A positioning method and apparatus

Abstract

The application discloses a positioning method and device. In the method, a first device sends a first reference signal to a second device, the second device performs phase measurement on the first reference signal to obtain a first phase; the second device sends a second reference signal to the first device, the first device performs phase measurement on the second reference signal to obtain a second phase; the first device sends a third reference signal to the second device, the second device performs phase measurement on the third reference signal to obtain a third phase; then the first device, the second device or the third device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase. The first device and the second device perform three times of phase measurement, and the distance between the first device and the second device is calculated according to the phases obtained through the three times of measurement, so that the influence of the frequency error of the two devices on the positioning precision can be effectively reduced.

Description

[0001] This application claims priority to the Chinese Patent Application No. 202110964885.7, filed on August 19, 2021, and entitled “A Positioning Method Based on Carrier Phase”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of wireless communication, and in particular to a positioning method and device. BACKGROUND

[0003] With the continuous development of mobile communication technology, the requirement for positioning accuracy is also getting higher and higher. The traditional positioning method based on time measurement requires very high accuracy of time measurement, and 1ns of time measurement error will cause 30cm of ranging error. The positioning method based on carrier phase measurement has a theoretical error of 1% to 10% of the wavelength of the radio frequency signal, for example, the wavelength of a 1GHz radio frequency signal is 30cm, and its 10% is only 3cm. Therefore, the positioning method based on carrier phase measurement can obtain higher positioning accuracy.

[0004] However, in the current positioning method based on carrier phase measurement, some problems affecting the positioning accuracy have not been well solved, for example, the problem of the influence of device clock frequency offset (i.e. frequency error of device transmitting radio frequency signal) on positioning accuracy. SUMMARY

[0005] Embodiments of the present application provide a positioning method and device for improving the accuracy of positioning.

[0006] In a first aspect, embodiments of the present application provide a positioning method, comprising: a first device sending a first reference signal to a second device, so that the second device performs phase measurement on the first reference signal to obtain a first phase; the first device receiving a second reference signal sent by the second device and measuring a second phase of the second reference signal; the first device sending a third reference signal to the second device, so that the second device performs phase measurement on the third reference signal to obtain a third phase; and the first phase, the second phase and the third phase are used to determine the distance between the first device and the second device. In the above method embodiment, the first device and the second device jointly perform three times of phase measurement on the reference signal, so as to determine the distance between the first device and the second device according to the obtained three phases, which helps to reduce the distance error and improve the accuracy of positioning, and can be applied to services with higher requirement for positioning accuracy.

[0007] In a possible implementation, the method further includes: determining, by the first device, an expected response time length; and sending, by the first device, a third reference signal to the second device, including: sending, by the first device, the third reference signal to the second device after receiving the second reference signal, with an interval of the expected response time length. Determining the expected response time length before sending the third reference signal helps to accurately control the interval of the first device receiving the second reference signal to sending the third reference signal, thereby facilitating control of the order of magnitude of the time length used based on the phase measurement distance.

[0008] In a possible implementation, the first device determines the expected response time length, including: determining, by the first device, the expected response time length according to response time length indication information sent by the second device. The first device determines the expected response time length according to the response time length indication information sent by the second device, which helps to achieve that the first expected response time length of the first device is relatively or close to equal to the second expected response time length of the second device, thereby facilitating further improvement of positioning accuracy.

[0009] In a possible implementation, after the first device determines the expected response time length, the method further includes: sending, by the first device, response time length indication information to the second device, the response time length indication information being used to indicate the expected response time length, so that the second device sends the second reference signal to the first device after receiving the first reference signal, with an interval of the expected response time length. The first device sends the response time length indication information to the second device, so that the second device determines the expected response time length of the second device according to the indication information, which helps to achieve that the first expected response time length of the first device is relatively or close to equal to the second expected response time length of the second device, thereby facilitating further improvement of positioning accuracy.

[0010] In a possible implementation, the method further includes: sending, by the first device, the expected response time length to the third device, so that the third device determines the distance between the first device and the second device according to the expected response time length, and / or, so that the third device sends the expected response time length to other devices used for positioning the second device. On the one hand, in the case of determining the distance between the first device and the second device according to the first phase, the second phase and the third phase, further combining the time length based on the time-of-flight algorithm to determine the distance helps to further improve the positioning accuracy; on the other hand, there can be multiple devices used for positioning the second device, and if the multiple devices used for positioning the second device use the same expected response time length, it also helps to improve the positioning accuracy.

[0011] In a possible implementation, the method further includes: the first device sending the second phase to a third device, so that the third device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, wherein the first phase and the third phase are sent by the second device to the third device. In this implementation, the first device can send the second phase to the third device, and the second device can send the first phase and the third phase to the third device, so that the third device determines the distance between the first device and the second device.

[0012] In a possible implementation, the method further includes: the first device sending a first interval duration to the third device, the first interval duration representing a duration from sending, by the first device, the first reference signal to receiving, by the first device, the second reference signal, so that the third device determines the distance between the first device and the second device according to the first interval duration, the first phase, the second phase and the third phase. In addition to determining the distance between the first device and the second device based on the first phase, the second phase and the third phase, the distance between the first device and the second device can also be determined based on a time-of-flight algorithm in combination with the duration, thereby further improving the positioning accuracy.

[0013] In a possible implementation, the method further includes: the first device sending a first actual response duration to the third device, the first actual response duration representing an actual duration from receiving, by the first device, the second reference signal to sending, by the first device, the third reference signal, so that the third device determines the distance between the first device and the second device according to the first actual response duration, the first phase, the second phase and the third phase. In addition to determining the distance between the first device and the second device based on the first phase, the second phase and the third phase, the distance between the first device and the second device can also be determined based on a time-of-flight algorithm in combination with the duration, thereby further improving the positioning accuracy.

[0014] In a possible implementation, the method further includes: the first device receiving the first phase and the third phase measured by the second device; and the first device determining the distance between the first device and the second device according to the first phase, the second phase and the third phase. In this implementation, the first device can determine the distance between the first device and the second device according to the first phase, the second phase and the third phase, so that the positioning method can be applied to a sidelink scenario.

[0015] In a possible implementation, the method further includes: receiving, by the first device, a second interval duration sent by the second device, the second interval duration representing a time duration from sending the second reference signal by the second device to receiving the third reference signal by the second device; and determining, by the first device, the distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: determining, by the first device, the distance between the first device and the second device according to the first phase, the second phase, the third phase, the second interval duration, and a response duration, the response duration including an expected response duration determined by the first device or a first actual response duration, the expected response duration determined by the first device representing an expected response duration determined by the first device from receiving the second reference signal to sending the third reference signal, and the first actual response duration representing an actual time duration from receiving the second reference signal to sending the third reference signal by the first device. Based on the distance between the first device and the second device determined according to the first phase, the second phase, and the third phase, the distance between the first device and the second device can also be determined based on the time of flight algorithm in combination with the time duration, thereby further improving the positioning accuracy.

[0016] In a possible implementation, the first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the second interval duration, and a response duration, including: the first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval duration, the second interval duration, and an expected response duration determined by the first device, the first interval duration representing a time duration from sending the first reference signal by the first device to receiving the second reference signal by the first device. Based on the distance between the first device and the second device determined according to the first phase, the second phase, and the third phase, the distance between the first device and the second device can also be determined based on the time of flight algorithm in combination with the time duration, thereby further improving the positioning accuracy.

[0017] In a possible implementation, the first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, including: the first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval time length and an expected response time length determined by the first device, the first interval time length representing a time length from sending the first reference signal by the first device to receiving the second reference signal by the first device, and the expected response time length determined by the first device representing an expected response time length determined by the first device from receiving the second reference signal to sending the third reference signal. Based on the distance between the first device and the second device determined according to the first phase, the second phase and the third phase, the distance between the first device and the second device can also be determined based on the time length according to the time-of-flight algorithm, so as to further improve the positioning accuracy.

[0018] In a possible implementation, the method further includes: the first device receives a second actual response time length sent by the second device, the second actual response time length representing an actual time length from receiving the first reference signal by the second device to sending the second reference signal; and the first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, including: the first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval time length and the second actual response time length, the first interval time length representing a time length from sending the first reference signal by the first device to receiving the second reference signal by the first device. Based on the distance between the first device and the second device determined according to the first phase, the second phase and the third phase, the distance between the first device and the second device can also be determined based on the time length according to the time-of-flight algorithm, so as to further improve the positioning accuracy.

[0019] In a possible implementation, the method further includes: receiving, by the first device, a second interval duration sent by the second device, the second interval duration representing a time duration from sending, by the second device, the second reference signal to receiving, by the second device, the third reference signal; and determining, by the first device, a distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: determining, by the first device, the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval duration, the second interval duration, a first actual response duration, and a second actual response duration, the first interval duration representing a time duration from sending, by the first device, the first reference signal to receiving, by the first device, the second reference signal, and the first actual response duration representing an actual time duration from receiving, by the first device, the second reference signal to sending, by the first device, the third reference signal. Based on determining the distance between the first device and the second device according to the first phase, the second phase, and the third phase, the distance between the first device and the second device can also be determined based on a time-of-flight algorithm, thereby further improving the positioning accuracy.

[0020] In a possible implementation, the method further includes: sending, by the first device, the second phase to the second device, so that the second device determines the distance between the first device and the second device according to the first phase, the second phase, and the third phase. In this implementation, the distance between the first device and the second device can be determined by the second device according to the first phase, the second phase, and the third phase, so that the positioning method can be applied to a sidelink scenario.

[0021] In a possible implementation, the method further includes: sending, by the first device, a first interval duration to the second device, the first interval duration representing a time duration from sending, by the first device, the first reference signal to receiving, by the first device, the second reference signal, so that the second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, and the first interval duration. Based on determining the distance between the first device and the second device according to the first phase, the second phase, and the third phase, the distance between the first device and the second device can also be determined based on a time-of-flight algorithm, thereby further improving the positioning accuracy.

[0022] In a possible implementation, the method further includes: the first device sending a first actual response time length to the second device, the first actual response time length representing an actual time length of the first device from receiving the second reference signal to sending the third reference signal, so that the second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase and the first actual response time length. On the basis of determining the distance between the first device and the second device based on the first phase, the second phase and the third phase, the distance between the first device and the second device can also be determined based on the time length based on the time-of-flight algorithm, thereby further improving the positioning accuracy.

[0023] In a possible implementation, the first device sending the first reference signal to the second device includes: the first device sending the first reference signal to the second device at at least two frequencies; the first device receiving the second reference signal sent by the second device and measuring a second phase of the second reference signal includes: the first device receiving the second reference signal sent by the second device at the at least two frequencies, and measuring at least two second phases corresponding to the second reference signal at the at least two frequencies; and the first device sending the third reference signal to the second device includes: the first device sending the third reference signal to the second device at the at least two frequencies. In this implementation, the first device and the second device can send reference signals at multiple frequencies, thereby further reducing the distance error according to the measurement results of the same reference signal at different frequencies.

[0024] In a second aspect, the embodiments of the present application provide a positioning method, including: a second device receiving a first reference signal sent by a first device and measuring a first phase of the first reference signal; the second device sending a second reference signal to the first device, so that the first device measures the first reference signal to obtain a second phase; the second device receiving a third reference signal sent by the first device and measuring a third phase of the third reference signal; and the first phase, the second phase and the third phase are used to determine a distance between the first device and the second device.

[0025] In a possible implementation, the method further includes: the second device determining an expected response time length; and the second device sending the second reference signal to the first device includes: the second device sending the second reference signal to the first device after receiving the first reference signal, with an interval of the expected response time length.

[0026] In a possible implementation, the second device determining the expected response time length includes: the second device determining the expected response time length according to response time length indication information sent by the first device.

[0027] In a possible implementation, after the second device determines the expected response duration, the method further includes: the second device sends response duration indication information to the first device, the response duration indication information is used to indicate the expected response duration, so that the first device sends the third reference signal to the second device after receiving the second reference signal, and interval of the expected response duration.

[0028] In a possible implementation, the method further includes: the second device sends the response duration to the third device, so that the third device determines the distance between the first device and the second device according to the response duration, and / or, so that the third device sends the response duration to other devices for positioning the first device.

[0029] In a possible implementation, the method further includes: the second device sends the first phase and the third phase to the third device, so that the third device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, wherein the second phase is sent by the first device to the third device.

[0030] In a possible implementation, the method further includes: the second device sends a second interval duration to the third device, the second interval duration represents a duration from the second device sending the second reference signal to the second device receiving the third reference signal, so that the third device determines the distance between the first device and the second device according to the second interval duration, the first phase, the second phase and the third phase.

[0031] In a possible implementation, the method further includes: the second device sends a second actual response duration to the third device, the second actual response duration represents an actual duration from the second device receiving the first reference signal to the second device sending the second reference signal, so that the third device determines the distance between the first device and the second device according to the second actual response duration, the first phase, the second phase and the third phase.

[0032] In a possible implementation, the method further includes: the second device sends the first phase and the third phase to the first device, so that the first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase.

[0033] In a possible implementation, the method further includes: the second device sending a second interval duration to the first device, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device, so that the first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase and the second interval duration.

[0034] In a possible implementation, the method further includes: the second device sending a second actual response duration to the first device, the second actual response duration representing an actual duration from receiving the first reference signal by the second device to sending the second reference signal by the second device, so that the first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase and the second actual response duration.

[0035] In a possible implementation, the method further includes: the second device receiving the second phase measured by the first device; and the second device determining the distance between the first device and the second device according to the first phase, the second phase and the third phase.

[0036] In a possible implementation, the method further includes: the second device receiving a first interval duration sent by the first device, the first interval duration representing a duration from sending the first reference signal by the first device to receiving the second reference signal by the first device; and the second device determining the distance between the first device and the second device according to the first phase, the second phase and the third phase, including: the second device determining the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration and a response duration, the response duration including an expected response duration determined by the second device or a second actual response duration, the expected response duration determined by the second device representing an expected response duration determined by the second device from receiving the first reference signal to sending the second reference signal, and the second actual response duration representing an actual duration from receiving the first reference signal by the second device to sending the second reference signal by the second device.

[0037] In a possible implementation, the second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration and a response duration, including: the second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration, a second interval duration and an expected response duration determined by the second device, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device.

[0038] In a possible implementation, the second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, including: the second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a second interval duration and an expected response duration determined by the second device, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device, and the expected response duration determined by the second device representing an expected response duration determined by the second device from receiving the first reference signal to sending the second reference signal.

[0039] In a possible implementation, the method further includes: the second device receives a first actual response duration sent by the first device, the first actual response duration representing an actual duration from receiving the second reference signal by the first device to sending the third reference signal; and the second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, including: the second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a second interval duration and the first actual response duration, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device.

[0040] In a possible implementation, the method further includes: receiving, by the second device, a first interval duration sent by the first device, the first interval duration representing a duration from sending the first reference signal by the first device to receiving the second reference signal by the first device; and determining, by the second device, the distance between the first device and the second device according to the first phase, the second phase, the third phase, a second interval duration, and the first actual response duration, including: determining, by the first device, the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration, the second interval duration, the first actual response duration, and a second actual response duration, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device, and the second actual response duration representing an actual duration from receiving the first reference signal by the second device to sending the second reference signal by the second device.

[0041] In a possible implementation, the receiving, by the second device, the first reference signal sent by the first device and measuring a first phase of the first reference signal includes: receiving, by the second device, the first reference signal sent by the first device on at least two frequencies, and measuring at least two first phases of the first reference signal corresponding to the at least two frequencies; the sending, by the second device, the second reference signal to the first device includes: sending, by the second device, the second reference signal to the first device on the at least two frequencies; and the receiving, by the second device, the third reference signal sent by the first device and measuring a third phase of the third reference signal includes: receiving, by the second device, the third reference signal sent by the first device on the at least two frequencies, and measuring at least two third phases of the first reference signal corresponding to the at least two frequencies.

[0042] In a third aspect, an embodiment of the present application provides a positioning method, including: receiving, by a third device, a second phase sent by a first device; receiving, by the third device, a first phase and a third phase sent by a second device; and determining, by the third device, a distance between the first device and the second device according to the first phase, the second phase, and the third phase.

[0043] In a possible implementation, the first phase is a phase measured by the second device on a first reference signal sent by the first device; the second phase is a phase measured by the first device on a second reference signal sent by the second device; and the third phase is a phase measured by the second device on a third reference signal sent by the first device.

[0044] In a possible implementation, the method further includes: the third device receiving the expected response duration sent by the first device, and sending the expected response duration to other devices used for positioning the second device; or, the third device receiving the expected response duration sent by the second device, and sending the expected response duration to other devices used for positioning the first device.

[0045] In a possible implementation, the method further includes: the third device receiving the expected response duration sent by the first device or the second device, the expected response duration representing an expected response duration of the first device from receiving the second reference signal to sending the third reference signal, or representing an expected response duration of the second device from receiving the first reference signal to sending the second reference signal; the third device receiving a first interval duration sent by the first device, the first interval duration representing a duration from the first device sending the first reference signal to the first device receiving the second reference signal; and the third device determining the distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: the third device determining the distance between the first device and the second device according to the first phase, the second phase, the third phase, the expected response duration, and the first interval duration.

[0046] In a possible implementation, the method further includes: the third device receiving the expected response duration sent by the first device or the second device; the third device receiving a second interval duration sent by the second device, the second interval duration representing a duration from the second device sending the second reference signal to the second device receiving the third reference signal; and the third device determining the distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: the third device determining the distance between the first device and the second device according to the first phase, the second phase, the third phase, the expected response duration, and the second interval duration.

[0047] In a possible implementation, the method further includes: receiving, by the third device, a first interval duration sent by the first device, the first interval duration representing a duration from sending the first reference signal by the first device to receiving the second reference signal by the first device; receiving, by the third device, a second actual response duration sent by the second device, the second actual response duration representing an actual duration from receiving the first reference signal to sending the second reference signal by the second device; and determining, by the third device, a distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: determining, by the third device, the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration, and the second actual response duration.

[0048] In a possible implementation, the method further includes: receiving, by the third device, a first actual response duration sent by the first device, the first actual response duration representing an actual duration from receiving the second reference signal to sending the third reference signal by the first device; receiving, by the third device, a second interval duration sent by the second device, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device; and determining, by the third device, a distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: determining, by the third device, the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first actual response duration, and the second interval duration.

[0049] In a possible implementation, the receiving, by the third device, the second phase sent by the first device includes: receiving, by the third device, at least two second phases sent by the first device and frequency indication information corresponding to each of the second phases; and the receiving, by the third device, the first phase and the third phase sent by the second device includes: receiving, by the third device, at least two first phases sent by the second device and frequency indication information corresponding to each of the first phases, and at least two third phases sent by the second device and frequency indication information corresponding to each of the third phases.

[0050] In a fourth aspect, an embodiment of the present application provides a communication apparatus, which includes modules / circuits for performing the method in the first aspect and any possible implementation of the first aspect; these modules / circuits can be implemented by hardware, or by hardware executing corresponding software.

[0051] Exemplarily, the communication apparatus can comprise a transceiving module and a measuring module, the transceiving module can be configured to perform the information transceiving process in each of the design schemes of the first aspect, such as receiving the second reference signal, transmitting the first reference signal, the third reference signal, etc., and the measuring module can be configured to measure the phase of the second reference signal, etc.

[0052] In the fifth aspect, the embodiments of the present application provide a communication apparatus, which comprises modules / units for performing the method of the second aspect and any possible implementation manner of the second aspect; these modules / units can be implemented by hardware, or by hardware executing corresponding software.

[0053] Exemplarily, the communication apparatus can comprise a transceiving module and a measuring module, the transceiving module can be configured to perform the information transceiving process in each of the design schemes of the second aspect, such as receiving the first reference signal, the third reference signal, transmitting the second reference signal, etc., and the measuring module can be configured to measure the phase of the first reference signal, the third reference signal, etc.

[0054] In the sixth aspect, the embodiments of the present application provide a communication apparatus, which comprises modules / units for performing the method of the third aspect and any possible implementation manner of the third aspect; these modules / units can be implemented by hardware, or by hardware executing corresponding software.

[0055] Exemplarily, the communication apparatus can comprise a transceiving module and a determining module, the transceiving module can be configured to perform the information transceiving process in each of the design schemes of the third aspect, such as receiving the first phase, the second phase, the third phase, etc., and the determining module can be configured to determine the distance between the first device and the second device according to the first phase, the second phase, the third phase, etc.

[0056] In the seventh aspect, the embodiments of the present application provide a communication apparatus, which comprises a processor, and a memory and a communication interface coupled with the processor respectively; the communication interface is configured to communicate with other devices; the processor is configured to run instructions or programs in the memory, and execute the method of the first aspect and any possible implementation manner of the first aspect through the communication interface.

[0057] In the eighth aspect, the embodiments of the present application provide a communication apparatus, which comprises a processor, and a memory and a communication interface coupled with the processor respectively; the communication interface is configured to communicate with other devices; the processor is configured to run instructions or programs in the memory, and execute the method of the second aspect and any possible implementation manner of the second aspect through the communication interface.

[0058] In a ninth aspect, an embodiment of the present application provides a communication apparatus, comprising: a processor, and a memory and a communication interface coupled to the processor respectively; the communication interface is configured to communicate with other devices; the processor is configured to run instructions or programs in the memory, and execute the method in the third aspect and any possible implementation manner of the third aspect via the communication interface.

[0059] In a tenth aspect, a computer readable storage medium is provided in an embodiment of the present application, and the computer readable storage medium stores computer readable instructions, when the computer readable instructions are run on a computer, the method in the first aspect, the second aspect, the third aspect and any possible implementation manner thereof is executed.

[0060] In an eleventh aspect, a computer program product containing instructions is provided in an embodiment of the present application, when the computer program product is run on a computer, the method in the first aspect, the second aspect, the third aspect and any possible implementation manner thereof is executed. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 a flowchart of a traditional positioning method;

[0062] Figure 2 a flowchart of another traditional positioning method;

[0063] Figure 3 a flowchart of still another traditional positioning method;

[0064] Figure 4 a flowchart of still another traditional positioning method;

[0065] Figure 5 a flowchart of a positioning method provided in an embodiment of the present application;

[0066] Figure 6 a time length diagram in a positioning process provided in an embodiment of the present application;

[0067] Figure 7 a time length diagram in another positioning process provided in an embodiment of the present application;

[0068] Figure 8 a flowchart of a positioning method provided in an embodiment of the present application;

[0069] Figure 9 a flowchart of a positioning method provided in an embodiment of the present application;

[0070] Figure 10 a flowchart of a positioning method provided in an embodiment of the present application;

[0071] Figure 11 A flowchart illustrating a specific embodiment four of the positioning method provided in this application;

[0072] Figure 12 A flowchart illustrating a specific embodiment of the positioning method provided in this application;

[0073] Figure 13 A flowchart illustrating a specific embodiment six of the positioning method provided in this application;

[0074] Figure 14 This application provides a schematic diagram of the structure of a communication device according to an embodiment of the present application.

[0075] Figure 15 This is a schematic diagram of another communication device structure provided in an embodiment of this application;

[0076] Figure 16 This is a schematic diagram of another communication device structure provided in an embodiment of this application. Detailed Implementation

[0077] This application provides a communication method and apparatus to improve positioning accuracy. To more clearly describe the technical solutions of this application, the communication method and apparatus provided below will be described in detail with reference to the accompanying drawings.

[0078] exist Figure 1 In the traditional positioning method based on carrier phase measurement, device A sends a reference signal to device B on multiple carriers, and device B measures the carrier phase of the reference signal on multiple carriers. The distance between device A and device B has the relationship with the carrier phase as shown in formula (1).

[0079]

[0080] in, f represents the carrier phase. k Let δ represent the frequency of the k-th carrier wave, c represent the speed of light, r represent the distance between device A and device B, and δ represent the distance between device A and device B. B θ represents the time synchronization error between device A and device B. B and θ A These are the initial phases of device B and device A, respectively, and N represents the number of carriers.

[0081] As can be seen from formula (1), the above positioning method has the following problems: 1) It is affected by the time synchronization error δ between devices. B and initial phase offset θ B -θ A; 2) there is periodic ambiguity; 3) it is affected by clock frequency offset (i.e. the frequency error of the radio frequency signals transmitted by device A and device B).

[0082] In Figure 2 the carrier phase measurement based positioning method shown in FIG. 1, device A transmits first reference signals to device B on multiple carriers, and device B measures the carrier phases of the first reference signals on the multiple carriers Referring to equation (1) above. Then, device B transmits second reference signals to device A, and device A measures the carrier phases of the second reference signals on the multiple carriers While the distance between device A and device B is related to the carrier phases measured by device A There is a relationship as shown in equation (2).

[0083]

[0084] Device B transmits the measured carrier phases to device A, and device A can calculate the double- pass carrier phases and

[0085]

[0086] According to equation (3), the double-pass carrier phases and can eliminate the effects of time synchronization error δ B and initial phase offset θ B - θ A . However, since the double-pass carrier phases and still need to be modulo 2π, there is still periodic ambiguity, and the ambiguity of the distance r is

[0087] To reduce the periodic ambiguity, the carrier phase measurements at different frequencies can be used to solve the distance. For example, the double-pass carrier phases and of two adjacent carriers can be subtracted, as shown in equation (4).

[0088]

[0089] According to equation (4), equation (5) can be derived.

[0090]

[0091] According to equation (5), the ambiguity of the distance r is

[0092] If further consideration is given to the clock frequency offset, it can be assumed that the frequency offset rates of device A and device B are e A and eB The relationship between the clock frequency offset carrier phase measurement value and the distance r can be shown as formulas (6)-(9).

[0093]

[0094]

[0095]

[0096]

[0097] Wherein, t replyB represents the time length from receiving the first reference signal from the device B to sending the second reference signal by the device B.

[0098] According to formula (9), the error of the distance r is:

[0099]

[0100] Therefore, when the influence of the clock frequency offset is considered, the error of the distance r is proportional to the difference e replyB and the clock frequency offset rate. A -e B When t replyB is in the order of milliseconds, such as 1 ms, when e A -e B is in the order of 10 -6 , it can cause a ranging error of about 1.5 m, and the error is still large.

[0101] In the time measurement-based positioning method shown in Figure 3 , the device A sends a first reference signal to the device B; the device B sends a second reference signal to the device A after receiving the first reference signal, with a time length t replyB ; the device A sends a third reference signal to the device B after receiving the second reference signal, with a time length t replyA . The time length from sending the first reference signal by the device A to receiving the second reference signal by the device A can be denoted as t roundA , and the time length from sending the second reference signal by the device B to receiving the third reference signal by the device B can be denoted as t roundB . The time of flight T tof of the reference signal can be determined according to formula (11).

[0102]

[0103] Then, the time of flight T tof is multiplied by the speed of light c to obtain the distance between the first device and the second device.

[0104] To ensure the positioning accuracy, the above-mentioned positioning method based on time measurement needs to be performed in an ultra wideband (UWB) scenario, for example, a bandwidth greater than 500 MHz. However, many communication systems have limited bandwidth and cannot achieve ultra bandwidth. When the above-mentioned positioning method based on time measurement is used, the positioning accuracy cannot meet the user demand.

[0105] To improve the positioning accuracy, a positioning method combining Figure 2 and Figure 3 may be as shown in Figure 4 . In the positioning method shown in Figure 4 , the device A sends a first reference signal to the device B; after receiving the first reference signal, the device B sends a second reference signal to the device A at a time interval t replyB . The time interval from when the device A sends the first reference signal to when the device A receives the second reference signal can be denoted as t roundA . Then, based on the phase measured by the device B on the first reference signal and the phase measured by the device A on the second reference signal, the time interval t replyB and the time interval t roundA are used for distance measurement.

[0106] On the basis of the positioning method based on carrier phase measurement, combining the time-of-flight distance measurement method can help solve the periodic ambiguity problem, but the influence of clock frequency offset on positioning is still not considered, and the positioning accuracy still needs to be improved.

[0107] Therefore, to improve the accuracy of positioning based on carrier phase, a possible implementation is to further reduce the influence of the clock frequency offset rate on the distance r.

[0108] In view of this, the embodiments of the present application provide a positioning method for reducing the influence of the clock frequency offset rate on the distance r, thereby improving the accuracy of positioning.

[0109] Referring to Figure 5 , a flowchart of the positioning method provided by the embodiments of the present application is shown in the figure. The method can include the following steps:

[0110] Step S1a, the first device sends a first reference signal to the second device.

[0111] Step S1b, the second device performs phase measurement on the first reference signal to obtain a first phase.

[0112] Step S2a, the second device sends a second reference signal to the first device.

[0113] Step S2b, the first device performs phase measurement on the second reference signal to obtain a second phase.

[0114] Step S3a, the first device sends a third reference signal to the second device.

[0115] Step S3b, the second device performs phase measurement on the third reference signal to obtain a third phase.

[0116] The obtained first phase, second phase and third phase are all used to determine the distance between the first device and the second device.

[0117] For example, the second device can send the measured first phase and third phase to the first device, and the first device determines the distance between the first device and the second device according to the first phase, second phase and third phase; or the first device can also send the measured second phase to the second device, and the second device determines the distance between the first device and the second device according to the first phase, second phase and third phase; or the first device can send the measured second phase to the third device, and the second device can also send the measured first phase and third phase to the third device, and the third device determines the distance between the first device and the second device according to the first phase, second phase and third phase.

[0118] The above method can be applied to a cellular mobile communication system, for example, the first device can be a terminal device, and the second device can be a network device, a road side unit (RSU), a transmission and reception point (TRP) or the like, which can communicate with the terminal device and report the measured phase; or the first device can be a network device, RSU, TRP or the like, which can communicate with the terminal device and report the measured phase, and the second device is a terminal device. At this time, the first device and the second device can send the measured phase to the third device, and the third device determines the distance between the first device and the second device according to the first phase, second phase and third phase. The third device can be a location management function (LMF) network element, or other device capable of determining the distance between the first device and the second device according to the reported phase. Specifically, when the terminal device sends the second phase or sends the first phase and third phase to the LMF, the terminal device can use a transparent transmission mode, that is, the terminal device sends the encapsulated data to the network device, and the network device does not analyze and process the encapsulated data, but directly forwards the encapsulated data to the LMF. Alternatively, if one of the first device or the second device is an RSU, the third device can not be needed to determine the distance between the first device and the second device, and the RSU can be used to determine the distance between the first device and the second device.

[0119] The above method can also be applied to a sidelink scenario. For example, the scenario in which the first device and the second device are both terminal devices; or one of the first device and the second device is a terminal device, and the other is an RSU, etc. At this time, the first device or the second device can determine the distance between the first device and the second device according to the first phase, the second phase, and the third phase.

[0120] The network device can be a device with wireless transceiving function or a chip that can be disposed in the network device. The network device includes, but is not limited to, a base station (generation node B, gNB), a radio network controller (RNC), a node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (for example, a home evolved NodeB or a home Node B, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, a transmission and reception point (TRP or transmission point, TP), and the like. The network device can also be a network node constituting a gNB or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU).

[0121] The terminal device can also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user apparatus. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a smart wearable device (smart glasses, smart watch, smart earphone, etc.), a wireless terminal in smart home, etc., or a chip or chip module (or chip system) that can be arranged in the above devices. In the present application, the terminal device with wireless transceiver function and the chip that can be arranged in the terminal device are collectively referred to as terminal device.

[0122] In step Sla, the first device can send the first reference signal to the second device at at least two frequencies (for example, on two carriers), specifically, the first device can send the first reference signal to the second device at two frequencies at the same time, for example, using orthogonal frequency division multiplexing (OFDM) technology, which can realize sending data at different frequencies at the same time; or the first device can first send the first reference signal to the second device at a first frequency, and then send the first reference signal to the second device at a second frequency. Correspondingly, the second device receives the first reference signal at the above at least two frequencies and measures the first phase of the first reference signal at each frequency, so the second device will measure at least two first phases corresponding to at least two frequencies. Further, if the second device needs to send the first phase to the first device or the third device, the second device sends the above at least two first phases, and the indication information of the frequency corresponding to each first phase, so that the receiving end can determine which frequency the first phase is measured for the first reference signal sent at.

[0123] Similarly, if the first device transmits a first reference signal at at least two frequencies, the second device correspondingly transmits a second reference signal to the first device at the same at least two frequencies, either simultaneously or sequentially. The first device then performs phase measurements on the second reference information at each frequency to obtain at least two second phases that correspond one-to-one with the at least two frequencies. Further, if the first device needs to transmit the second phases to the second or third device, the first device transmits the at least two second phases, along with indication information for the frequency corresponding to each second phase.

[0124] Similarly, if the first device transmits a first reference signal at at least two frequencies, the first device will still transmit a third reference signal to the second device at those at least two frequencies. The second device will then measure the at least two third reference signals to obtain a third phase that corresponds one-to-one with the at least two frequencies. If the second device needs to transmit the third phase to the first device or the third device, the second device can transmit the at least two third phases, as well as indication information of the frequency corresponding to each third phase.

[0125] The first phase measured by the second device can be used Indicates the first phase The relationship between the distance r and the distance can be found in formula (1) above; the second phase measured by the first device can be used... Indicates the second phase The relationship between the distance r and the distance can be found in formula (2) above; the third phase measured by the second device can be used... Indicates the third phase The relationship between the distance r and the distance can be found in the following formula (12):

[0126]

[0127] Among them, t replyB t represents the time elapsed from when the second device receives the first reference signal to when the second device transmits the second reference signal; replyA This indicates the time elapsed from when the first device receives the second reference signal to when the first device sends the third reference signal.

[0128] For the second phase and the third phase For details on performing the summation operation, please refer to the following formula (13):

[0129]

[0130] Phase sum at two adjacent frequencies By performing the difference operation, the distance estimate can be obtained as follows:

[0131]

[0132] According to the second phase and the third phase The obtained distance estimate According to the first phase Second phase The obtained distance estimate (Refer to formula (9) above) to obtain the final distance estimation result:

[0133]

[0134] According to the above formula (15), the distance error can be determined as:

[0135]

[0136] Considering e in practical applications A and e B Generally 10 -6 The order of magnitude, therefore the distance error e r It can be shown in formula (17):

[0137]

[0138] Therefore, considering the clock frequency offset rate, the distance error between the first device and the second device determined based on the first phase, second phase, and third phase using the above embodiments of this application, and the time difference t, are related. replyB -t replyA and clock frequency offset difference e A -e B Proportional. In practical applications, due to the duration t... replyB and duration t replyA Typically in the millisecond range, e A -e B The order of magnitude is usually 10 -6 Therefore, the distance error e r It can be reduced to within 1m, and Figure 2 Compared to the positioning method shown, the distance error e r This significantly reduces positioning accuracy, making it applicable to services requiring high positioning precision.

[0139] Optionally, before sending the third reference signal, the first device may first determine the first expected response duration (or expected response time), and then after receiving the second reference signal sent by the second device, send the third reference signal to the second device at intervals of the first expected response duration.

[0140] The first device determines the first expected response time length in the following ways:

[0141] Way 1: The first device determines the first expected response time length autonomously. For example, in a cellular network mobile communication system, the first device is a network device and the second device is a terminal device. In this case, the first device can determine the first expected response time length autonomously. For another example, in a sidelink scenario, the first device and the second device are both terminal devices. In this case, the first device can also determine the first expected response time length autonomously.

[0142] Way 2: The first device determines the first expected response time length according to response time length indication information sent by the second device. For example, in a cellular network mobile communication system, the first device is a terminal device and the second device is a network device. In this case, the second device can determine the expected response time length and send response time length indication information to the first device. The first device takes the time length indicated by the response time length indication information as the first expected response time length. For another example, in a sidelink scenario, the first device and the second device are both terminal devices. In this case, the second device can also determine the expected response time length and send response time length indication information to the first device, so that the first device can determine the first expected response time length according to the time length indication information.

[0143] Way 3: The first device determines the first expected response time length according to a prior agreement. For example, the first expected response time length of the first device can be predefined in a communication protocol, and the first device can determine the first expected response time length according to the pre-stored information.

[0144] The above-mentioned expected response time length can be an expected value or an expected range. For example, if the first device determines the expected response time length according to the response time length indication information, the response time length indication information can indicate a specific value, or can indicate a value range, or can be indicated by a specific value combined with an error, for example, the response time length indication information can indicate that the expected response time length is (t1±Δt2).

[0145] Similarly, before sending the second reference signal, the second device can also determine the second expected response time length from the time when the first device receives the first reference signal to the time when the second device sends the second reference signal in the following three ways: 1. The second device determines according to the response time length indication information sent by the first device; 2. The second device determines autonomously; 3. The second device determines according to a prior agreement.

[0146] According to formula (16), the distance error e r is proportional to the time difference t replyB , therefore, if t replyA can be made to be zero, the distance error e replyB can also be made to be zero.replyA The smaller, even approximately equal to 0, the distance error e can be further reduced, and the positioning accuracy is improved. r , the first device receives the second reference signal to the time length of sending the third reference signal, in order to make the above time difference as close to 0 as possible, the first expected response time can be equal to or close to the second expected response time. replyB replyA = 0, indicating that the second device receives the first reference signal to the time length of sending the second reference signal, and the first device receives the second reference signal to the time length of sending the third reference signal is the same. In order to make the above time difference as close to 0 as possible, the first expected response time can be equal to or close to the second expected response time.

[0147] Specifically, in the case where the first device determines the first expected response time according to mode 1, the first device can also send response time indication information to the second device after determining the first expected response time, which is used to indicate the first expected response time. After receiving the response time indication information, the second device takes the indicated first expected response time as the second expected response time, that is, the second device sends the second reference signal to the first device after an interval of the second expected response time after receiving the first reference signal. Through the above method, the first expected response time can be equal to the second expected response time, and since the first expected response time is the same as the second expected response time, the actual t replyB replyA = 0.

[0148] In the case where the first device determines the first response time according to mode 2, the response time indication information sent by the second device is generated according to the second expected response time of the second device, that is, the response time indicated by the response time indication information sent by the second device is the same as the second expected response time of the second device; and the first device takes the time indicated by the time indication information as the first expected response time, which can also make the first expected response time equal to the second expected response time.

[0149] In the case where the first device determines the first response time according to mode 3, the first expected response time and the second expected response time are pre-agreed, and the pre-agreed first expected response time is the same as the second expected response time, so the first expected response time obtained by the first device is the same as the second expected response time obtained by the second device.

[0150] In addition, in the scenario of a cellular network, a plurality of network devices (or other devices) can jointly position a terminal device. For example, terminal device A and the serving gNB (gNB1) of terminal device A perform a positioning process as shown in FIG. 2. Figure 5 ​​The positioning procedure shown in the figure, then gNB1 and terminal device A send the measured first phase, second phase and third phase to LMF, and LMF determines the distance r1 between gNB1 and terminal device A; however, determining the distance r1 between terminal device A and gNB1 can only determine that terminal device A is located on a circle with gNB1 as the center and the distance r1 as the radius, but cannot determine the specific position of terminal device A. At this time, the adjacent gNB2 can also perform the positioning procedure as Figure 5 The positioning procedure shown in the figure, then gNB1 and terminal device A send the measured first phase, second phase and third phase to LMF, and LMF determines the distance r1 between gNB1 and terminal device A; however, determining the distance r1 between terminal device A and gNB1 can only determine that terminal device A is located on a circle with gNB1 as the center and the distance r1 as the radius, but cannot determine the specific position of terminal device A. At this time, the adjacent gNB2 can also perform the positioning procedure as

[0151] In this scenario, the desired response time (i.e., the first desired response time, the second desired response time) can be determined by the terminal's service network device and sent to the terminal device. Further, the service network device can also send the desired response time to the LMF, and the LMF can send the desired response time to other devices (such as other network devices, RSUs, TRPs, etc.) used for positioning the terminal device, so that other devices can also perform the positioning procedure as Figure 5 The positioning procedure shown in the figure.

[0152] To further improve the positioning accuracy, the time length can be combined with the positioning based on the measured phase. Taking the steps S1a, S1b, S2a, S2b performed by the first device and the second device as an example, the corresponding time length can be as Figure 5 The positioning procedure shown in the figure. Figure 6 The time length from when the first device sends the first reference signal to when the first device receives the second reference signal is the first interval time length, denoted as t roundA ; the time length from when the second device receives the first reference signal to when the second device sends the second reference signal is the desired response time, denoted as t reply . According to the first interval time length t roundA and the response time t reply , the time of flight of the reference signal can be determined as Then, according to the time of flight and the speed of light c, the distance between the first device and the second device can be determined. The time measurement method does not have ambiguity, so combining the response time and the interval time length to determine the distance based on the first phase, the second phase and the third phase is beneficial to further improve the positioning accuracy.

[0153] Similarly, the desired response time can also be combined with the positioning procedure as Figure 5The time corresponding to the steps S2a, S2b, S3a, S3b is located. The second device sends the second reference signal to the second device receiving the third reference signal within a second interval time, denoted as t roundB , and the first device sends the third reference signal to the first device receiving the fourth reference signal within a first interval time, denoted as t reply . According to the second interval time t roundB , the first interval time t reply , and the speed of light c, the distance between the first device and the second device can be determined.

[0154] When the distance between the first device and the second device is determined by combining the time, if the first expected response time is equal to the second expected response time, when the distance is determined by the third device, the expected response time can be sent to the third device only by the non-terminal device of the first device and the second device; when the distance is determined by the first device or the second device, the expected response time can not be sent.

[0155] It should be understood that although the first expected response time can be equal to the second expected response time, in actual application, due to some interference factors, the first device or the second device may not be able to send according to the expected response time, in order to make the positioning result more accurate, the actual response time can be used for positioning calculation. The actual response time is used as an example for illustration.

[0156] For example, assuming that the first device and the second device are both terminal devices, and the distance between the first device and the second device is determined by the first device according to the first phase, the second phase, and the third phase; at this time, the second device can send the measured first phase, the third phase, and the second actual response time t replyB of the second device to the first device; the first device determines the distance between the first device and the second device according to the second phase measured by itself, the first phase sent by the second device, the third phase sent by the second device, and the first interval time t roundA of the first device and the second actual response time t replyB sent by the second device. Alternatively, the second device can send the first phase, the third phase, and the second interval time t roundB of the second device to the first device, and the first device determines the distance between the first device and the second device according to the second phase measured by itself, the first phase sent by the second device, the third phase sent by the second device, and the first actual response time t replyA of the first device and the second interval time t roundB of the second device.

[0157] For example, assuming that the first device and the second device are both terminal devices, and the distance between the first device and the second device is determined by the second device according to the first phase, the second phase and the third phase; at this time, the first device can send the measured second phase and the first interval time t roundA to the second device, or send the second phase and the first actual response time t replyA to the second device; the second device determines the distance according to the first phase, the third phase, the second phase sent by the first device, and the first interval time t roundA and the second actual response time t replyB of the second device of the first device, or the second device determines the distance according to the first phase, the second phase, the third phase, and the first actual response time t replyA , the second interval time t roundB of the second device.

[0158] For another example, in a cellular mobile communication system, the first device can send the measured second phase and the first interval time t roundA to the third device, and the second device can send the measured first phase, the third phase and the second actual response time t replyB to the third device, so that the third device can determine the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval time t roundA and the second actual response time t replyB . Alternatively, the first interval time t roundA sent by the first device can be replaced by the first actual response time t replyA , and the second actual response time t replyB sent by the second device can be replaced by the second interval time t roundB .

[0159] Further, based on the distance between the first device and the second device determined based on the first phase, the second phase and the third phase, the expected response time (or the first actual response time and the second actual response time), the first interval time and the second interval time can be combined to achieve more accurate positioning.

[0160] Taking the first actual response time and the second actual response time as an example, when the first device and the second device perform the steps S1a, S1b, S2a, S2b, S3a and S3b shown in the above Figure 5 , the corresponding time can be as shown in Figure 7 , wherein the time from sending the first reference signal by the first device to receiving the second reference signal by the first device is the first interval time, denoted as t roundAThe actual time from when the second device receives the first reference signal to when the second device sends the second reference signal is the aforementioned second actual response time, denoted as t. replyB The actual time from when the first device receives the second reference signal to when the first device sends the third reference signal is the aforementioned first actual response time, denoted as t. replyA The time interval from when the second device sends the second reference signal to when the second device receives the third reference signal is called the second interval duration, denoted as t. roundB Flight time T tof It can be determined by referring to the above formula (11).

[0161] Then the flight time T tof Multiplying by the speed of light c yields the distance between the first and second devices, which is used to determine the distance based on the first phase. Second phase Third phase The determined distance is then used for auxiliary correction to obtain a more accurate positioning result. Specifically, the third device can determine the distance between the first and second devices using the method described above, or, when the distance is determined by the first or second device, the first or second device can also determine the distance between the first and second devices using the method described above.

[0162] To clearly understand the above embodiments of this application, the following description is in conjunction with the appendix. Figures 8-13 Let's illustrate with examples.

[0163] exist Figure 8 In the specific embodiment shown, the first device is a terminal, and the second device is a gNB. Specifically, in this embodiment, the positioning method includes the following steps:

[0164] Step 801: The terminal's service gNB determines the expected response time t. reply .

[0165] Step 802a: The serving gNB sends a response duration indication message to the terminal to indicate the expected response duration t. reply .

[0166] Step 802b: The serving gNB sends a response duration indication message to the LMF to indicate the expected response duration t. reply .

[0167] Step 803: The LMF sends a response duration indication message to the nearest gNB to indicate the expected response duration t. reply .

[0168] Step 804: The terminal sends a first reference signal to the serving gNB. The serving gNB performs phase measurement on the received first reference signal to obtain the first phase.

[0169] Step 805, the serving gNB sends a second reference signal to the terminal. The terminal performs phase measurement on the received second reference signal to obtain a second phase.

[0170] Step 806, the terminal sends a third reference signal to the serving gNB. The serving gNB performs phase measurement on the received third reference signal to obtain a third phase.

[0171] Step 807, the terminal sends the second phase to the LMF.

[0172] Although in the specific embodiment shown in Figure 8 the step of the terminal sending the second phase to the LMF is after the step of the terminal sending the third reference signal, the embodiments of the present application do not limit the order of the two steps.

[0173] Step 808, the serving gNB sends the first phase and the third phase to the LMF.

[0174] When the above step 806 is performed before step 807, the embodiments of the present application also do not limit the order of step 807 and step 808.

[0175] Step 809, the LMF determines the distance between the terminal and the serving gNB according to the first phase, the second phase and the third phase.

[0176] The terminal and the adjacent gNB, LMF can also perform the process as described in steps 804-809, thereby realizing accurate positioning of the terminal.

[0177] In the specific embodiment shown in Figure 9 the first device is a gNB and the second device is a terminal. Specifically, in this embodiment, the positioning method comprises the following steps:

[0178] Steps 901-903 are the same as steps 801-803 described above.

[0179] Step 904, the serving gNB sends a first reference signal to the terminal. The terminal performs phase measurement on the received first reference signal to obtain a first phase.

[0180] Step 905, the terminal sends a second reference signal to the serving gNB. The serving gNB performs phase measurement on the received second reference signal to obtain a second phase.

[0181] Step 906, the serving gNB sends a third reference signal to the terminal. The terminal performs phase measurement on the received third reference signal to obtain a third phase.

[0182] Step 907, the serving gNB sends the second phase to the LMF.

[0183] Step 908: The terminal sends the first phase and the third phase to the LMF.

[0184] However, this application embodiment does not limit the order of steps 906 and 907, nor does it limit the order of steps 907 and 908.

[0185] Step 909: The LMF determines the distance between the terminal and the serving gNB based on the first phase, the second phase, and the third phase.

[0186] As mentioned earlier, determining the distance between the first and second devices by combining the measured phase with the first response duration, the second response duration, the first interval duration, and the second interval duration helps to further improve positioning accuracy. Therefore, it is possible to... Figure 8 Based on the specific embodiments shown, high-precision positioning is performed by combining the various durations mentioned above. The specific process can be as follows: Figure 10 As shown.

[0187] Steps 1001 to 1006 are the same as those described above.

[0188] Step 1007: The terminal sends the second phase and the first actual response duration t to the LMF. replyA and the first interval duration t roundA .

[0189] Step 1008: The serving gNB sends the first phase, the third phase, and the second actual response duration t to the LMF. replyB Second interval duration t roundB .

[0190] Step 1009: The LMF is based on the first phase, second phase, third phase, and first actual response duration t. replyA The first interval duration t roundA Second actual response time t replyB Second interval duration t roundB Determine the distance between the terminal and the serving gNB.

[0191] As mentioned earlier, the terminal can also send the second phase and the first actual response duration t. replyA The serving gNB can send the first phase, the third phase, and the second interval duration t. roundB Then, the LMF is based on the first phase, the second phase, the third phase, and the first actual response time t. replyA Second interval duration t roundB Determine the distance between the terminal and the serving gNB. Alternatively, the terminal can also send the second phase and the first interval duration t. roundA The serving gNB can send the first phase, the third phase, and the second actual response duration t.replyB , the LMF determines the distance between the terminal and the serving gNB according to the first phase, the second phase, the third phase, the first interval duration t roundA , and the second actual response duration t replyB .

[0192] The terminal can also perform the process as described in steps 1004-1009 with the neighboring gNB and the LMF, so as to achieve accurate positioning of the terminal.

[0193] It should be understood that high-precision positioning can also be performed on the basis of the embodiments shown in combination with the various durations described above, and the implementation manner is similar to that shown in Figure 9 , and will not be described here. Figure 10

[0194] In the specific embodiments shown in Figure 11 , the first device and the second device are both terminal devices, denoted as terminal 1 and terminal 2 respectively, and the step of determining the distance is performed by the terminal 1.

[0195] Step 1101, the terminal 1 determines the expected response duration t reply .

[0196] Step 1102, the terminal 1 sends response duration indication information to the terminal 2, for indicating the expected response duration t reply .

[0197] Step 1103, the terminal 1 sends a first reference signal to the terminal 2. The terminal 2 performs phase measurement on the received first reference signal to obtain a first phase.

[0198] Optionally, step 1102 and step 1103 can also be performed together, that is, the first reference signal sent by the terminal 1 carries the response duration indication information.

[0199] Step 1104, the terminal 2 sends a second reference signal to the terminal 1. The terminal 1 performs phase measurement on the received second reference signal to obtain a second phase.

[0200] Step 1105, the terminal 1 sends a third reference signal to the terminal 2. The terminal 2 performs phase measurement on the received third reference signal to obtain a third phase.

[0201] Step 1106, the terminal 2 sends the first phase and the third phase to the terminal 1.

[0202] Optionally, the terminal 2 can also carry the measured first phase when sending the second reference signal, and only send the third phase in step 1106. Alternatively, the terminal 2 can also send the first phase to the terminal 1 before or after sending the second reference signal, and then send the third phase to the terminal 1 after measuring the third phase.​

[0203] Step 1107: Terminal 1 determines the distance between Terminal 1 and Terminal 2 based on the first phase, the second phase and the third phase.

[0204] If terminal 2 performs the distance determination step, then step 1106 is: terminal 1 sends the second phase to terminal 2; step 1107 is: terminal 2 determines the distance between terminal 1 and terminal 2 based on the first phase, the second phase, and the third phase. Alternatively, terminal 1 may also carry the measured second phase when sending the third reference signal.

[0205] exist Figure 12 In the specific embodiment shown, both the first device and the second device are terminal devices, referred to as terminal 1 and terminal 2 respectively, and the step of determining the distance is performed by terminal 1.

[0206] Step 1201: Terminal 2 determines the expected response time t. reply .

[0207] Step 1202: Terminal 2 sends a response duration indication message to Terminal 1 to indicate the expected response duration t. reply .

[0208] Step 1203: Terminal 1 sends a first reference signal to Terminal 2. Terminal 2 performs phase measurement on the received first reference signal to obtain the first phase.

[0209] Step 1204: Terminal 2 sends a second reference signal to Terminal 1. Terminal 1 performs phase measurement on the received second reference signal to obtain the second phase.

[0210] Optionally, steps 1202 and 1204 can also be performed together, that is, the second reference signal sent by terminal 2 carries response duration indication information.

[0211] Step 1205: Terminal 1 sends a third reference signal to Terminal 2. Terminal 2 performs phase measurement on the received third reference signal to obtain the third phase.

[0212] Step 1206: Terminal 2 sends the first phase and the third phase to Terminal 1.

[0213] Optionally, terminal 2 may also carry the measured first phase when sending the second reference signal, and only send the third phase in step 1206. Alternatively, terminal 2 may send the first phase to terminal 1 before or after sending the second reference signal, and then send the third phase to terminal 1 after measuring the third phase.

[0214] Step 1207: Terminal 1 determines the distance between Terminal 1 and Terminal 2 based on the first phase, the second phase, and the third phase.

[0215] If the step of determining the distance is performed by the terminal 2, the corresponding step 1206 is that the terminal 1 sends the second phase to the terminal 2, and the step 1207 is that the terminal 2 determines the distance between the terminal 1 and the terminal 2 according to the first phase, the second phase and the third phase. Alternatively, the terminal 1 can also carry the measured second phase when sending the third reference signal.

[0216] In the specific embodiment shown in Figure 11 and Figure 12 , the positioning can also be performed in combination with the first actual response time length, the second actual response time length, the first interval time length and the second interval time length to improve the positioning accuracy. Specifically, in the specific embodiment shown in Figure 11 , the high-precision positioning is performed in combination with the above-mentioned time lengths, and the specific process can be as shown in Figure 13 .

[0217] The steps 1301-1305 are the same as the steps 1101-1105.

[0218] The step 1306 is that the terminal 2 sends the first phase, the third phase, the second actual response time length t replyB and the second interval time length t roundB to the terminal 1.

[0219] It should be understood that there are various ways for the terminal 2 to send the above-mentioned information to the terminal 1, and the way described in the step 1306 is not limited. For example, the terminal 2 can carry the first phase and / or the second actual response time length when sending the second reference signal.

[0220] The step 1307 is that the terminal 1 determines the distance between the terminal 1 and the terminal 2 according to the first phase, the second phase, the third phase, the first actual response time length t replyA , the first interval time length t roundA , the second actual response time length t replyB and the second interval time length t roundB .

[0221] As mentioned above, the terminal 2 can also send the first phase, the third phase and the second actual response time length t replyB , and the terminal 1 can determine the distance between the terminal 1 and the terminal 2 according to the first phase, the second phase, the third phase, the second actual response time length t replyB and the first interval time length t roundA . Alternatively, the terminal 2 can also send the first phase, the third phase and the second interval time length t roundB , and the terminal 1 can determine the distance between the terminal 1 and the terminal 2 according to the first phase, the second phase, the third phase, the second interval time length t roundB and the first actual response time length t replyAdetermine the distance between the terminal 1 and the terminal 2.

[0222] If the terminal 2 performs the step of determining the distance, the corresponding step 1306 is that the terminal 1 sends the second phase, the first actual response time t replyA , the first interval time t roundA to the terminal 2; and the step 1307 is that the terminal 2 determines the distance between the terminal 1 and the terminal 2 according to the first phase, the second phase, the third phase, the first actual response time t replyA , the first interval time t roundA , the second actual response time t replyB , and the second interval time t roundB .

[0223] It should be understood that high-precision positioning can also be performed based on the embodiment shown in Figure 12 in combination with the various time lengths described above, and the implementation manner is similar to that shown in Figure 13 , which will not be described here.

[0224] Based on the same technical concept, the embodiments of the present application also provide a communication device, as shown in Figure 14 , which can include a transceiver module 1401 and a measurement module 1402. The transceiver module 1401 is used to perform the information receiving and transmitting processing in the method embodiments described above; and the measurement module 1402 is used to perform the phase measurement in the method embodiments described above. It should be understood that the transceiver module 1401 in the embodiments of the present application can be realized by a receiver or a receiver-related circuit component, a transmitter or a transmitter-related circuit component; and the measurement module 1402 can be realized by a processor or a processor-related circuit component (or, referred to as processing circuit).

[0225] Exemplarily, the communication device can be a communication device apparatus, or a chip applied in the communication device apparatus or other combination devices, components, etc. having the functions of the communication device apparatus described above.

[0226] Exemplarily, the communication device can be the first device in the method embodiments described above, or the second device in the method embodiments described above.

[0227] When the communication device is the first device, the transceiver module 1401 is used to send a first reference signal to a second device, and receive a second reference signal sent by the second device; and the measurement module 1402 is used to measure a second phase of the second reference signal. Optionally, the transceiver module 1401 can also be used to receive a first phase and a third phase sent by the second device, and the device can further include a determination module used to determine the distance between the first device and the second device. Optionally, the transceiver module 1401 can also receive or send various time length information according to any of the preceding implementation manners.

[0228] Furthermore, the aforementioned components can also be used to support other processes performed by the first device in the above method embodiments. The beneficial effects are described above and will not be repeated here.

[0229] When the communication device is a second device, the transceiver module 1401 is used to receive a first reference signal sent by the first device; the measurement module 1402 is used to measure a first phase of the first reference signal; the transceiver module 1401 is also used to send a second reference signal to the first device and receive a third reference signal sent by the first device; the measurement module 1402 is also used to measure a third phase of the third reference signal. Optionally, the transceiver module 1401 can also be used to receive a second phase sent by the first device, and the device can also include a determination module for determining the distance between the first device and the second device. Optionally, the transceiver module 1401 can also receive or send various duration information according to any of the foregoing implementations.

[0230] Furthermore, the aforementioned components can also be used to support other processes performed by the second device in the above method embodiments. The beneficial effects are described above and will not be repeated here.

[0231] Based on the same technical concept, this application embodiment also provides a communication device for implementing the steps performed by the third device in the above method embodiment.

[0232] In one possible design, the communication device may include modules that correspond one-to-one with the methods / operations / steps / actions performed by the third device in the above method embodiments. These modules may be hardware circuits, software, or a combination of hardware circuits and software.

[0233] For example, the communication device can be as follows Figure 15 As shown, the system includes a transceiver module 1501 and a determination module 1502. Specifically, the transceiver module 1501 is used to receive a second phase transmitted by a first device, and to receive a first phase and a third phase transmitted by a second device; the determination module 1502 is used to determine the distance between the first device and the second device based on the first phase, the second phase, and the third phase. Optionally, the transceiver module 1501 may also receive various duration information according to any of the aforementioned implementations, and the determination module 1502 is specifically used to determine the distance between the first device and the second device based on the first phase, the second phase, the third phase, and various duration information.

[0234] Based on the same technical concept, embodiments of this application also provide a communication device. This communication device includes, as follows: Figure 16 The processor 1601 shown is shown, as well as the communication interface 1602 connected to the processor 1601.

[0235] The processor 1601 can be a general processor, a microprocessor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, or one or more integrated circuits used to control the execution of programs of the solutions of the present application, etc. The general processor can be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in conjunction with the embodiments of the present application can be directly embodied as completed by a hardware processor, or completed by a combination of hardware and software modules in the processor.

[0236] The communication interface 1602, using any transceiver-like device, is used to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0237] In the embodiments of the present application, the processor 1601 is configured to invoke the communication interface 1602 to perform the functions of receiving and / or sending, and perform the methods as described in any of the possible implementation manners above.

[0238] Further, the communication device can further include a memory 1603 and a communication bus 1604.

[0239] The memory 1603 is configured to store program instructions and / or data, so that the processor 1601 invokes the instructions and / or data stored in the memory 1603 to realize the above-mentioned functions of the processor 1601. The memory 1603 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, and can also be an electrically erasable programmable read-only memory (EEPROM) or any other medium capable of carrying or storing desired program codes in the form of instructions or data structures and capable of being accessed by a computer, but is not limited to this. The memory 1603 can exist independently, for example, an off-chip memory, connected to the processor 1601 through the communication bus 1604. The memory 1603 can also be integrated with the processor 1601.

[0240] The communication bus 1604 can include a path for transmitting information between the above-mentioned components.

[0241] For example, the communication apparatus can be the first device in the above method embodiments, or the second device in the above method embodiments, or the third device in the above method embodiments.

[0242] The processor 1601 is configured to implement the data processing operations of the communication apparatus, and the communication interface 1602 is configured to implement the receiving operation and the sending operation of the communication apparatus.

[0243] When the communication apparatus is the first device, the processor 1601 is configured to send a first reference signal to a second device through the communication interface 1602, so that the second device performs phase measurement on the first reference signal to obtain a first phase; receive a second reference signal sent by the second device through the communication interface 1602 and measure a second phase of the second reference signal; send a third reference signal to the second device through the communication interface 1602, so that the second device performs phase measurement on the third reference signal to obtain a third phase; and the first phase, the second phase and the third phase are used to determine the distance between the first device and the second device.

[0244] In addition, the above various components can also be used to support other processes performed by the first device in the above method embodiments. The beneficial effects can refer to the foregoing description, which will not be described here.

[0245] When the communication apparatus is the second device, the processor 1601 is configured to receive a first reference signal sent by a first device through the communication interface 1602 and measure a first phase of the first reference signal; send a second reference signal to the first device through the communication interface 1602, so that the first device performs measurement on the first reference signal to obtain a second phase; receive a third reference signal sent by the first device through the communication interface 1602 and measure a third phase of the third reference signal; and the first phase, the second phase and the third phase are used to determine the distance between the first device and the second device.

[0246] In addition, the above various components can also be used to support other processes performed by the second device in the above method embodiments. The beneficial effects can refer to the foregoing description, which will not be described here.

[0247] When the communication apparatus is the third device, the processor 1601 is configured to receive a second phase sent by a first device through the communication interface 1602; receive a first phase and a third phase sent by a second device through the communication interface 1602; and determine the distance between the first device and the second device according to the first phase, the second phase and the third phase.

[0248] In addition, each of the above-described components can also be used to support other processes performed by the third device in the above-described method embodiments. The beneficial effects can refer to the foregoing description, which will not be repeated here.

[0249] Based on the same technical concept, the embodiments of the present application also provide a computer readable storage medium, which stores computer readable instructions, when the computer readable instructions run on a computer, the positioning method as described in any one of the possible implementation manners is executed.

[0250] In the description of the embodiments of the present application, the association relationship of the associated objects is described, which means that there can be three relationships, for example, A and / or B, which can mean that there are three cases of A alone, A and B together, and B alone. The plurality involved in the present application means two or more than two.

[0251] In addition, it needs to be understood that in the description of the present application, the words "first", "second", "third" and the like are only used to distinguish the description purpose, and cannot be understood as indicating or implying relative importance, and cannot be understood as indicating or implying order. In the description of the present application, the reference "one embodiment" or "some embodiments" means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in another some embodiments" and the like appearing in the description of the present application do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0252] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0253] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0254] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0255] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 Figure 1 one or more flow or blocks

[0256] While the preferred embodiments of the application have been described, additional variations and modifications can be employed by those skilled in the art. Therefore, the appended claims intend to cover all such modifications and variations as fall within the true spirit and scope of the application.

[0257] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the application can be practiced otherwise than as specifically described herein.

Claims

1. A positioning method, characterized by, The method comprises: a first device sending a first reference signal to a second device, so that the second device measures a first phase of the first reference signal; the first device receiving a second reference signal sent by the second device and measuring a second phase of the second reference signal; the first device sending a third reference signal to the second device, so that the second device measures a third phase of the third reference signal; the first phase, the second phase and the third phase are used to determine a distance between the first device and the second device; The method further comprises: the first device determines an expected response time length; the first device sends a third reference signal to the second device, comprising: the first device sends a third reference signal to the second device after receiving the second reference signal, with an interval of the expected response time length; The expected response time length is also used for: the second device sends the second reference signal to the first device after receiving the first reference signal, with an interval of the expected response time length.

2. The method of claim 1, wherein, The first device determines an expected response time length, comprising: The first device determines an expected response time length according to response time length indication information sent by the second device.

3. The method of claim 1, wherein, After the first device determines the expected response time length, the method further comprises: The first device sends response time length indication information to the second device, which is used to indicate the expected response time length, so that the second device sends the second reference signal to the first device after receiving the first reference signal, with an interval of the expected response time length; or The first device sends the expected response time length to a third device, so that the third device determines the distance between the first device and the second device according to the expected response time length, and / or, so that the third device sends the expected response time length to other devices for positioning the second device.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: The first device sends the second phase to a third device, so that the third device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, wherein the first phase and the third phase are sent by the second device to the third device.

5. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: The first device receives the first phase and the third phase measured by the second device; The first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase.

6. The method of claim 5, wherein, The method further comprises: The first device receives a second interval time length sent by the second device, which represents a time length from sending the second reference signal by the second device to receiving the third reference signal by the second device; The first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, comprising: The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the second interval duration and a response duration, the response duration comprising a first expected response duration determined by the first device or a first actual response duration, the first expected response duration determined by the first device representing an expected response duration determined by the first device from receiving the second reference signal to sending the third reference signal, and the first actual response duration representing an actual duration from the first device receiving the second reference signal to sending the third reference signal.

7. The method of claim 6, wherein, The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the second interval duration and a response duration, and the method further comprises: The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval duration, the second interval duration and a first expected response duration determined by the first device, the first interval duration representing a duration from the first device sending the first reference signal to the first device receiving the second reference signal.

8. The method of claim 5, wherein, The first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, and the method further comprises: The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval duration and a first expected response duration determined by the first device, the first interval duration representing a duration from the first device sending the first reference signal to the first device receiving the second reference signal, and the first expected response duration determined by the first device representing an expected response duration determined by the first device from receiving the second reference signal to sending the third reference signal.

9. The method of claim 5, wherein, The method further comprises: The first device receives a second actual response duration sent by the second device, the second actual response duration representing an actual duration from the second device receiving the first reference signal to sending the second reference signal; The first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, and the method further comprises: The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval duration and the second actual response duration, the first interval duration representing a duration from the first device sending the first reference signal to the first device receiving the second reference signal.

10. The method of claim 5, wherein, The method further comprises: The first device receives a second interval duration sent by the second device, the second interval duration representing a duration from the second device sending the second reference signal to the second device receiving the third reference signal; The first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, comprising: The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a first interval duration, a second interval duration, a first actual response duration and a second actual response duration, the first interval duration representing a duration from the first device sending the first reference signal to the first device receiving the second reference signal, the first actual response duration representing an actual duration from the first device receiving the second reference signal to the first device sending the third reference signal, and the second actual response duration representing an actual duration from the second device receiving the first reference signal to the second device sending the second reference signal.

11. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: The first device sends the second phase to the second device, so that the second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase.

12. A positioning method characterized by, Comprise: The second device receives the first reference signal sent by the first device and measures the first phase of the first reference signal; The second device sends the second reference signal to the first device, so that the first device measures the first reference signal to obtain the second phase; The second device receives the third reference signal sent by the first device and measures the third phase of the third reference signal; The first phase, the second phase and the third phase are used to determine the distance between the first device and the second device; The method further comprises: The second device determines the expected response duration; The second device sends the second reference signal to the first device, comprising: after receiving the first reference signal, the second device sends the second reference signal to the first device after an interval of the expected response duration; The expected response duration is also used for: after receiving the second reference signal, the first device sends the third reference signal to the second device after an interval of the expected response duration.

13. The method of claim 12, wherein, The second device determines the expected response duration, comprising: The second device determines the expected response duration according to the response duration indication information sent by the first device.

14. The method of claim 12, wherein, After the second device determines the expected response duration, the method further comprises: The second device sends the response duration indication information to the first device, the response duration indication information being used to indicate the expected response duration, so that the first device sends the third reference signal to the second device after an interval of the expected response duration after receiving the second reference signal; or The second device sends the response duration to a third device, so that the third device determines the distance between the first device and the second device according to the response duration, and / or, so that the third device sends the response duration to other devices for positioning the first device.

15. The method according to any one of claims 12-14, characterized in that, The method further comprises: The second device sends the first phase and the third phase to a third device, so that the third device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, wherein the second phase is sent by the first device to the third device.

16. The method according to any one of claims 12-14, characterized in that, The method further comprises: The second device sends the first phase and the third phase to the first device, so that the first device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase.

17. The method according to any one of claims 12-14, characterized by, The method further comprises: The second device receives the second phase measured by the first device; The second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase.

18. The method of claim 17, wherein, The method further comprises: The second device receives the first interval duration sent by the first device, wherein the first interval duration represents the duration from the first device sending the first reference signal to the first device receiving the second reference signal; The second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, comprising: The second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration and the response duration, wherein the response duration comprises an expected response duration determined by the second device or a second actual response duration, the expected response duration determined by the second device represents an expected response duration determined by the second device from receiving the first reference signal to sending the second reference signal, and the second actual response duration represents an actual duration from the second device receiving the first reference signal to sending the second reference signal.

19. The method of claim 18, wherein, The second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration and the response duration, comprising: The second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration, a second interval duration and an expected response duration determined by the second device, wherein the second interval duration represents the duration from the second device sending the second reference signal to the second device receiving the third reference signal.

20. The method of claim 17, wherein, The second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, comprising: The second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, comprising: The second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a second interval duration and an expected response duration determined by the second device, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device, and the expected response duration determined by the second device representing an expected response duration determined by the second device from receiving the first reference signal to sending the second reference signal.

21. The method of claim 17, wherein, The method further comprises: The second device receives a first actual response duration sent by the first device, the first actual response duration representing an actual duration from receiving the second reference signal by the first device to sending the third reference signal by the first device; The second device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase, comprising: The second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a second interval duration and the first actual response duration, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device.

22. The method of claim 21, wherein, The method further comprises: The second device receives a first interval duration sent by the first device, the first interval duration representing a duration from sending the first reference signal by the first device to receiving the second reference signal by the first device; The second device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, a second interval duration and the first actual response duration, comprising: The first device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the first interval duration, a second interval duration, the first actual response duration and a second actual response duration, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device, and the second actual response duration representing an actual duration from receiving the first reference signal by the second device to sending the second reference signal by the second device.

23. A positioning method, characterized by, Comprising: A third device receives a second phase sent by a first device; The third device receives a first phase and a third phase sent by a second device; The third device determines the distance between the first device and the second device according to the first phase, the second phase and the third phase; The method further comprises: The third device receives an expected response duration sent by the first device or the second device, the expected response duration representing an expected response duration from receiving a second reference signal by the first device to sending a third reference signal by the first device, and representing an expected response duration from receiving a first reference signal by the second device to sending the second reference signal by the second device; The third device determines the distance between the first device and the second device according to the first phase, the second phase, and the third phase, including: The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, and the expected response time length.

24. The method of claim 23, wherein, The method further includes: The expected response time length is sent to other devices used for positioning the second device.

25. The method of claim 23, wherein, The method further includes: The third device receives a first interval time length sent by the first device, the first interval time length representing a time length from sending the first reference signal by the first device to receiving the second reference signal by the first device; The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, and the expected response time length. The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the expected response time length, and the first interval time length.

26. The method of claim 23, wherein, The method further includes: The third device receives a second interval time length sent by the second device, the second interval time length representing a time length from sending the second reference signal by the second device to receiving the third reference signal by the second device; The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, and the expected response time length. The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the expected response time length, and the second interval time length.

27. The method of claim 23, wherein, The method further includes: The third device receives a first interval time length sent by the first device, the first interval time length representing a time length from sending the first reference signal by the first device to receiving the second reference signal by the first device; The third device receives a second actual response time length sent by the second device, the second actual response time length representing an actual time length from receiving the first reference signal by the second device to sending the second reference signal; The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, and the expected response time length. The third device determines the distance between the first device and the second device according to the first phase, the second phase, the third phase, the expected response time length, the first interval time length, and the second actual response time length.

28. The method of claim 23, wherein, The method further includes: The third device receives a first actual response time length sent by the first device, the first actual response time length representing an actual time length from receiving the second reference signal by the first device to sending the third reference signal; The third device receives a second interval duration sent by the second device, the second interval duration representing a duration from sending the second reference signal by the second device to receiving the third reference signal by the second device; The third device determines a distance between the first device and the second device according to the first phase, the second phase, the third phase, and the expected response duration, including: The third device determines a distance between the first device and the second device according to the first phase, the second phase, the third phase, the expected response duration, the first actual response duration, and the second interval duration.

29. A communications device, characterized by including: a processor, and a memory and a communication interface coupled to the processor respectively; the communication interface is configured to communicate with other devices; the processor is configured to run instructions or programs in the memory, and execute the method of any one of claims 1-11 through the communication interface.

30. A communications device, characterized by including: a processor, and a memory and a communication interface coupled to the processor respectively; the communication interface is configured to communicate with other devices; the processor is configured to run instructions or programs in the memory, and execute the method of any one of claims 12-22 through the communication interface.

31. A communications device, characterized by including: a processor, and a memory and a communication interface coupled to the processor respectively; the communication interface is configured to communicate with other devices; the processor is configured to run instructions or programs in the memory, and execute the method of any one of claims 23-28 through the communication interface.

32. A computer-readable storage medium, comprising: The computer readable storage medium stores instructions, when the instructions are run on a computer, causing the computer to execute the method of any one of claims 1-28.

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