flowchart of a positioning method provided by embodiments of the present application.

[0107] Figure 3 FIG. 3 is another schematic flowchart of a positioning method provided by embodiments of the present application.

[0108] Figure 4 FIG. 4 is yet another schematic flowchart of a positioning method provided by embodiments of the present application.

[0109] Figure 5 FIG. 5 is yet another schematic flowchart of a positioning method provided by embodiments of the present application.

[0110] Figure 6 FIG. 6 is yet another schematic flowchart of a positioning method provided by embodiments of the present application.

[0111] Figure 7 FIG. 7 is a schematic block diagram of a positioning apparatus provided by embodiments of the present application.

[0112] Figure 8 FIG. 8 is another schematic block diagram of a positioning apparatus provided by embodiments of the present application.

[0113] Figure 9 FIG. 9 is yet another schematic block diagram of a positioning apparatus provided by embodiments of the present application. DETAILED DESCRIPTION

[0114] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0115] The technical solutions of the embodiments of the present application can be applied to various communication systems, for example: a 5th generation (5G) system or new radio (NR), a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD), a universal mobile telecommunication system (UMTS), a worldwide interoperability for microwave access (WiMAX) communication system, a future 6th generation (6G) system, and the like. The technical solutions of the embodiments of the present application can also be applied to device to device (D2D) communication, side link (SL) communication, vehicle-to-everything (V2X) communication, machine to machine (M2M) communication, machine type communication (MTC), and an internet of things (IoT) communication system or other communication systems.

[0116] To facilitate understanding of the embodiments of the present application, first, the positioning architecture to which the embodiments of the present application are applicable will be briefly introduced. Figure 1 The positioning architecture to which the embodiments of the present application are applicable will be briefly introduced.

[0117] Figure 1 is a schematic diagram of an application scenario of the present application. As shown in (A) of FIG. 1, Figure 1 The positioning system 100 can include, but is not limited to, the following devices (or referred to as functional network elements, functional entities, nodes, etc.):

[0118] The master device 110 is a device that needs to obtain the relative position between the master device and the target device, including but not limited to a terminal device, an access network device, a short-range communication device, and the like. Specifically, the access network device can be a radio access network (RAN) device, a next generation Node Basestation (gNB), an evolved Node Base station (eNB), and the like. The terminal device can include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication functions, as well as various forms of terminals, mobile stations (MS), terminals, or soft terminals, and the like. For example, a water meter, an electricity meter, a sensor, a wireless terminal in a smart home (e.g., a television or other home appliances, a smart box, a game console), a terminal device in V2X (e.g., a vehicle or a whole vehicle, a vehicle-mounted terminal device, a vehicle-mounted module, or an on-board unit (OBU)), and the like. Optionally, the master device can implement position estimation between the master device and the target device.

[0119] The target device 120 is a device that needs to be positioned, including but not limited to a terminal device, a short-range communication device, and the like. Specifically, the terminal device can include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication functions, as well as various forms of terminals, mobile stations (MS), terminals, or soft terminals, and the like. For example, a water meter, an electricity meter, a sensor, a wireless terminal in a smart home (e.g., a television or other home appliances, a smart box, a game console), a terminal device in V2X (e.g., a vehicle or a whole vehicle, a vehicle-mounted terminal device, a vehicle-mounted module, or an on-board unit (OBU)), and the like.

[0120] In addition, in the embodiments of the present application, the terminal device can also be a user equipment in an internet of Things (IoT) system. The IoT is an important part of future information technology development, and its main technical feature is to connect objects through communication technology and network, so as to realize the intelligent network of man-machine interconnection and object-object interconnection.

[0121] Optionally, Figure 1The positioning system 100 in (A) can further comprise a cooperating device 130, which can include but is not limited to an access network device, a terminal device, a short-range communication device, or a smart camera device, etc.

[0122] It should be understood that, Figure 1 There can be multiple cooperating devices 130 in (A).

[0123] Optionally, Figure 1 The positioning system 100 in (A) can further comprise a positioning device 140, which can also be referred to as a location server, which can be used to implement the location estimation between the master device and the target device. The positioning device 140 can be deployed inside the core network, i.e. the positioning device 140 also belongs to a kind of core network network element. Exemplarily, the positioning device can communicate with the master device and / or the target device through a mobility management function (AMF) network element (not shown in the figure). For example, the positioning device can communicate with the master device and / or the target device through the LTE positioning protocol (LPP) or through the NR positioning protocol A (NRPPa).

[0124] Exemplarily, Figure 1 The positioning device 140 shown in (A) can be a location management function (LMF) network element.

[0125] In some embodiments, when Figure 1 When the scenario in (A) is an indoor home scenario, the devices included are an access point (AP) located on the roof, a mobile phone, a sound system, a sweeping robot or other terminal devices, and the master device and the target device can be one of the above devices. (B) in FIG. (1) is an example of the scenario shown in (A) in which the scenario is an indoor home scenario, device X is an example of the master device 110, device Y is an example of the target device 120, and device Z is an example of the cooperating device 130. Figure 1

[0126] In some embodiments, when Figure 1 When the scenario in (A) is a V2X scenario, the devices included are a roadside communication unit (RSU), a base station, a vehicle or other devices, and the master device and the target device can be one of the above devices.

[0127] It should be understood that, Figure 1 (A) and​Figure 1 (B) in this application is merely an example of one application scenario. The application does not limit the scenarios in which this method can be applied. For example, it is also applicable to other positioning architectures that include devices capable of performing the corresponding functions.

[0128] exist Figure 1 (A) and Figure 1 In the scenario described in (B), there may be a positioning requirement between the main device 110 and the target device 120. For example, the main device 110 is an access point (AP) and the target device 120 is a robotic vacuum cleaner. The access point (AP) needs to know the relative position information between itself and the robotic vacuum cleaner in order to optimize the cleaning trajectory of the robotic vacuum cleaner. Or, the main device 110 is vehicle A and the target device 120 is vehicle B. Vehicle A needs to know the relative position between itself and vehicle B for path planning and autonomous driving.

[0129] Existing positioning technologies mainly employ principles such as proximity-based positioning, radio frequency fingerprint-based positioning, and spatial geometry-based positioning. A brief introduction to these positioning methods follows:

[0130] (a) Proximity-based: Using base stations with known absolute positions as reference points, the location is determined based on the proximity of the object to be located to these base stations. For example, when the mobile phone to be located is within the coverage area of ​​a certain base station / or receives the strongest reference signal from a certain base station, the approximate location of the mobile phone can be determined using the absolute position information of that base station. This method is simple to implement, but the positioning accuracy is poor.

[0131] (b) Based on radio frequency fingerprinting: It is necessary to measure the channel in advance at each location in the scenario to be located, and then extract and compress some features of the channel based on the measurement results to form a radio frequency fingerprint map. When a device has a positioning requirement, the channel is measured, and then the channel features are reported and matched with the radio frequency fingerprint map to finally determine the location. This method has high requirements for the construction of the fingerprint map in the early stage and the maintenance of the fingerprint map in the later stage.

[0132] (c) Based on spatial geometry: This is further divided into multi-anchor positioning and single-anchor positioning. In multi-anchor positioning, multiple base stations need to transmit and receive reference signals with the terminal to determine the absolute propagation time or propagation time difference of the terminal signal reaching multiple base stations. Finally, the location of the terminal device is determined through spatial aggregation relationships and known anchor point location information. In single-anchor positioning, base stations typically need to install multiple antennas. The angle and distance of the terminal's position relative to the base station's position are simultaneously determined by transmitting and receiving reference signals between a single base station and the terminal. Then, the terminal's location is determined using the known position of the base station. This type of method is currently the most mainstream positioning method in 5G positioning.

[0133] Wherein, in a side link (SL), when relative positioning is performed based on spatial geometry, the positioning mainly depends on the first path of electromagnetic wave propagation between two terminal devices to determine the distance and angle between the two devices, and therefore the positioning accuracy is limited by the channel environment, especially in a non line of sight (NLoS) propagation scenario. The non line of sight (NLoS) propagation scenario can be understood as when the first path between two terminal devices is blocked by an object, for example, Figure 1 In (A) in the above, there is an occluder 150 between the first path between the master device 110 and the target device 120, and the signal propagation between the master device 110 and the target device 120 is NLoS propagation, and for example, Figure 1 In (B) in the above, there is an occluder M between the first path between the device X and the device Y, and the signal propagation between the device X and the device Y is NLoS propagation. Since the propagation speed of electromagnetic waves in the occluder is reduced, the signal propagation time of the first path between the master device and the target device is large, and the energy attenuation of the first path is large, which finally causes the distance measurement value to deviate.

[0134] When performing relative positioning, how to obtain more accurate positioning results becomes a problem to be solved.

[0135] Therefore, the present application provides a positioning method to obtain more accurate positioning results.

[0136] Figure 2 FIG. 1 is a schematic flowchart of a positioning method according to an embodiment of the present application. Figure 2 The method 200 shown in the figure can be performed by the system 100 shown in (A) in the above. Figure 1 The method 200 shown in the figure can be performed by the system 100 shown in (A) in the above.

[0137] S210, the first device sends positioning request information to the second device and the third device respectively, the positioning request information being used to request the second device and the third device to initiate relative positioning.

[0138] When the first device needs to obtain the relative position between the second device and the third device, the first device can send positioning request information to the second device and the third device respectively, the positioning request information being used to request the second device and the third device to initiate relative positioning. It can also be understood that the positioning request information is used to request the second device and the third device to initiate relative positioning and report the relative positioning result to the first device. Specifically, the relative positioning result can include the first measurement information and / or the second measurement information in the following.

[0139] It should be understood that the first device does not have a limitation on the order of sending the positioning request information to the second device and the third device. The first device can send the positioning request information to the second device first, or to the third device first, or to the second device and the third device at the same time.

[0140] It should also be understood that the positioning request information sent by the first device to the second device can be referred to as first positioning request information, and the positioning request information sent by the first device to the third device can be referred to as second positioning request information. The contents of the first positioning request information and the second positioning request information can be the same, for example, the first positioning request information and the second positioning request information both include the identities of the second device and the third device, and can be sent to the second device and the third device at the same time in the form of broadcast. Alternatively, the contents of the first positioning request information and the second positioning request information can also be different, for example, the first positioning request information carries information for requesting the second device and the third device to initiate relative positioning, and also includes other information that needs to be sent to the second device, and the first positioning request information can be sent to the second device in the form of unicast. Alternatively, the second positioning request information carries information for requesting the second device and the third device to initiate relative positioning, and also includes other information that needs to be sent to the third device, and the second positioning request information can be sent to the third device in the form of unicast. The above description is only an example, and in actual application, the contents and sending forms of the first positioning request information and the second positioning request information are not limited by the present application.

[0141] S220, the second device sends first measurement information to the first device, and / or the third device sends second measurement information to the first device, and correspondingly, the first device receives the first measurement information and / or the second measurement information. The first measurement information is used to determine the relative position between the second device and the third device, and includes a first measurement result and an error distribution of the first measurement result. The second measurement information is used to determine the relative position between the second device and the third device, and includes a second measurement result and an error distribution of the second measurement result. The first measurement information and / or the second measurement information are used to determine the relative position result of the second device and the third device.

[0142] After receiving the positioning request information, the second device will report first measurement information to the first device, and the first measurement information includes a first measurement result and an error distribution of the first measurement result. Alternatively, similarly, after receiving the positioning request information, the third device will report second measurement information to the first device, and the second measurement information includes a second measurement result and an error distribution of the second measurement result. The first measurement information and / or the second measurement information can be used by the first device to determine the relative position result of the second device and the third device.

[0143] Based on the above technical solution, when relative positioning, the first measurement information reported by the second device and / or the second measurement information reported by the third device both include error distribution, which can be used to obtain more accurate positioning results.

[0144] It should be understood that in S220, only the second device can report the first measurement information, and the third device does not report the second measurement information. Alternatively, only the third device can report the second measurement information, and the second device does not report the first measurement information. Alternatively, the second device reports the first measurement information and the third device reports the second measurement information, and the reporting order of the second device and the third device can be pre-configured in the second device and the third device, or can be indicated by the first device, which is not limited by the present application.

[0145] Optionally, the method 200 further includes: S230, the first device determines the relative position result of the second device and the third device according to the first measurement information and / or the second measurement information.

[0146] Optionally, the first device can also determine the error distribution of the relative position result of the second device and the third device.

[0147] The first device can determine the relative position result of the second device and the third device and the error distribution of the relative position result according to the first measurement result and the error distribution of the first measurement result, and / or the second measurement result and the error distribution of the second measurement result.

[0148] Optionally, before S220, the method 200 further includes: S240, the first device sends reference signal resource configuration information to the second device and the third device respectively, the reference signal configured by the reference signal resource configuration information is used for relative positioning of the second device and the third device, or in other words, the reference signal resource configuration information is used for the second device and the third device to determine the first measurement information and / or the second measurement information.

[0149] Specifically, the reference signal configuration information can include at least one of time-frequency position, port number, reference signal sequence information of the reference signal.

[0150] It should be understood that the reference signal resource configuration information sent to the second device and the third device can be the same or different, as long as it includes the resources of sending and receiving reference signals between the second device and the third device, which is not limited by the present application.

[0151] Optionally, the resource configuration of the reference signal can be determined by the first device, or by the second device or the third device. When the resource configuration of the reference signal is determined by the first device, the first device sends the resource configuration information of the reference signal to the second device and the third device respectively in S240. The specific case determined by the second device and the third device can refer to the description of S302a, S302b and S302c in method 300 below. Figure 2 The case where the first device determines is shown in the following.

[0152] Therefore, the second device and the third device can perform relative position measurement according to the reference signal resource configuration information, obtain the first measurement information and / or the second measurement information, and report to the first device.

[0153] Specifically, the reference signal resource configuration information includes resource configuration information of the first reference signal and / or resource configuration information of the second reference signal, the resource configuration information of the first reference signal is used to indicate the resource of the first reference signal sent by the second device to the third device, and the resource configuration information of the second reference signal is used to indicate the resource of the second reference signal sent by the third device to the second device. Wherein, sending the reference signal resource configuration information to the second device and the third device includes: sending the resource configuration information of the first reference signal and / or the resource configuration information of the second reference signal to the second device and the third device. That is, sending the reference signal resource configuration information to the second device and the third device includes the following three cases, wherein case 1 and case 2 can be applied to the scenario where the clocks of the second device and the third device are completely synchronized, and case 3 can be applied to the scenario where the clocks of the second device and the third device are not completely synchronized.

[0154] Case 1:

[0155] The first device sends the resource configuration information of the first reference signal to the second device and the third device. In this case, the second device will send the first reference signal to the third device according to the resource configuration information of the first reference signal, and correspondingly, the third device will receive the first reference signal according to the resource configuration information of the first reference signal.

[0156] Case 2:

[0157] The first device sends the resource configuration information of the second reference signal to the second device and the third device. In this case, the third device will send the second reference signal to the second device according to the resource configuration information of the second reference signal, and correspondingly, the second device will receive the second reference signal according to the resource configuration information of the second reference signal.

[0158] Case 3:

[0159] The first device sends resource configuration information of the first reference signal and resource configuration information of the second reference signal to the second device and the third device, in which case the second device sends the first reference signal to the third device according to the resource configuration information of the first reference signal, and correspondingly, the third device receives the first reference signal according to the resource configuration information of the first reference signal, in addition, the third device also sends the second reference signal to the second device according to the resource configuration information of the second reference signal, and correspondingly, the second device also receives the second reference signal according to the resource configuration information of the second reference signal. The order of sending the first reference signal by the second device and sending the second reference signal by the third device is not limited.

[0160] It should be understood that for case 1, in S220, the first device receives the first measurement information from the second device and / or the second measurement information from the third device, including: the first device receives the second measurement information from the third device. The second measurement result in the second measurement information includes second time difference information, and the error distribution of the second measurement result includes the error distribution of the second time difference information, and the second time difference information is used to indicate the time difference between the second device sending the first reference signal and the third device receiving the first reference signal. The time difference is the time for the first reference signal to propagate from the second device to the third device, multiplied by the speed of light to determine the estimated value of the straight-line distance from the second device to the third device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. It should be understood that the first reference signal is a reference signal sent by the second device to the third device.

[0161] For case 2, in S220, the first device receives the first measurement information from the second device and / or the second measurement information from the third device, including: the first device receives the first measurement information from the second device. The first measurement result in the first measurement information includes first time difference information, and the error distribution of the first measurement result includes the error distribution of the first time difference information, and the first time difference information is used to indicate the time difference between the third device sending the second reference signal and the second device receiving the second reference signal. The time difference is the time for the second reference signal to propagate from the third device to the second device, multiplied by the speed of light to determine the estimated value of the straight-line distance from the third device to the second device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. It should be understood that the second reference signal is a reference signal sent by the third device to the second device.

[0162] For case 3, in S220, the first device receives the first measurement information from the second device and / or the second measurement information from the third device, including: the first device receives the first measurement information from the second device and the second measurement information from the third device. Wherein, the first measurement result in the first measurement information includes third time difference information, and the error distribution of the first measurement result includes the error distribution of the third time difference information, the third time difference information being used to indicate the time difference between the second device sending the first reference signal and the second device receiving the second reference signal. The second measurement result in the second measurement information includes fourth time difference information, and the error distribution of the second measurement result includes the error distribution of the fourth time difference information, the fourth time difference information being used to indicate the time difference between the third device receiving the first reference signal and the third device sending the second reference signal. Specifically, when the second device sends the first reference signal first and the third device sends the second reference signal later, the third time difference corresponds to the time when the second device receives the second reference signal minus the time when the second device sends the first reference signal, and the fourth time difference corresponds to the time when the third device sends the second reference signal minus the time when the third device receives the first reference signal. Subtracting the fourth time difference from the third time difference can obtain the sum of the time for the first reference signal to propagate from the second device to the third device and the time for the second reference signal to propagate from the third device to the second device. Considering that the time back and forth is equal, the time for single-way signal propagation can be obtained, and multiplying by the speed of light can determine the estimated value of the straight-line distance from the third device to the second device. At the same time, through the error distribution of the time difference, the error distribution of the distance estimation value can be determined. When the third device sends the second reference signal first and the second device sends the first reference signal later, the third time difference corresponds to the time when the second device sends the first reference signal minus the time when the second device receives the second reference signal, and the fourth time difference corresponds to the time when the third device receives the first reference signal minus the time when the third device sends the second reference signal. Subtracting the fourth time difference from the third time difference can obtain the sum of the time for the first reference signal to propagate from the second device to the third device and the time for the second reference signal to propagate from the third device to the second device. Considering that the time back and forth is equal, the time for single-way signal propagation can be obtained, and multiplying by the speed of light can determine the estimated value of the straight-line distance from the third device to the second device. At the same time, through the error distribution of the time difference, the error distribution of the distance estimation value can be determined.

[0163] In an implementation manner, the error distribution of the time difference can be in the form of mean and variance / standard deviation of the error; or in the form of sampling points and weights of the error of the time difference.

[0164] Optionally, for any of the above three cases, the first measurement result can further comprise first angle measurement information, the second measurement result can further comprise second angle measurement information, the first angle measurement information is determined according to the second reference signal, and is used to indicate the angle of the third device relative to the second device, the second angle measurement information is determined according to the first reference signal, and is used to indicate the angle of the second device relative to the third device. In other words, in the case that the third device transmits the second reference signal, the second device can determine the angle of the third device relative to the second device according to the second reference signal, and can carry the first angle measurement information in the first measurement information. In the case that the second device transmits the first reference signal, the third device can determine the angle of the second device relative to the third device according to the first reference signal, and can carry the second angle measurement information in the second measurement information.

[0165] Optionally, for any of the above three cases, the error distribution of the first measurement result can further comprise the error distribution of the angle of the third device relative to the second device, i.e., the error distribution of the first angle measurement information, and the error distribution of the second measurement result can further comprise the error distribution of the angle of the second device relative to the third device, i.e., the error distribution of the second angle measurement information.

[0166] In an implementation manner, the error distribution is a mean value and a covariance matrix of errors; or, is sampling points and weights of errors.

[0167] The method 200 will be further described below by taking the method 300 in the method 200 as an example. Figure 3 The method 200 is another schematic flowchart of a positioning method provided by the embodiments of the present application. Figure 3 The method 200 is another schematic flowchart of a positioning method provided by the embodiments of the present application.

[0168] S301, the first device transmits positioning request information to the second device and the third device respectively, and correspondingly, the second device and the third device receive the positioning request information. This step is similar to S210.

[0169] The positioning request information transmitted to the second device and the positioning request information transmitted to the third device can be the same or different, and can be transmitted in the form of unicast or in the form of broadcast, which is not limited by the present application.

[0170] There will be three cases next.

[0171] Case 1:

[0172] S302a, the first device transmits resource configuration information of a first reference signal to the second device and the third device respectively, the resource configuration information of the first reference signal being used to indicate the resource of the first reference signal transmitted by the second device to the third device.

[0173] It should be understood that the resource configuration of the first reference signal can be determined by the first device or the second device. When it is determined by the first device, the first device sends the resource configuration information of the first reference signal to the second device and the third device respectively in S302a. When it is determined by the second device, the second device sends the resource configuration information of the first reference signal to the third device in S302a. Figure 3 The former case is shown in the following.

[0174] S303a, the second device sends the first reference signal to the third device according to the resource configuration information of the first reference signal, and the third device receives the first reference signal according to the resource configuration information of the first reference signal.

[0175] S304a, the third device determines the second measurement result according to the first reference signal.

[0176] Specifically, the third device can determine the time of receiving the first reference signal, and then determine the second time difference according to the time of the second device sending the first reference signal and the time of the third device receiving the first reference signal. That is, the second time difference is the transmission-reception time difference of the first reference signal.

[0177] The third device can also determine the angle of the second device relative to itself according to the first reference signal, that is, obtain the second angle measurement information. For example, when the third device has multiple antennas, the first reference signal can be received through the multiple antennas, and the angle measurement information can be determined according to the phase distribution of the multiple antenna measurement values.

[0178] The third device can also determine the error distribution of the second time difference and the error distribution of the second angle measurement information. The measurement error mainly comes from at least one of the following: identification bias caused by complex channel environment, clock error of the device itself. The error distribution of the second time difference can be obtained by using the measurement information of the hardware, can be derived by some traditional theoretical model, or can be obtained by machine learning, artificial intelligence and other methods by taking waveform or other features as input through pre-training, which is not limited by the present application.

[0179] As an example, the error distribution can be determined by a neural network / deep neural network, the input of the network is the received waveform sequence f(t) of the first reference signal, the output of the network is the variance or standard deviation of the time / angle measurement value, and the training of the network can be completed before the device is shipped, and then the trained model is configured in the chip of the third device in advance.

[0180] The third device determines the second measurement result, which can include second time difference information, an error distribution of the second time difference information, second angle measurement information, and an error distribution of the second angle measurement information, wherein the second time difference information and the second angle measurement information can also be referred to as the second measurement result, and the error distribution of the second time difference information and the error distribution of the second angle measurement information can also be referred to as an error distribution of the second measurement result.

[0181] S305a, the third device reports the second measurement information to the first device.

[0182] Optionally, in S304a, the third device can also first determine an estimated value of the relative position between the second device and the third device and an error distribution of the relative position result according to the second measurement result, and report the determined estimated value of the relative position and the error distribution of the relative position result to the first device in S305a. At this time, the form of the error distribution can be a covariance matrix of the position estimation error, or a plurality of sampling points and weights corresponding to the position estimation error distribution.

[0183] Case 2:

[0184] S302b, the first device sends resource configuration information of the second reference signal to the second device and the third device respectively, the resource configuration information of the second reference signal being used to indicate resources of the second reference signal sent by the third device to the second device.

[0185] It should be understood that the resource configuration of the second reference signal can be determined by the first device or the third device. When it is determined by the first device, in S302b, the first device sends the resource configuration information of the second reference signal to the second device and the third device respectively. When it is determined by the third device, in S302b, the third device sends the resource configuration information of the second reference signal to the second device. Figure 3 The former case is shown in the figure.

[0186] S303b, the third device sends the second reference signal to the second device according to the resource configuration information of the second reference signal, and the second device receives the second reference signal according to the resource configuration information of the second reference signal.

[0187] S304b, the second device determines the first measurement result according to the second reference signal.

[0188] Specifically, the second device can determine the time of receiving the second reference signal, and then determine the first time difference according to the time of sending the second reference signal by the third device and the time of receiving the second reference signal by itself. That is, the first time difference is the transmission-reception time difference of the second reference signal.

[0189] The second device can also determine the angle of the third device relative to the second device according to the second reference signal, i.e., obtain the first angle measurement information. For example, when the second device has multiple antennas, the second reference signal can be received by the multiple antennas, and the angle measurement information can be determined according to the phase distribution of the multiple antenna measurement values.

[0190] The second device can also determine the error distribution of the first time difference and the error distribution of the first angle measurement information. The measurement error mainly comes from at least one of the following: identification deviation caused by complex channel environment, and clock error of the device itself. The error distribution of the first time difference can be obtained by using the measurement information of the hardware, can be obtained by using some traditional theoretical model, or can be obtained by using machine learning, artificial intelligence, etc. as input through pre-training, and the application does not limit this.

[0191] As an example, the error distribution can be determined by a neural network / deep neural network, the input of the network is the received waveform sequence f(t) of the second reference signal, the output of the network is the variance or standard deviation of the time / angle measurement value, and the training of the network can be completed before the device is shipped, and then the trained model is configured in the chip of the second device in advance.

[0192] The second device determines the first measurement result, which can include the first time difference information, the error distribution of the first time difference information, the first angle measurement information, and the error distribution of the first angle measurement information. The first time difference information and the first angle measurement information can also be referred to as the first measurement result, and the error distribution of the first time difference information and the error distribution of the first angle measurement information can also be referred to as the error distribution of the first measurement result. It should be understood that, similar to the above, the time difference included in the first time difference information is the time for the second reference signal to propagate from the third device to the second device, and multiplying the time difference by the speed of light can determine an estimated value of the straight-line distance from the third device to the second device. At the same time, the error distribution of the distance estimation value can be determined through the error distribution of the time difference.

[0193] S305b, the second device reports the first measurement information to the first device.

[0194] Optionally, in S304b, the second device can also determine the estimated value of the relative position between the second device and the third device and the error distribution of the relative position result according to the first measurement result, and report the determined estimated value of the relative position and the error distribution of the relative position result to the first device in S305b. At this time, the form of the error distribution can be a covariance matrix of the position estimation error, or a plurality of sampling points and weights corresponding to the position estimation error distribution.

[0195] Case 3:

[0196] S302c, the first device sends resource configuration information of the first reference signal and resource configuration information of the second reference signal to the second device and the third device respectively, the resource configuration information of the first reference signal is used to indicate resources of the first reference signal sent by the second device to the third device, and the resource configuration information of the second reference signal is used to indicate resources of the second reference signal sent by the third device to the second device.

[0197] Similarly, the resource configuration of the first reference signal can be determined by the first device or the second device, and the resource configuration of the second reference signal can be determined by the first device or the third device. When the first device determines, in S302c, the first device sends resource configuration information of the first reference signal and resource configuration information of the second reference signal to the second device and the third device respectively. When the second device and the third device determine, in S302c, the second device sends the resource configuration information of the first reference signal to the third device, and the third device sends the resource configuration information of the second reference signal to the second device. Figure 3 The former case is shown in the following.

[0198] S303c, the second device sends the first reference signal to the third device according to the resource configuration information of the first reference signal, and the third device receives the first reference signal according to the resource configuration information of the first reference signal.

[0199] S304c, the third device sends the second reference signal to the second device according to the resource configuration information of the second reference signal, and the second device receives the second reference signal according to the resource configuration information of the second reference signal.

[0200] S305c, the third device determines the second measurement result according to the first reference signal and the second reference signal.

[0201] Specifically, the third device can determine the time of receiving the first reference signal, and then determine the fourth time difference according to the time of receiving the first reference signal and the time of sending the second reference signal. That is, the fourth time difference is the time interval of receiving the first reference signal and sending the second reference signal.

[0202] The third device can also determine the angle of the second device relative to itself according to the first reference signal, that is, obtain the second angle measurement information. The third device can also determine the error distribution of the fourth time difference and the error distribution of the second angle measurement information. Details are similar to S304a and will not be repeated here.

[0203] The third device determines a second measurement result, which can include fourth time difference information, an error distribution of the fourth time difference information, second angle measurement information, and an error distribution of the second angle measurement information. The fourth time difference information and the second angle measurement information can also be referred to as the second measurement result, and the error distribution of the fourth time difference information and the error distribution of the second angle measurement information can also be referred to as an error distribution of the second measurement result.

[0204] S306c, the third device reports the second measurement information to the first device.

[0205] S307c, similarly, the second device determines a first measurement result according to the first reference signal and the second reference signal.

[0206] Specifically, the second device can determine the time of receiving the second reference signal, and then determine a third time difference according to the time of sending the first reference signal by itself and the time of receiving the second reference signal by itself. That is, the third time difference is the time interval of sending the first reference signal and receiving the second reference signal.

[0207] It should be understood that when the second device sends the first reference signal first and the third device sends the second reference signal later, the third time difference corresponds to the time of receiving the second reference signal by the second device minus the time of sending the first reference signal by the second device, and the fourth time difference corresponds to the time of sending the second reference signal by the third device minus the time of receiving the first reference signal by the third device. When the third device sends the second reference signal first and the second device sends the first reference signal later, the third time difference corresponds to the time of sending the first reference signal by the second device minus the time of receiving the second reference signal by the second device, and the fourth time difference corresponds to the time of receiving the first reference signal by the third device minus the time of sending the second reference signal by the third device.

[0208] The second device can also determine the angle of the third device relative to itself according to the second reference signal, that is, obtain the first angle measurement information. The second device can also determine the error distribution of the third time difference and the error distribution of the first angle measurement information. Details are similar to S304b and will not be repeated here.

[0209] The second device determines a first measurement result, which can include third time difference information, an error distribution of the third time difference information, first angle measurement information, and an error distribution of the first angle measurement information. The third time difference information and the first angle measurement information can also be referred to as the first measurement result, and the error distribution of the third time difference information and the error distribution of the first angle measurement information can also be referred to as an error distribution of the first measurement result.

[0210] S308c, similarly, the second device reports the first measurement information to the first device.

[0211] S309, the first device determines a relative position result between the second device and the third device according to the first measurement information and / or the second measurement information.

[0212] Specifically, for case 1, if only the third device reports the second measurement information, the first device determines a relative distance between the second device and the third device according to the second time difference information and an error distribution of the second time difference information, and determines a relative angle of the third device and the second device according to the second angle measurement information and an error distribution of the second angle measurement information. It should be understood that the second time difference is the time for the first reference signal to propagate from the second device to the third device, and multiplying the light speed can determine an estimated value of the straight-line distance from the second device to the third device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. For case 2, if only the second device reports the first measurement information, the first device determines a relative distance between the second device and the third device according to the first time difference information and an error distribution of the first time difference information, and determines a relative angle of the third device and the second device according to the first angle measurement information and an error distribution of the first angle measurement information. It should be understood that the first time difference is the time for the second reference signal to propagate from the third device to the second device, and multiplying the light speed can determine an estimated value of the straight-line distance from the third device to the second device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. That is, case 1 and case 2 can use the propagation time of the first reference signal or the second reference signal to calculate the relative distance between the second device and the third device in the case that the second device and the third device are completely synchronized.

[0213] For case 3, if the third device reports the second measurement information and the second device reports the first measurement information, the first device determines the relative distance between the second device and the third device according to the fourth time difference information, the error distribution of the fourth time difference information, the third time difference information and the error distribution of the third time difference information, and determines the relative angle of the third device and the second device according to the second angle measurement information, the error distribution of the second angle measurement information, the first angle measurement information and the error distribution of the first angle measurement information. It should be understood that when the second device transmits the first reference signal first and the third device transmits the second reference signal later, subtracting the fourth time difference from the third time difference can obtain the sum of the time for the first reference signal to propagate from the second device to the third device and the time for the second reference signal to propagate from the third device to the second device, and when the third device transmits the second reference signal first and the second device transmits the first reference signal later, subtracting the third time difference from the fourth time difference can obtain the sum of the time for the first reference signal to propagate from the second device to the third device and the time for the second reference signal to propagate from the third device to the second device. Considering that the round-trip time is equal, the time for the signal to propagate in one way can be obtained, and multiplying the light speed can determine the estimated value of the straight-line distance from the third device to the second device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. That is, case 3 can use the round trip time (RTT) of the first reference signal and the second reference signal to calculate the relative distance between the second device and the third device in the case that the second device and the third device are not completely synchronized.

[0214] It should be understood that in S306c, the third device can also report the second measurement information to the second device, and the second device determines the relative position result of the second device and the third device and the error distribution of the relative position result according to the first measurement information determined by itself and the received second measurement information, and then reports the determined relative position result and the error distribution of the relative position result to the first device in S308c. Similarly, in S308c, the second device can also report the first measurement information to the third device, and the third device determines the relative position result of the second device and the third device and the error distribution of the relative position result according to the second measurement information determined by itself and the received first measurement information, and then reports the determined relative position result and the error distribution of the relative position result to the first device in S306c.

[0215] Based on the above technical solutions, the first measurement information reported by the second device and / or the second measurement information reported by the third device both include error distributions, which can be used to obtain more accurate positioning results.

[0216] In an implementation, the first device in the method 200 and the method 300 can be the master device 110 in the system 100, and the second device and the third device can be the target device 120 and the cooperating device 130 in the system 100, respectively. Through the method 200 or the method 300, the master device 110 can obtain a more accurate relative position between the target device 120 and the cooperating device 130.

[0217] In an implementation, the first device in the method 200 and the method 300 can be the positioning device 140 in the system 100, and the second device and the third device can be any two of the master device 110, the target device 120 and the cooperating device 130 in the system 100, respectively. Through the method 200 or the method 300, the positioning device 140 can obtain a more accurate relative position between any two of the master device 110, the target device 120 and the cooperating device 130.

[0218] In an implementation, the first device and the second device in the method 200 and the method 300 can be the same device, for example, the first device and the second device can be the master device 110 or the positioning device 140 in the system 100, and the third device can be the target device 120 or the cooperating device 130 in the system 100. Through the method 200 or the method 300, the master device 110 or the positioning device 140 can obtain a more accurate relative position between the target device 120 or the cooperating device 130. It should be understood that in this case, the information interaction between the first device and the second device in the method 200 and the method 300 is the processing inside the master device or the positioning device, and does not involve air interface information transmission. For example, in the S302a, the first device does not send the resource configuration information of the first reference signal to the second device, that is, the first device does not configure the reference signal resource to the second device.

[0219] In an implementation, the first device and the third device in the method 200 and the method 300 can be the same device, for example, the first device and the third device can be the master device 110 or the positioning device 140 in the system 100, and the second device can be the target device 120 or the cooperating device 130 in the system 100. Through the method 200 or the method 300, the master device 110 or the positioning device 140 can obtain a more accurate relative position between the target device 120 or the cooperating device 130. It should be understood that in this case, the information interaction between the first device and the third device in the method 200 and the method 300 is the processing inside the master device or the positioning device, and does not involve air interface information transmission.

[0220] Figure 4 is another schematic flowchart of a positioning method provided by an embodiment of the present application. Figure 4 The method 400 shown is a method for positioning a target device in a system. Figure 2 or Figure 3On the basis of the above, the relative positions of the second device and the fourth device and the relative positions of the third device and the fourth device are further obtained.

[0221] S401-S404 are similar to S210-S240, and the specific implementation process can refer to the method 300, which will not be described here again. Among them, between S402 and S403, further comprising: the second device sends the first reference signal to the third device according to the resource configuration information of the first reference signal, the third device receives the first reference signal according to the resource configuration information of the first reference signal, and / or the third device sends the second reference signal to the second device according to the resource configuration information of the second reference signal, and the second device receives the second reference signal according to the resource configuration information of the second reference signal. In S404, the first device can also obtain the error distribution of the relative position result when determining the relative position result between the second device and the third device. At this time, the form of the error distribution can be the covariance matrix of the position estimation error, or a plurality of sampling points and weights corresponding to the position estimation error distribution.

[0222] S405, the first device sends the resource configuration information of the seventh reference signal and / or the resource configuration information of the eighth reference signal to the third device and the fourth device, the resource configuration information of the seventh reference signal is used to indicate the resource of the seventh reference signal sent by the third device to the fourth device, and the resource configuration information of the eighth reference signal is used to indicate the resource of the eighth reference signal sent by the fourth device to the third device.

[0223] Similar to the method 300, the resource configuration of the seventh reference signal can be determined by the first device or the third device, when it is determined by the first device, in S405, the first device sends the resource configuration information of the seventh reference signal to the third device and the fourth device respectively. When it is determined by the third device, in S405, the third device sends the resource configuration information of the seventh reference signal to the fourth device. Figure 4 The former case is shown in FIG.

[0224] Similarly, the resource configuration of the eighth reference signal can be determined by the first device or the fourth device, when it is determined by the first device, in S405, the first device sends the resource configuration information of the eighth reference signal to the third device and the fourth device respectively. When it is determined by the fourth device, in S405, the fourth device sends the resource configuration information of the eighth reference signal to the third device. Figure 4 The former case is shown in FIG.

[0225] S406, the first device receives third measurement information from the third device and / or fourth measurement information from the fourth device, the third measurement information being used for determining the relative position between the third device and the fourth device, the third measurement information comprising a third measurement result and an error distribution of the third measurement result, the fourth measurement information being used for determining the relative position between the third device and the fourth device, the fourth measurement information comprising a fourth measurement result and an error distribution of the fourth measurement result, wherein the third measurement information is determined based on the eighth reference signal, and the fourth measurement information is determined based on the seventh reference signal.

[0226] It should be understood that S406 also includes three cases similar to S220 above.

[0227] Case 1: The first device receives the third measurement information from the third device and / or the fourth measurement information from the fourth device, comprising: the first device receives the third measurement information from the third device, wherein the third measurement result comprises fifth time difference information, the fifth time difference information being used for indicating a time difference between the fourth device sending the eighth reference signal and the third device receiving the eighth reference signal. It should be understood that the eighth reference signal is a reference signal sent by the fourth device to the third device.

[0228] Case 2: The first device receives the third measurement information from the third device and / or the fourth measurement information from the fourth device, comprising: the first device receives the fourth measurement information from the fourth device, wherein the fourth measurement result comprises sixth time difference information, the sixth time difference information being used for indicating a time difference between the third device sending the seventh reference signal and the fourth device receiving the seventh reference signal. It should be understood that the seventh reference signal is a reference signal sent by the third device to the fourth device.

[0229] Case 3: The first device receives the third measurement information from the third device and / or the fourth measurement information from the fourth device, comprising: the first device receives the third measurement information from the third device and the fourth measurement information from the fourth device, wherein the third measurement result comprises seventh time difference information, and the fourth measurement result comprises eighth time difference information, the seventh time difference information being used for indicating a time difference between the third device sending the seventh reference signal and the third device receiving the eighth reference signal, and the eighth time difference information being used for indicating a time difference between the fourth device receiving the seventh reference signal and the fourth device sending the eighth reference signal.

[0230] Similarly, for any of the above three cases, the third measurement information can further include a third measurement result of the third angle measurement information, and the fourth measurement information can further include a fourth measurement result of the fourth angle measurement information, the third angle measurement information being determined according to the eighth reference signal and being used to indicate an angle of the fourth device relative to the third device, and the fourth angle measurement information being determined according to the seventh reference signal and being used to indicate an angle of the third device relative to the fourth device.

[0231] Similarly, for any of the above three cases, the third measurement information can further include an error distribution of the third measurement result, specifically, the error distribution of the third measurement result can include an error distribution of the fifth time difference information or the seventh time difference information, and an error distribution of the angle of the fourth device relative to the third device, i.e., an error distribution of the third angle measurement information, and the error distribution of the fourth measurement result can include an error distribution of the sixth time difference information or the eighth time difference information, and an error distribution of the angle of the third device relative to the fourth device, i.e., an error distribution of the fourth angle measurement information.

[0232] In an implementation manner, the error distribution is a mean value and a covariance matrix of the error; or, is sampling points and weights of the error.

[0233] S407, the first device determines a relative position result of the fourth device and the third device according to the third measurement information and / or the fourth measurement information.

[0234] Specifically, for case 1, if only the third device reports the third measurement information, the first device determines a relative distance between the fourth device and the third device according to the fifth time difference information and the error distribution of the fifth time difference information, and determines a relative angle of the third device and the fourth device according to the third angle measurement information and the error distribution of the third angle measurement information. It should be understood that the fifth time difference is the time for the eighth reference signal to propagate from the fourth device to the third device, and multiplying the light speed can determine an estimated value of the straight-line distance between the third device and the fourth device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. For case 2, if only the fourth device reports the fourth measurement information, the first device determines a relative distance between the fourth device and the third device according to the sixth time difference information and the error distribution of the sixth time difference information, and determines a relative angle of the third device and the fourth device according to the fourth angle measurement information and the error distribution of the fourth angle measurement information. It should be understood that the sixth time difference is the time for the seventh reference signal to propagate from the third device to the fourth device, and multiplying the light speed can determine an estimated value of the straight-line distance between the third device and the fourth device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. That is, case 1 and case 2 can use the propagation time of the seventh reference signal or the eighth reference signal to calculate the relative distance between the fourth device and the third device in the case that the fourth device and the third device are completely synchronized.

[0235] For case 3, if the third device reports the third measurement information and the fourth device reports the fourth measurement information, the first device determines the relative distance between the fourth device and the third device according to the eighth time difference information, the error distribution of the eighth time difference information, the seventh time difference information and the error distribution of the seventh time difference information, and determines the relative angle between the third device and the fourth device according to the fourth angle measurement information, the error distribution of the fourth angle measurement information, the third angle measurement information and the error distribution of the third angle measurement information. It should be understood that when the third device transmits the seventh reference signal first and the fourth device transmits the eighth reference signal later, the sum of the time for the seventh reference signal to propagate from the third device to the fourth device and the time for the eighth reference signal to propagate from the fourth device to the third device can be obtained by subtracting the eighth time difference from the seventh time difference, and when the fourth device transmits the eighth reference signal first and the third device transmits the seventh reference signal later, the sum of the time for the seventh reference signal to propagate from the third device to the fourth device and the time for the eighth reference signal to propagate from the fourth device to the third device can be obtained by subtracting the seventh time difference from the eighth time difference. Considering that the round-trip time is equal, the time for single-way signal propagation can be obtained, and multiplying the light speed can determine the estimated value of the straight-line distance from the third device to the fourth device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. That is, case 3 can use the round-trip time difference of the seventh reference signal and the eighth reference signal to calculate the relative distance between the fourth device and the third device in the case that the fourth device and the third device are not completely synchronized.

[0236] It should be understood that in S406, the fourth device can also report the fourth measurement information to the third device, and the third device determines the relative position result and the error distribution of the relative position result between the fourth device and the third device according to the third measurement information determined by itself and the received fourth measurement information, and then reports the estimated value of the determined relative position and the error distribution of the relative position result to the first device. Similarly, the third device can also report the third measurement information to the fourth device, and the fourth device determines the relative position result and the error distribution of the relative position result between the fourth device and the third device according to the fourth measurement information determined by itself and the received third measurement information, and then reports the estimated value of the determined relative position and the error distribution of the relative position result to the first device.

[0237] In S406 and S407, when determining the relative position result between the fourth device and the third device, the error distribution of the relative position result can also be obtained. At this time, the form of the error distribution can be a covariance matrix of the position estimation error, or a plurality of sampling points and weights corresponding to the position estimation error distribution.

[0238] It should be understood that the specific implementation of S405-S407 can refer to the above method 300, which will not be repeated here. Among them, between S405 and S406, it also includes: the third device sends the seventh reference signal to the fourth device according to the resource configuration information of the seventh reference signal, the fourth device receives the seventh reference signal according to the resource configuration information of the seventh reference signal, and / or the fourth device sends the eighth reference signal to the third device according to the resource configuration information of the eighth reference signal, and the third device receives the eighth reference signal according to the resource configuration information of the eighth reference signal.

[0239] S408, the first device sends the resource configuration information of the ninth reference signal and / or the resource configuration information of the tenth reference signal to the second device and the fourth device, the resource configuration information of the ninth reference signal is used to indicate the resource of the ninth reference signal sent by the second device to the fourth device, and the resource configuration information of the tenth reference signal is used to indicate the resource of the tenth reference signal sent by the fourth device to the second device.

[0240] Similarly to method 300, the resource configuration of the ninth reference signal can be determined by the first device or the second device, when it is determined by the first device, in S408, the first device sends the resource configuration information of the ninth reference signal to the second device and the fourth device respectively. When it is determined by the second device, in S408, the second device sends the resource configuration information of the ninth reference signal to the fourth device. Figure 4 The former case is shown in the figure.

[0241] Similarly, the resource configuration of the tenth reference signal can be determined by the first device or the fourth device, when it is determined by the first device, in S408, the first device sends the resource configuration information of the tenth reference signal to the second device and the fourth device respectively. When it is determined by the fourth device, in S408, the fourth device sends the resource configuration information of the tenth reference signal to the second device. Figure 4 The former case is shown in the figure.

[0242] S409, the first device receives the fifth measurement information from the second device and / or the sixth measurement information from the fourth device, the fifth measurement information is used to determine the relative position between the second device and the fourth device, the fifth measurement information includes the fifth measurement result and the error distribution of the fifth measurement result, the sixth measurement information is used to determine the relative position between the second device and the fourth device, the sixth measurement information includes the sixth measurement result and the error distribution of the sixth measurement result, wherein the fifth measurement information is determined according to the tenth reference signal, and the sixth measurement information is determined according to the ninth reference signal.

[0243] It should be understood that, similar to S220 above, S409 also includes three cases:

[0244] Case 1: the first device receives the fifth measurement information from the second device and / or the sixth measurement information from the fourth device, including: the first device receives the fifth measurement information from the second device, wherein the fifth measurement result includes ninth time difference information, the ninth time difference information is used to indicate a time difference between that the fourth device transmits a tenth reference signal and that the second device receives the tenth reference signal. It should be understood that the tenth reference signal is a reference signal transmitted by the fourth device to the second device.

[0245] Case 2: the first device receives the fifth measurement information from the second device and / or the sixth measurement information from the fourth device, including: the first device receives the sixth measurement information from the fourth device, wherein the sixth measurement result includes tenth time difference information, the tenth time difference information is used to indicate a time difference between that the second device transmits a ninth reference signal and that the fourth device receives the ninth reference signal. It should be understood that the eleventh reference signal is a reference signal transmitted by the second device to the fourth device.

[0246] Case 3: the first device receives the fifth measurement information from the second device and / or the sixth measurement information from the fourth device, including: the first device receives the fifth measurement information from the second device and the sixth measurement information from the fourth device, wherein the fifth measurement result includes eleventh time difference information, the sixth measurement result includes twelfth time difference information, the eleventh time difference information is used to indicate a time difference between that the second device transmits the ninth reference signal and that the second device receives the tenth reference signal, the twelfth time difference information is used to indicate a time difference between that the fourth device receives the ninth reference signal and that the fourth device transmits the tenth reference signal.

[0247] Similarly, for any of the above three cases, the fifth measurement result can further include fifth angle measurement information, the sixth measurement result can further include sixth angle measurement information, the fifth angle measurement information is determined according to the tenth reference signal, the fifth angle measurement information is used to indicate an angle of the fourth device relative to the second device, the sixth angle measurement information is determined according to the ninth reference signal, the sixth angle measurement information is used to indicate an angle of the second device relative to the fourth device.

[0248] Similarly, for any of the above three cases, the fifth measurement information can further include an error distribution of the fifth measurement result, specifically, the error distribution of the fifth measurement result can include an error distribution of the ninth time difference information or the eleventh time difference information, and an error distribution of the angle of the fourth device relative to the second device, i.e. an error distribution of the fifth angle measurement information, the error distribution of the sixth measurement result can include an error distribution of the tenth time difference information or the twelfth time difference information, and an error distribution of the angle of the second device relative to the fourth device, i.e. an error distribution of the sixth angle measurement result.

[0249] In an implementation, the error distribution is a mean and a covariance matrix of the error; or, is sample points and weights of the error.

[0250] It should be understood that the specific implementation of S407-S409 can refer to the above method 300, which will not be repeated here. Among them, between S408 and S409 also includes: the second device sends the ninth reference signal to the fourth device according to the resource configuration information of the ninth reference signal, the fourth device receives the ninth reference signal according to the resource configuration information of the ninth reference signal, and / or the fourth device sends the tenth reference signal to the second device according to the resource configuration information of the tenth reference signal, and the second device receives the tenth reference signal according to the resource configuration information of the tenth reference signal.

[0251] S410, the first device determines the relative position result of the fourth device and the second device according to the fifth measurement information and / or the sixth measurement information.

[0252] Specifically, for case 1, if only the second device reports the fifth measurement information, the first device determines the relative distance between the fourth device and the second device according to the ninth time difference information and the error distribution of the ninth time difference information, and determines the relative angle of the second device and the fourth device according to the fifth angle measurement information and the error distribution of the fifth angle measurement information. It should be understood that the ninth time difference is the time for the ninth reference signal to propagate from the fourth device to the second device, multiplied by the speed of light to determine the estimated value of the straight-line distance from the second device to the fourth device, and the error distribution of the distance estimate value can be determined through the error distribution of the time difference. For case 2, if only the fourth device reports the sixth measurement information, the first device determines the relative distance between the fourth device and the second device according to the tenth time difference information and the error distribution of the tenth time difference information, and determines the relative angle of the second device and the fourth device according to the sixth angle measurement information and the error distribution of the sixth angle measurement information. It should be understood that the tenth time difference is the time for the ninth reference signal to propagate from the second device to the fourth device, multiplied by the speed of light to determine the estimated value of the straight-line distance from the second device to the fourth device, and the error distribution of the distance estimate value can be determined through the error distribution of the time difference. That is, case 1 and case 2 can use the propagation time of the ninth reference signal or the tenth reference signal to calculate the relative distance between the fourth device and the second device in the case that the fourth device and the second device are completely synchronized.

[0253] For case 3, if the second device reports the fifth measurement information and the fourth device reports the sixth measurement information, the first device determines the relative distance between the fourth device and the second device according to the twelfth time difference information, the error distribution of the twelfth time difference information, the eleventh time difference information and the error distribution of the eleventh time difference information, and determines the relative angle between the second device and the fourth device according to the sixth angle measurement information, the error distribution of the sixth angle measurement information, the fifth angle measurement information and the error distribution of the fifth angle measurement information. It should be understood that when the second device transmits the ninth reference signal first and the fourth device transmits the tenth reference signal later, subtracting the twelfth time difference from the eleventh time difference can obtain the sum of the time for the ninth reference signal to propagate from the second device to the fourth device and the time for the tenth reference signal to propagate from the fourth device to the second device, and when the fourth device transmits the tenth reference signal first and the second device transmits the ninth reference signal later, subtracting the eleventh time difference from the twelfth time difference can obtain the sum of the time for the ninth reference signal to propagate from the second device to the fourth device and the time for the tenth reference signal to propagate from the fourth device to the second device. Considering that the round-trip time is equal, the time for single-way signal propagation can be obtained, and multiplying by the speed of light can determine the estimated value of the straight-line distance from the second device to the fourth device, and the error distribution of the distance estimation value can be determined through the error distribution of the time difference. That is, case 3 can use the round-trip time difference of the ninth reference signal and the tenth reference signal to calculate the relative distance between the fourth device and the second device in the case that the fourth device and the second device are not completely synchronized.

[0254] It should be understood that in S409, the fourth device can also report the sixth measurement information to the second device, and the second device determines the relative position result and the error distribution of the relative position result between the fourth device and the second device according to the fifth measurement information determined by itself and the received sixth measurement information, and then reports the estimated value of the determined relative position and the error distribution of the relative position result to the first device. Similarly, the second device can also report the fifth measurement information to the fourth device, and the fourth device determines the relative position result and the error distribution of the relative position result between the fourth device and the second device according to the sixth measurement information determined by itself and the received fifth measurement information, and then reports the estimated value of the determined relative position and the error distribution of the relative position result to the first device.

[0255] In S409 and S410, when determining the relative position result between the fourth device and the second device, the error distribution of the relative position result can also be obtained. At this time, the form of the error distribution can be a covariance matrix of the position estimation error, or a plurality of sampling points and weights corresponding to the position estimation error distribution.

[0256] S411, the first device determines the relative position between the second device and the fourth device according to at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information, or the sixth measurement information.

[0257] That is, the first device can fuse one or more of the measurement information and the error distribution of the measurement information between the second device and the third device, between the third device and the fourth device, and between the second device and the fourth device, to obtain the relative position between the second device and the fourth device.

[0258] As an example, the first device assumes that the relative position distribution between each device conforms to a Gaussian distribution, and then determines the parameters of the Gaussian distribution according to the measurement results and the error distribution reported by each device, and finally performs a minimum mean square error (MMSE) estimation on the relative position between the second device and the fourth device through multiple Gaussian distributions, to improve the positioning accuracy.

[0259] Optionally, S412, the first device receives at least one of first prior distribution information, second prior distribution information, or third prior distribution information, the first prior distribution information being from the second device, the second prior distribution information being from the third device, and the third prior distribution information being from the second device or the third device, the first prior distribution information being used to indicate a prior distribution of the relative position between the second device and the fourth device, the second prior distribution information being used to indicate a prior distribution of the relative position between the third device and the fourth device, and the third prior distribution information being used to indicate a prior distribution of the relative position between the second device and the third device.

[0260] That is, the second device reports the prior distribution information of the position of the second device relative to the fourth device and the prior distribution information of the position of the second device relative to the third device to the first device, and the third device reports the prior distribution information of the position of the third device relative to the fourth device and the prior distribution information of the position of the third device relative to the second device to the first device. As an example, the form of the prior distribution can be a position two-dimensional coordinate or a three-dimensional coordinate error mean and a covariance matrix; or, the form of the prior distribution is a sampling point and a weight of a position two-dimensional coordinate or a three-dimensional coordinate error.

[0261] In an implementation manner, the prior distribution can be obtained by the second device or the third device according to historical measurement results and internal gyroscopes and other sensors.

[0262] If the step of S410 is performed, in S409, the first device can further determine the relative position between the second device and the fourth device according to at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information or the sixth measurement information, and at least one of the first prior distribution information, the second prior distribution information or the third prior distribution information.

[0263] That is, the first device can fuse one or more of the measurement information, the error distribution of the measurement information, the prior distribution information, etc. between the second device and the third device, between the third device and the fourth device, and between the second device and the fourth device, to obtain the relative position between the second device and the fourth device.

[0264] In an implementation manner, the first device is a positioning device, the second device is a target device, the third device is a cooperative device, and the fourth device is a master device, that is, the positioning device can fuse the measurement information and the error distribution of the measurement information between the target device and the cooperative device, between the cooperative device and the master device, and between the target device and the master device, to obtain the relative position between the target device and the master device.

[0265] In an implementation manner, the first device and the fourth device are the same, that is, the first device and the fourth device are both master devices, the second device is a target device, and the third device is a cooperative device, that is, the master device can fuse the measurement information and the error distribution of the measurement information between the target device and the cooperative device, between the cooperative device and the master device, and between the target device and the master device, to obtain the relative position between the target device and the master device. It should be understood that in this case, the information interaction between the first device and the fourth device in the method 400 is the processing within the master device, and does not involve air interface information transmission. For example, in S405, the first device will not send the resource configuration information of the seventh reference signal and / or the resource configuration information of the eighth reference signal to the fourth device, and in S407, the first device will not send the resource configuration information of the ninth reference signal and / or the resource configuration information of the tenth reference signal to the fourth device, that is, the first device will not configure the reference signal resource for the fourth device.

[0266] Therefore, the embodiments of the present application can obtain the relative position between the target device and the master device by fusing various information such as the measurement information and the error distribution of the measurement information between the target device and the cooperative device, between the cooperative device and the master device, and between the target device and the master device, and can be used to obtain more accurate positioning results. In particular, when the relative positioning between the master device and the target device is initiated by the master device or the positioning device, if the channel condition between the master device and the target device is not very good, the assistance of the cooperative device can be used, and joint position estimation can be performed according to the reported error distribution of the measurement information, that is, information fusion, to obtain more accurate positioning results between the master device and the target device.

[0267] Figure 5 is another exemplary flowchart of a method of positioning provided by embodiments of the present application. Figure 5 The method 500 shown can be used to select the third device from the at least one fifth device, the third device being used to assist in the relative positioning between the second device and the fourth device.

[0268] S501, the first device sends cooperative positioning request information to the second device, the fourth device and the at least one fifth device respectively.

[0269] The first device can send the cooperative positioning request information in the form of unicast or broadcast.

[0270] Optionally, the cooperative positioning request information sent to the second device, the fourth device and the at least one fifth device can be the same or different, which is not limited by the present application.

[0271] S502, the first device sends resource configuration information of a third reference signal to the fourth device and the at least one fifth device, and sends resource configuration information of a fourth reference signal to the second device and the at least one fifth device, the resource configuration information of the third reference signal being used to indicate resources of the third reference signal sent by the fourth device to the at least one fifth device, the resource configuration information of the fourth reference signal being used to indicate resources of the fourth reference signal sent by the second device to the at least one fifth device, the at least one fifth device including the third device.

[0272] Similar to the method 300, the resource configuration of the third reference signal can be determined by the first device or by the fourth device, when it is determined by the first device, in S502, the first device sends the resource configuration information of the third reference signal to the fourth device and the at least one fifth device respectively, when it is determined by the fourth device, in S502, the fourth device sends the resource configuration information of the fourth reference signal to the at least one fifth device. Figure 5 The former case is shown in the figure.

[0273] Similarly, the resource configuration of the fourth reference signal can be determined by the first device or by the second device, when it is determined by the first device, in S502, the first device sends the resource configuration information of the fourth reference signal to the second device and the at least one fifth device respectively, when it is determined by the second device, in S502, the second device sends the resource configuration information of the fourth reference signal to the at least one fifth device. Figure 5 The former case is shown in the figure.

[0274] S503, the fourth device sends, according to resource configuration information of the third reference signal, the third reference signal to at least one fifth device, and at least one fifth device receives the third reference signal according to the resource configuration information of the third reference signal.

[0275] S504, at least one fifth device determines first indication information according to the third reference signal, and the first indication information is used to indicate positioning accuracy between at least one fifth device and the fourth device and / or whether a first channel between at least one fifth device and the fourth device is a line of sight (LoS) propagation channel.

[0276] Any one of at least one fifth device can measure the third reference signal, and determine positioning accuracy between the fourth device, specifically, the positioning accuracy can be expressed in percentage. Alternatively, any one of at least one fifth device can measure the third reference signal, and determine whether a transmission channel (i.e. the first channel) between the fourth device is a LoS propagation channel or a non line of sight (NLoS) propagation channel.

[0277] As an example, any one of at least one fifth device can obtain the first indication information by taking the received waveform of the third reference signal as input and taking the indication of the positioning accuracy or LoS / NLoS as output through machine learning or artificial intelligence (AI) algorithm.

[0278] Optionally, any one of at least one fifth device can also measure the reference signal receiving power (RSRP) of the third reference signal.

[0279] S505, at least one fifth device sends the first indication information to the first device.

[0280] Optionally, when the RSRP is measured, the RSRP can also be reported.

[0281] Optionally, the reporting information of at least one fifth device can also include its own device identify (ID).

[0282] S506, similar to S503, the second device sends, according to resource configuration information of the fourth reference signal, the fourth reference signal to at least one fifth device, and at least one fifth device receives the fourth reference signal according to the resource configuration information of the fourth reference signal.

[0283] S507, similar to S504, the at least one fifth device determines second indication information according to the fourth reference signal, the second indication information being used to indicate a positioning accuracy between the at least one fifth device and the second device and / or whether a second channel between the at least one fifth device and the second device is a LoS propagation channel.

[0284] Any of the at least one fifth device can measure the fourth reference signal, and determine a positioning accuracy between the at least one fifth device and the second device, in particular, the positioning accuracy can be expressed in percentage. Alternatively, any of the at least one fifth device can measure the fourth reference signal, and determine whether a transmission channel (i.e., the second channel) between the at least one fifth device and the second device is a LoS propagation channel or a NLoS propagation channel.

[0285] As an example, any of the at least one fifth device can obtain the second indication information by taking a received waveform of the fourth reference signal as input and taking an indication of the positioning accuracy or LoS / NLoS as output through machine learning or an AI algorithm.

[0286] Optionally, any of the at least one fifth device can further measure an RSRP of the fourth reference signal.

[0287] S508, similar to S505, the at least one fifth device sends the second indication information to the first device.

[0288] Optionally, when the RSRP is measured, the RSRP can be further reported.

[0289] Optionally, the reporting information of the at least one fifth device can further include a device ID of the at least one fifth device.

[0290] S509, the first device selects a third device from the at least one fifth device according to the first indication information and the second indication information.

[0291] The first device can select one or more fifth devices with higher positioning accuracy as the third device according to the first indication information and the second indication information. For example, the first device can select a device whose positioning accuracy in the first indication information is greater than a first threshold value and whose positioning accuracy in the second indication information is greater than a second threshold value.

[0292] The first device can select one or more fifth devices whose first channel and second channel are both LoS as the third device according to the first indication information and the second indication information.

[0293] Optionally, if the RSRP is reported, the first device can further select a device with a larger RSRP as the third device. For example, the first device can select a device whose RSRP is greater than a third threshold value.

[0294] S510, the first device sends a cooperative positioning request confirmation information to the determined third device.

[0295] S511, the third device replies an acknowledgement (ACK) to the first device, indicating that the cooperative positioning service is confirmed.

[0296] In an implementation manner, the first device is a positioning device, the second device is a target device, the third device is a cooperative device, and the fourth device is a master device, i.e., when performing relative positioning, the positioning device selects one or more devices from the fifth devices as the cooperative device according to the method 500 in the method 500. Figure 5

[0297] In an implementation manner, the first device and the fourth device are the same, i.e., the first device and the fourth device are both master devices, the second device is a target device, and the third device is a cooperative device, i.e., the master device can select one or more devices from the fifth devices as the cooperative device according to the method 500 in the method 500. It should be understood that in this case, the information interaction between the first device and the fourth device in the method 500 is the processing within the master device, and does not involve air interface information transmission. Figure 5

[0298] In an implementation manner, after the cooperative device is determined according to the method 500, the relative positions between the cooperative device and other devices can be obtained through the method 200 or the method 300, and then the measurement information and the error distribution of the measurement information between the target device and the cooperative device, the cooperative device and the master device, and the target device and the master device are fused through the method 400 to obtain the relative position between the target device and the master device.

[0299] Therefore, through the reporting of the first indication information and the second indication information, the first device can select the third device in the above from at least one fifth device, and then initiate cooperative positioning with the third device. That is, a device with better cooperative positioning performance can be selected as the cooperative device, so that more accurate positioning results can be obtained.

[0300] The following takes the method 500 as an example to illustrate the case where the first device and the fourth device are the same in the method 500. In this case, the information interaction between the first device and the fourth device in the method 500 is the processing within the master device, and does not involve air interface information transmission. Figure 6 Figure 6 is another schematic flowchart of a positioning method provided by an embodiment of the present application. In the method 600 shown in Figure 6 It should be understood that the sending order of the third reference signal and the fourth reference signal is not limited in the present application.

[0301] It should be understood that the sending order of the third reference signal and the fourth reference signal is not limited in the present application.​​​

[0302] S601, the master device sends cooperative positioning request information to the target device and at least one fifth device respectively.

[0303] Optionally, the cooperative positioning request information sent to the target device and the at least one fifth device can be the same or different, and can be unicast or broadcast, which is not limited in the application.

[0304] S602, the master device sends resource configuration information of the third reference signal and resource configuration information of the fourth reference signal to the at least one fifth device, and sends the resource configuration information of the fourth reference signal to the target device, the resource configuration information of the third reference signal being used to indicate resources of the third reference signal sent by the master device to the at least one fifth device, and the resource configuration information of the fourth reference signal being used to indicate resources of the fourth reference signal sent by the target device to the at least one fifth device, the at least one fifth device including a cooperative device.

[0305] Similarly to the method 500, similarly, the resource configuration of the fourth reference signal can be determined by the master device or the target device, when it is determined by the master device, in S602, the master device sends the resource configuration information of the fourth reference signal to the target device and the at least one fifth device respectively, when it is determined by the target device, in S602, the target device sends the resource configuration information of the fourth reference signal to the at least one fifth device. Figure 5 The former case is shown in the figure.

[0306] S603, the master device sends the third reference signal to the at least one fifth device according to the resource configuration information of the third reference signal, and the at least one fifth device receives the third reference signal according to the resource configuration information of the third reference signal.

[0307] S604, the at least one fifth device determines first indication information according to the third reference signal, the first indication information being used to indicate whether a first channel between the at least one fifth device and the master device is a LoS propagation channel and / or a positioning accuracy between the at least one fifth device and the master device.

[0308] S605, the at least one fifth device sends the first indication information to the master device.

[0309] S606, the target device sends the fourth reference signal to the at least one fifth device according to the resource configuration information of the fourth reference signal, and the at least one fifth device receives the fourth reference signal according to the resource configuration information of the fourth reference signal.

[0310] S607, at least one fifth device determines second indication information based on a fourth reference signal. The second indication information is used to indicate the positioning accuracy between at least one fifth device and the target device and / or whether the second channel between at least one fifth device and the target device is a LoS propagation channel.

[0311] S608, at least one fifth device sends a second instruction message to the master device.

[0312] S609, the master device selects a cooperating device from at least one fifth device according to the first instruction information and the second instruction information.

[0313] S610, the master device sends a cooperative positioning request confirmation message to the identified cooperative device.

[0314] S611, the collaborating device replies with an ACK to the master device, indicating confirmation of collaborating location services.

[0315] It should be understood that the specific implementation methods of S601 to S611 are similar to those of S501 to S51 above, and will not be repeated here.

[0316] It should be understood that the transmission order of the third reference signal and the fourth reference signal is not limited in this application.

[0317] The above combines Figures 1 to 6 The technical solution of the positioning method provided in the embodiments of this application has been described in detail below. Figures 7 to 9 This application describes a positioning device provided in its embodiments.

[0318] Figure 7 This is a schematic block diagram of a positioning device provided in an embodiment of this application. Figure 7 As shown, the device 700 includes a transceiver unit 710.

[0319] In one possible design, the device 700 may correspond to a first device in methods 200, 300, 400, 500, and 600 according to embodiments of this application. The communication device 700 may include units for performing the methods executed by the first device in methods 200, 300, 400, 500, and 600. Furthermore, the units in the communication device 700 and the other operations and / or functions described above respectively implement the corresponding processes in methods 200, 300, 400, 500, and 600.

[0320] For example, the transceiver unit 710 can be used to send location request information to the second device and the third device respectively, the location request information being used to request the second device and the third device to initiate relative positioning.

[0321] The transceiver 710 is further configured to receive first measurement information from the second device and / or second measurement information from the third device, the first measurement information being used to determine the relative position between the second device and the third device, the first measurement information comprising a first measurement result and an error distribution of the first measurement result, the second measurement information being used to determine the relative position between the second device and the third device, the second measurement information comprising a second measurement result and an error distribution of the second measurement result, the first measurement information and / or the second measurement information being used to determine a relative position result of the second device and the third device.

[0322] Optionally, the apparatus can further include a processing unit 720, which can be configured to determine the relative position between the second device and the fourth device according to at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information or the sixth measurement information.

[0323] It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and for the sake of brevity, will not be repeated here.

[0324] Figure 8 is a schematic block diagram of a positioning apparatus provided by an embodiment of the present application. As shown in Figure 8 the apparatus 800 includes a transceiver 810.

[0325] In a possible design, the apparatus 800 can correspond to the third device in the methods 200, 300, 400, 500 and 600 according to the embodiments of the present application. The communication apparatus 800 can include units for performing the methods performed by the first device in the methods 200, 300, 400, 500 and 600. And, the units in the communication apparatus 800 and the other operations and / or functions described above are respectively used to implement the corresponding procedures in the methods 200, 300, 400, 500 and 600.

[0326] For example, the transceiver 810 can be configured to receive positioning request information from the first device, the positioning request information being used to request the third device to initiate relative positioning with the second device.

[0327] The transceiver 810 is further configured to send, to the first device, second measurement information, the second measurement information being used to indicate the relative position between the second device and the third device, the second measurement information comprising a second measurement result and an error distribution of the second measurement result.

[0328] Optionally, the apparatus can further include a processing unit 820, which can be configured to determine the resource for receiving the first reference signal according to the resource configuration information of the first reference signal.

[0329] It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and for the sake of brevity, will not be repeated here.

[0330] Figure 9 FIG. 9 is a structural block diagram of a communication apparatus 900 provided by an embodiment of the present application. Figure 9 The communication apparatus 900 shown includes a processor 910, a memory 920, and a transceiver 930. The processor 910 is coupled to the memory 920 and is configured to execute instructions stored in the memory 920 to control the transceiver 930 to transmit and / or receive signals.

[0331] It should be understood that the processor 910 and the memory 920 described above can be combined into one processing apparatus, and the processor 910 is configured to execute program codes stored in the memory 920 to implement the functions described above. In a specific implementation, the memory 920 can also be integrated in the processor 910 or independent of the processor 910. It should be understood that the processor 910 can also correspond to each processing unit in the communication apparatus described above, and the transceiver 930 can correspond to each receiving unit and transmitting unit in the communication apparatus described above.

[0332] It should also be understood that the transceiver 930 can include a receiver (or receiver) and a transmitter (or transmitter). The transceiver can further include an antenna, and the number of antennas can be one or more. The transceiver can also be a communication interface or interface circuit.

[0333] Specifically, the communication apparatus 900 can correspond to the first device in the methods 200, 300, 400, 500, and 600 according to embodiments of the present application, or the second device in the methods 200, 300, 400, 500, and 600, or the third device in the methods 200, 300, 400, 500, and 600, or the fourth device in the methods 400 and 500. It should be understood that the specific process of each unit performing the corresponding steps described above has been described in detail in the method embodiments described above, and for the sake of brevity, will not be repeated here.

[0334] When the communication apparatus 900 is a chip, the chip includes a transceiving unit and a processing unit. The transceiving unit can be an input / output circuit or a communication interface; the processing unit can be a processor or a microprocessor integrated on the chip or an integrated circuit.

[0335] According to the method provided by the embodiments of the present application, the present application also provides a computer program product, which includes computer program codes, when the computer program codes run on a computer, the computer executes the method of any one of the embodiments shown in the methods 200, 300, 400, 500, and 600.

[0336] According to the method provided in the embodiments of the present application, the present application further provides a computer readable medium, which stores program codes, and when the program codes are run on a computer, the computer is caused to execute the method in any one of the embodiments shown in the method 200, the method 300, the method 400, the method 500 and the method 600.

[0337] In the embodiments of the present application, the words such as "example", "for example" and the like are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner.

[0338] In the embodiments of the present application, "corresponding" and "relevant" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0339] The network architecture and the service scenario described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems as the network architecture evolves and new service scenarios appear.

[0340] In the present specification, the reference to "one embodiment" or "some embodiments" and the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearance of expressions "in one embodiment", "in some embodiments", "in other some embodiments", "in yet some embodiments" and the like in various places in the specification does not necessarily all refer to the same embodiment, but means "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "including but not limited to", unless otherwise specifically emphasized.

[0341] In the present application, "at least one" means one or more, and "multiple" means two or more. The association relationship of the associated objects is described by "and / or", which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0342] It should be understood that the size of the serial number of the above processes does not mean the order of execution in various embodiments of the present application, and the execution order of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0343] It should be understood that in various embodiments of the present application, the first, second and various numerical numbers are only for the convenience of differentiation in description, and are not used to limit the scope of the embodiments of the present application. For example, the bandwidth under different conditions is distinguished.

[0344] It should also be understood that the memory mentioned in the embodiments of the present application can be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM). For example, the RAM can be used as an external cache. As an example but not limitation, the RAM can include the following various forms: static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM).

[0345] It should also be noted that the memory described herein is intended to include, but not limited to, these and any other suitable types of memory.

[0346] Those of ordinary skill in the art can realize that the units and steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0347] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic, and the division of the units is merely a logical function division. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0348] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to implement the solutions provided in the present application.

[0349] In addition, each functional unit in the various embodiments of the present application can be integrated into one unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0350] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. For example, the computer can be a personal computer, a server, a network device, etc. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD), etc. For example, the foregoing available media can include but is not limited to: a variety of media that can store program codes such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0351] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized in that, The method is performed by a first device and includes: The system sends location request information to the second device and the third device respectively, the location request information being used to request the second device and the third device to initiate relative positioning; Receive first measurement information from the second device and / or second measurement information from the third device, wherein the first measurement information includes a first measurement result and an error distribution of the first measurement result, and the second measurement information includes a second measurement result and an error distribution of the second measurement result; The relative position results of the second device and the third device are determined based on the first measurement information and / or the second measurement information; The method further includes: Resource configuration information for sending a first reference signal and / or resource configuration information for a second reference signal to the second device and the third device, wherein the resource configuration information for the first reference signal is used to instruct the second device to send the resources of the first reference signal to the third device, and the resource configuration information for the second reference signal is used to instruct the third device to send the resources of the second reference signal to the second device.

2. The method according to claim 1, characterized in that, Receiving first measurement information from the second device and / or second measurement information from the third device includes: Receive the first measurement information from the second device or the second measurement information from the third device. The first measurement result includes first time difference information, and the second measurement result includes second time difference information. The first time difference information is used to indicate the time difference between the third device sending the second reference signal and the second device receiving the second reference signal, and the second time difference information is used to indicate the time difference between the second device sending the first reference signal and the third device receiving the first reference signal.

3. The method according to claim 1, characterized in that, Receiving first measurement information from the second device and / or second measurement information from the third device includes: Receive the first measurement information from the second device and the second measurement information from the third device. The first measurement result includes third time difference information, and the second measurement result includes fourth time difference information. The third time difference information is used to indicate the time difference between the second device sending the first reference signal and the second device receiving the second reference signal, and the fourth time difference information is used to indicate the time difference between the third device receiving the first reference signal and the third device sending the second reference signal.

4. The method according to any one of claims 1 to 3, characterized in that, The first measurement result includes first angle measurement information, and / or the second measurement result includes second angle measurement information. The first angle measurement information is determined based on the second reference signal. The first angle measurement information is used to indicate the angle of the third device relative to the second device. The second angle measurement information is determined based on the first reference signal. The second angle measurement information is used to indicate the angle of the second device relative to the third device.

5. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The system receives third measurement information from the third device and / or fourth measurement information from the fourth device. The third measurement information is used to determine the relative position between the third device and the fourth device, and the third measurement information includes a third measurement result and an error distribution of the third measurement result. The fourth measurement information is used to determine the relative position between the third device and the fourth device, and the fourth measurement information includes a fourth measurement result and an error distribution of the fourth measurement result.

6. The method according to claim 5, characterized in that, The method further includes: Resource configuration information for a seventh reference signal and / or resource configuration information for an eighth reference signal are sent to the third device and the fourth device. The resource configuration information for the seventh reference signal is used to instruct the third device to send the resources of the seventh reference signal to the fourth device, and the resource configuration information for the eighth reference signal is used to instruct the fourth device to send the resources of the eighth reference signal to the third device.

7. The method according to claim 5, characterized in that, The receiving of third measurement information from the third device and / or fourth measurement information from the fourth device includes: Receive the third measurement information from the third device or the fourth measurement information from the fourth device. The third measurement result includes a fifth time difference information, and the fourth measurement result includes a sixth time difference information. The fifth time difference information is used to indicate the time difference between the fourth device sending the eighth reference signal and the third device receiving the eighth reference signal, and the sixth time difference information is used to indicate the time difference between the third device sending the seventh reference signal and the fourth device receiving the seventh reference signal.

8. The method according to claim 5, characterized in that, The receiving of third measurement information from the third device and / or fourth measurement information from the fourth device includes: Receive the third measurement information from the third device and the fourth measurement information from the fourth device. The third measurement result includes a seventh time difference information, and the fourth measurement result includes an eighth time difference information. The seventh time difference information is used to indicate the time difference between the third device sending the seventh reference signal and the third device receiving the eighth reference signal, and the eighth time difference information is used to indicate the time difference between the fourth device receiving the seventh reference signal and the fourth device sending the eighth reference signal.

9. The method according to claim 7 or 8, characterized in that, The third measurement result includes third angle measurement information, and / or the fourth measurement result includes fourth angle measurement information. The third angle measurement information is determined according to the eighth reference signal and is used to indicate the angle of the fourth device relative to the third device. The fourth angle measurement information is determined according to the seventh reference signal and is used to indicate the angle of the third device relative to the fourth device.

10. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The device receives fifth measurement information from the second device and / or sixth measurement information from the fourth device. The fifth measurement information is used to determine the relative position between the second device and the fourth device, and the fifth measurement information includes a fifth measurement result and an error distribution of the fifth measurement result. The sixth measurement information is used to determine the relative position between the second device and the fourth device, and the sixth measurement information includes a sixth measurement result and an error distribution of the sixth measurement result.

11. The method according to claim 10, characterized in that, The method further includes: Resource configuration information for a ninth reference signal and / or a tenth reference signal is sent to the second device and the fourth device. The resource configuration information for the ninth reference signal is used to instruct the second device to send the resources of the ninth reference signal to the fourth device, and the resource configuration information for the tenth reference signal is used to instruct the fourth device to send the resources of the tenth reference signal to the second device.

12. The method according to claim 10, characterized in that, Receiving the fifth measurement information from the second device and / or the sixth measurement information from the fourth device includes: Receive the fifth measurement information from the second device or the sixth measurement information from the fourth device. The fifth measurement result includes a ninth time difference information, and the sixth measurement result includes a tenth time difference information. The ninth time difference information is used to indicate the time difference between the fourth device sending the tenth reference signal and the second device receiving the tenth reference signal.

13. The method according to claim 10, characterized in that, Receiving the fifth measurement information from the second device and / or the sixth measurement information from the fourth device includes: Receive the fifth measurement information from the second device and the sixth measurement information from the fourth device. The fifth measurement result includes an eleventh time difference information, and the sixth measurement result includes a twelfth time difference information. The eleventh time difference information is used to indicate the time difference between the second device sending the ninth reference signal and the second device receiving the tenth reference signal, and the twelfth time difference information is used to indicate the time difference between the fourth device receiving the ninth reference signal and the fourth device sending the tenth reference signal.

14. The method according to claim 12 or 13, characterized in that, The fifth measurement result includes fifth angle measurement information, and / or the sixth measurement result includes sixth angle measurement information. The fifth angle measurement information is determined based on the tenth reference signal and is used to indicate the angle of the fourth device relative to the second device. The sixth angle measurement information is determined based on the ninth reference signal and is used to indicate the angle of the second device relative to the fourth device.

15. The method according to claim 10, characterized in that, The method further includes: The relative position between the second device and the fourth device is determined based on at least one of the first measurement information, the second measurement information, the third measurement information, the fourth measurement information, the fifth measurement information, or the sixth measurement information.

16. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The system receives at least one of a first prior distribution information, a second prior distribution information, or a third prior distribution information, wherein the first prior distribution information originates from the second device, the second prior distribution information originates from the third device, and the third prior distribution information originates from either the second device or the third device. The first prior distribution information is used to indicate the prior distribution of the relative positions between the second device and the fourth device, the second prior distribution information is used to indicate the prior distribution of the relative positions between the third device and the fourth device, and the third prior distribution information is used to indicate the prior distribution of the relative positions between the second device and the third device.

17. The method according to claim 16, characterized in that, The prior distribution is the mean and covariance matrix / variance of the two-dimensional or three-dimensional coordinates of the error location; or, the prior distribution is the sampling points and weights of the two-dimensional or three-dimensional coordinate errors.

18. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The system receives first indication information and second indication information from at least one fifth device. The first indication information is used to indicate the positioning accuracy between the at least one fifth device and the fourth device and / or whether the first channel between the at least one fifth device and the fourth device is a line-of-sight (LoS) propagation channel. The second indication information is used to indicate the positioning accuracy between the at least one fifth device and the second device and / or whether the second channel between the at least one fifth device and the second device is a LoS propagation channel. The at least one fifth device includes the third device.

19. The method according to claim 18, characterized in that, The first indication information is determined based on the measurement result of the third reference signal, and the second indication information is determined based on the measurement result of the fourth reference signal. The method further includes: Resource configuration information for sending the third reference signal to the fourth device and the at least one fifth device, wherein the resource configuration information for the third reference signal is used to instruct the fourth device to send the resources of the third reference signal to the at least one fifth device; Resource configuration information of the fourth reference signal is sent to the second device and the at least one fifth device, wherein the resource configuration information of the fourth reference signal is used to instruct the second device to send the resources of the fourth reference signal to the at least one fifth device.

20. The method according to claim 18, characterized in that, The first indication information is determined based on the measurement result of the third reference signal, the second indication information is determined based on the measurement result of the fourth reference signal, the fourth device and the first device are the same device, and the method further includes: Resource configuration information for sending a third reference signal to the at least one fifth device, wherein the resource configuration information for the third reference signal is used to instruct the first device to send the third reference signal to the at least one fifth device; Resource configuration information for sending a fourth reference signal to the second device and the at least one fifth device, wherein the resource configuration information for the fourth reference signal is used to instruct the second device to send the resources of the fourth reference signal to the at least one fifth device.

21. The method according to claim 18, characterized in that, The method further includes: The third device is selected from the at least one fifth device based on the first indication information and / or the second indication information.

22. The method according to any one of claims 1 to 3, characterized in that, The error distribution includes the mean and variance / covariance matrix of the error; or, the error distribution includes the sampling points and weights of the error.

23. A positioning method, characterized in that, The method is performed by a third device and includes: Receive a positioning request information from a first device, the positioning request information being used to request the third device to initiate relative positioning with the second device; Send second measurement information to the first device, the second measurement information being used to indicate the relative position between the second device and the third device, the second measurement information including a second measurement result and an error distribution of the second measurement result; The method further includes: The device receives resource configuration information of a first reference signal and / or a second reference signal from the first device. The resource configuration information of the first reference signal is used to instruct the second device to send the resources of the first reference signal to the third device, and the resource configuration information of the second reference signal is used to instruct the third device to send the resources of the second reference signal to the second device.

24. The method according to claim 23, characterized in that, The resource configuration information received from the first reference signal and / or the second reference signal from the first device includes: Resource configuration information received from the first reference signal from the first device. The method further includes: The first reference signal is received based on the resource configuration information of the first reference signal.

25. The method according to claim 24, characterized in that, The second measurement result includes second time difference information, which indicates the time difference between the second device sending the first reference signal and the third device receiving the first reference signal.

26. The method according to claim 23, characterized in that, The resource configuration information received from the first reference signal and / or the second reference signal from the first device includes: The system receives resource configuration information from the first reference signal and resource configuration information from the second reference signal from the first device. The method further includes: The first reference signal is received based on the resource configuration information of the first reference signal; The second reference signal is sent based on the resource configuration information of the second reference signal.

27. The method according to claim 26, characterized in that, The second measurement result includes fourth time difference information, which is used to indicate the time difference between the third device receiving the first reference signal and the third device transmitting the second reference signal.

28. The method according to any one of claims 23 to 27, characterized in that, The second measurement result includes second angle measurement information, which is determined based on the first reference signal, and is used to indicate the angle of the second device relative to the third device.

29. The method according to any one of claims 23 to 27, characterized in that, The method further includes: A third measurement information is sent to the first device. The third measurement information is used to indicate the relative position between the third device and the fourth device. The third measurement information includes a third measurement result and the error distribution of the third measurement result.

30. The method according to claim 29, characterized in that, The method further includes: The third device receives resource configuration information of a seventh reference signal and / or an eighth reference signal from a first device. The resource configuration information of the seventh reference signal is used to instruct the third device to send the resources of the seventh reference signal to the fourth device, and the resource configuration information of the eighth reference signal is used to instruct the fourth device to send the resources of the eighth reference signal to the third device.

31. The method according to claim 30, characterized in that, The resource configuration information received from the seventh reference signal and / or the eighth reference signal from the first device includes: Resource configuration information received from the eighth reference signal from the first device. The method further includes: The eighth reference signal is received based on the resource configuration information of the eighth reference signal.

32. The method according to claim 31, characterized in that, The third measurement result includes fifth time difference information, which is used to indicate the time difference between the fourth device sending the eighth reference signal and the third device receiving the eighth reference signal.

33. The method according to claim 30, characterized in that, The resource configuration information received from the seventh reference signal and / or the eighth reference signal from the first device includes: The resource configuration information received is from the seventh reference signal and the resource configuration information received is from the eighth reference signal of the first device. The method further includes: The seventh reference signal is sent according to the resource configuration information of the seventh reference signal; The eighth reference signal is received based on the resource configuration information of the eighth reference signal.

34. The method according to claim 33, characterized in that, The third measurement result includes a seventh time difference information, which is used to indicate the time difference between the third device sending the seventh reference signal and the third device receiving the eighth reference signal.

35. The method according to claim 30, characterized in that, The third measurement result includes third angle measurement information, which is determined based on the eighth reference signal, and is used to indicate the angle of the fourth device relative to the third device.

36. The method according to any one of claims 23 to 27, characterized in that, The method further includes: Send at least one of a second prior distribution information or a third prior distribution information to the first device, wherein the second prior distribution information is used to indicate the prior distribution of the relative position between the third device and the fourth device, and the third prior distribution information is used to indicate the prior distribution of the relative position between the second device and the third device.

37. The method according to claim 36, characterized in that, The prior distribution is the mean and covariance matrix / variance of the two-dimensional or three-dimensional coordinates of the error location; or, the prior distribution is the sampling points and weights of the two-dimensional or three-dimensional coordinate errors.

38. The method according to any one of claims 23 to 27, characterized in that, The method further includes: Send a first indication message and a second indication message to the first device. The first indication message is used to indicate the positioning accuracy between the third device and the fourth device and / or whether the first channel between the third device and the fourth device is a line-of-sight (LoS) propagation channel. The second indication message is used to indicate the positioning accuracy between the third device and the second device and / or whether the second channel between the third device and the second device is a LoS propagation channel.

39. The method according to claim 38, characterized in that, The method further includes: The system receives resource configuration information from a third reference signal and resource configuration information from a fourth reference signal from a first device. The resource configuration information of the third reference signal is used to instruct the fourth device to send the resources of the third reference signal to the third device, and the resource configuration information of the fourth reference signal is used to instruct the second device to send the resources of the fourth reference signal to the third device. The first indication information is determined based on the measurement result of the third reference signal, and the second indication information is determined based on the measurement result of the fourth reference signal.

40. The method according to any one of claims 23 to 27, characterized in that, The error distribution is the mean and covariance matrix / variance of the error; or, the error distribution is the sampling points and weights of the error.

41. A positioning device, characterized in that, include: Units for performing the various steps of the method as described in any one of claims 1 to 40.

42. A positioning device, characterized in that, include: Memory, used to store computer instructions; A processor for executing computer instructions stored in the memory, causing the apparatus to perform the method as described in any one of claims 1 to 40.

43. A computer-readable storage medium, characterized in that, It contains a computer program for performing the method as described in any one of claims 1 to 40.

44. A chip system, characterized in that, include: A processor for executing a stored computer program for performing the method as described in any one of claims 1 to 40.

45. A computer program product, characterized in that, Includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 40.

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