A positioning method and apparatus

Abstract

This application discloses a positioning method and apparatus. When applied to a first device, the first device includes N antennas, and the first device and a second device support K frequency points. For the k-th frequency point among the K frequency points: the first device receives a fixed-frequency extended CTE signal from the second device on at least two antennas corresponding to the k-th frequency point, and / or transmits a CTE signal to the second device on the at least two antennas; at least one of the first phase information of different antennas corresponding to each of the K frequency points and the second phase information of different antennas corresponding to each of the K frequency points is used to determine the position information of the second device relative to the first device, wherein the position information includes distance information and angle information.

Description

Technical Field

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

[0002] Positioning technology plays an increasingly important role in modern production and daily life, bringing great convenience and changes to people's lives. Currently, positioning technology has a wide range of applications and enormous commercial value. Although the Global Navigation Satellite System (GNSS) can provide high-precision outdoor location information, it cannot achieve positioning in indoor environments or in obstructed environments such as urban canyons due to the lack of satellite signals, thus failing to meet positioning requirements. Therefore, positioning in such environments necessitates the search for alternative technologies. Currently, there are various indoor positioning technologies, typically including those based on communication signals, visual images, and inertial navigation sensors.

[0003] Currently, the more mature indoor positioning technologies include wireless fidelity (WiFi) positioning based on signal strength indicators and Bluetooth positioning technology based on beacons. However, because signal strength indicators fluctuate greatly with the environment, they can only achieve limited positioning accuracy. Bluetooth positioning is favored by many due to its advantages of ultra-low power consumption, low cost, and high availability.

[0004] However, by supporting the angle of arrival (AOA) and the angle of departure (AOD), the calculated arrival or departure angle has a small coverage area and low accuracy. In particular, due to the limitation of the antenna array aperture, the elevation angle detection range is small and the accuracy is low. Summary of the Invention

[0005] This application provides a positioning method and apparatus for improving the positioning performance of a single device.

[0006] Firstly, this application provides a positioning method, which can be applied to a first device, which may be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip. A second device may be a terminal device, or a component within a terminal device, such as a chip. The second device is the device to be positioned in this application. The first device may include N antennas, and the first and second devices support K frequency points. The method includes:

[0007] For the kth frequency point out of K frequency points: the first device receives a constant tone extension (CTE) signal from the second device on at least two antennas corresponding to the kth frequency point, and / or transmits a CTE signal to the second device on at least two antennas; at least one of the first phase information of the different antennas corresponding to each of the K frequency points and the second phase information of the different antennas corresponding to each of the K frequency points is used to determine the position information of the second device relative to the first device, the position information including: distance information and angle information.

[0008] Wherein, the CTE signal received by the first device at the nth antenna corresponding to the kth frequency point is used to determine the first phase information of the nth antenna corresponding to the kth frequency point; the CTE signal transmitted by the first device at the nth antenna corresponding to the kth frequency point is received by the second device at the kth frequency point and is used to determine the second phase information of the nth antenna corresponding to the kth frequency point; k is a positive integer less than or equal to K, and at least two antennas are two or more antennas out of N antennas; n is a positive integer.

[0009] The above method utilizes the first and / or second phase information to simultaneously reflect the frequency domain phase information of K different frequency points and the spatial domain phase information of different antennas corresponding to each of the K frequency points. Therefore, the distance and angle information of the second device relative to the first device can be calculated based on the first and / or second phase information. Compared to methods that rely on the spatial positions of the antennas of the first device and only use the distance between the antennas of the first device and the phase difference between the received signals to determine the azimuth and elevation angles of the signal between the first and second devices, requiring multiple first devices for positioning the second device, the solution of this application allows a single first device to locate the distance and angle information of the second device relative to the first device, effectively improving the accuracy of the positioning angle, especially the elevation angle, and increasing the positioning coverage.

[0010] One possible implementation is that the first device can receive first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points.

[0011] By obtaining the first indication information, the positioning of the first and second devices can be flexibly configured based on the application scenario and device capabilities, including the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points. This improves the flexibility of positioning the second device relative to the first device and reduces the complexity of positioning.

[0012] One possible implementation is that the location information is determined based on the third phase information, the first correlation relationship, and the second correlation relationship of different antennas corresponding to each of the K frequency points; wherein, the third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point.

[0013] The third phase information of the nth antenna corresponding to the kth frequency point includes: frequency domain phase information and spatial domain phase information; the frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position; the first correlation relationship is used to indicate the correlation between the phase difference of the frequency domain phase information corresponding to different frequency points; the first correlation relationship is determined according to the frequency hopping order of the K frequency points; optionally, the first correlation relationship can also be determined according to the frequency hopping order and carrier frequency of the K frequency points. The second correlation relationship is used to indicate the correlation between the relative position between different antennas and the phase difference of the spatial domain phase information corresponding to different antennas; the second correlation relationship is determined according to the switching order of the antennas corresponding to each of the K frequency points. Optionally, the second correlation relationship is determined according to the switching order of the antennas corresponding to each of the K frequency points and the positional relationship between the antennas.

[0014] Using the above method, based on the first correlation relationship determined by the frequency domain phase information related to the frequency point, the frequency domain phase information in the third phase information can be linked with the distance information of the second device relative to the first device. Based on the second correlation relationship determined by the spatial domain phase information related to the antenna position, the spatial domain phase information in the third phase information can be linked with the angle information of the second device relative to the first device. Thus, the position information of the second device relative to the first device can be determined according to the third phase information, the first correlation relationship and the second correlation relationship of the different antennas corresponding to each of the K frequency points.

[0015] One possible implementation is that the first device can switch to the nth antenna to receive the CTE signal from the second device on the nth antenna, until at M... k The reception of CTE signals on each antenna continues until the process is complete; n ranges from 1 to M. k M k Each antenna is at least two antennas corresponding to the k-th frequency point, and Mk is a positive integer less than or equal to N.

[0016] Using the above method, during the CTE signal transmission process, the first device switches when receiving the CTE signal. This method can be applied to AOA positioning mode.

[0017] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna corresponding to the kth frequency point.

[0018] Using the above method, during CTE signal transmission, the first device may switch while receiving the CTE signal. In this case, based on the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point, the third phase information of the nth antenna corresponding to the kth frequency point can be determined. This third phase information can represent the phase information of the CTE signal traveling back and forth between the first and second devices. In other words, the third phase information can cancel out the initial phase of the first device when determining the first phase information and the initial phase of the second device when determining the second phase information.

[0019] One possible implementation is that the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device at the k-th frequency point remains unchanged. Through this method, the third phase information can cancel out the initial phase of the first device when determining the first phase information and the initial phase of the second device when determining the second phase information.

[0020] One possible implementation is that the first device can switch to the nth antenna and transmit a CTE signal to the second device on the nth antenna until M... k The transmission of CTE signals on each antenna continues until the process is complete, with n ranging from 1 to M. k M k Each antenna is at least two antennas corresponding to the k-th frequency point, and Mk is a positive integer less than or equal to N.

[0021] Using the above method, during the CTE signal transmission process, the first device switches when sending the CTE signal. This method can be applied to AOD positioning mode.

[0022] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. The first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point.

[0023] Using the above method, during the CTE signal transmission process, the first device may switch when sending the CTE signal. At this time, the third phase information of the nth antenna corresponding to the kth frequency point can be determined based on the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. This allows the third phase information to represent the phase information corresponding to the round trip of the CTE signal between the first and second devices.

[0024] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0025] Using the above method, during the CTE signal transmission process, the first device may switch when receiving the CTE signal, and the first device may also switch when sending the CTE signal.

[0026] For example, the first device can switch to the nth antenna and send a CTE signal to the second device on the nth antenna until M... k Once the first device has completed transmitting CTE signals on the nth antenna, it can switch to the nth antenna to receive CTE signals from the second device, until M... k The reception of CTE signals on each antenna continues until the process is complete; n ranges from 1 to M. k M k Each antenna is at least two antennas corresponding to the k-th frequency point, and Mk is a positive integer less than or equal to N.

[0027] At this point, based on the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point, the third phase information of the nth antenna corresponding to the kth frequency point can be determined, so that the third phase information can represent the phase information of the CTE signal traveling back and forth between the first device and the second device. That is, the third phase information can cancel out the initial phase of the first device when determining the first phase information and the initial phase of the second device when determining the second phase information.

[0028] One possible implementation is that the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signals of the CTE signals transmitted by the first device on at least two antennas corresponding to the k-th frequency point remains unchanged.

[0029] The above method can make the third phase information cancel out the initial phase of the first device when determining the first phase information and the initial phase of the second device when determining the second phase information.

[0030] One possible implementation is that the location information is obtained by performing maximum likelihood estimation on the parameters of the location information based on an objective function; wherein, the objective function is a function of the parameters based on the location information determined by the phase difference of different antennas corresponding to each of the K frequency points and the first and second correlation relationships; the phase difference of the nth antenna corresponding to the kth frequency point is determined by the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information; the reference phase information is the third phase information of an antenna corresponding to one of the K frequency points.

[0031] Using the above method, the distance and angle information of the second device relative to the first device can be estimated simultaneously based on the objective function and by combining the first and second correlation relationships, thereby improving the accuracy of the estimation of the position information of the second device relative to the first device.

[0032] In one possible implementation, the first device may also perform any of the following: obtain location information; send location information to the second device; and / or send location information to the server.

[0033] The location information can be determined by a first device, a second device, or a server using the above method. Therefore, the first device can obtain the location information from the second device or the server, or it can determine the location information and then send the location information to the second device; and / or send the location information to the server.

[0034] One possible implementation is that the angle information may include at least one of azimuth and pitch angle information.

[0035] Secondly, this application provides a positioning method applied to a second device, wherein the second device and the first device support K frequency points; the first device includes N antennas, and the first device may be a network device, a terminal device, or a component in a network device, such as a chip, or a component in a terminal device, such as a chip. The second device may be a terminal device, or a component in a terminal device, such as a chip. The second device is the device to be positioned in this application.

[0036] The method includes: for the kth frequency point among K frequency points: the second device sends a fixed-frequency extended CTE signal to the first device at the kth frequency point, and / or receives CTE signals transmitted by the first device from at least two antennas corresponding to the k frequency points respectively at the kth frequency point; determining the position information of the second device relative to the first device based on at least one of the first phase information of different antennas corresponding to each of the K frequency points and the second phase information of different antennas corresponding to each of the K frequency points, wherein the position information includes distance information and angle information.

[0037] Wherein, the first phase information of the nth antenna corresponding to the kth frequency point is determined by the first device after receiving the CTE signal sent by the second device on the nth antenna corresponding to the kth frequency point; the second phase information of the nth antenna corresponding to the kth frequency point is determined by the second device after receiving the CTE signal sent by the first device on the nth antenna corresponding to the kth frequency point; k is a positive integer less than or equal to K, and at least two antennas are two or more antennas out of N antennas; n is a positive integer.

[0038] The above method allows for the simultaneous representation of frequency domain phase information of K different frequency points and spatial domain phase information of different antennas corresponding to each of the K frequency points in the first and / or second phase information. Therefore, the second device can calculate the distance and angle information of the second device relative to the first device using at least one of the first and second phase information. Compared to the method that relies on multiple first devices to locate the second device, which depends on the spatial position of each antenna of the first device and only uses the phase difference between the distance between the antennas of the first device and the received signal, the solution of this application can achieve the location of the second device relative to the first device by a single first device using the distance and angle information, and effectively improve the accuracy of the positioning angle, especially the accuracy of the elevation angle, thereby increasing the positioning coverage.

[0039] In one possible implementation, the second device can receive first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points.

[0040] By obtaining the first instruction information, the positioning of the second device relative to the first device can be flexibly configured based on the application scenario and the capabilities of the first and second devices. The frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points can be configured, thereby improving the flexibility of the positioning of the second device relative to the first device and reducing the complexity of positioning.

[0041] One possible implementation is that the second device can determine the location information based on the third phase information, the first correlation relationship, and the second correlation relationship of the different antennas corresponding to each of the K frequency points.

[0042] The third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the nth antenna corresponding to the kth frequency point includes frequency domain phase information and spatial domain phase information. The frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first correlation relationship is used to indicate the correlation between the phase difference of different frequency points and the corresponding frequency domain phase information. The first correlation relationship is determined based on the frequency hopping order of the K frequency points. The second correlation relationship is used to indicate the correlation between the relative position of different antennas and the phase difference of the corresponding spatial domain phase information of different antennas. The second correlation relationship is determined based on the switching order of the antennas corresponding to each of the K frequency points.

[0043] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0044] Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point.

[0045] Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna corresponding to the kth frequency point.

[0046] One possible implementation is that the second device can determine the location information by performing maximum likelihood estimation on the parameters of the location information based on an objective function. Here, the objective function is a function of the location information-based parameters determined by the phase difference corresponding to different antennas at each of the K frequency points and the first and second correlation relationships. The phase difference of the nth antenna corresponding to the kth frequency point is determined by the third phase information of the nth antenna corresponding to the kth frequency point and reference phase information. The reference phase information is the third phase information of one antenna corresponding to one of the K frequency points.

[0047] In one possible implementation, the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signals of the CTE signals transmitted by the first device on at least two antennas corresponding to the k-th frequency point remains unchanged.

[0048] One possible implementation is that the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device at the k-th frequency point remains unchanged.

[0049] One possible implementation is that the second device can send location information to itself; and / or send location information to the server.

[0050] After determining the location information using the above method, the second device can send the location information to the first device as needed; and / or send the location information to the server.

[0051] One possible implementation is that the angle information may include at least one of azimuth and pitch angle information.

[0052] Thirdly, this application provides a positioning method applied to a server, which can be a positioning server or other types of servers, without limitation herein. The server can be used to determine the position information of a second device relative to a first device. The first device can be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip. The second device can be a terminal device, or a component within a terminal device, such as a chip. The second device is the device to be positioned in this application. The first and second devices support K frequency points, and the first device includes N antennas. The method includes: obtaining first phase information of at least two antennas corresponding to each of the K frequency points and / or second phase information of at least two antennas corresponding to each of the K frequency points; determining the position information of the second device relative to the first device based on at least one of the first phase information of different antennas corresponding to each of the K frequency points and the second phase information of different antennas corresponding to each of the K frequency points; the position information includes distance information and angle information. Specifically, for the k-th frequency point among K frequency points: the first phase information of the n-th antenna corresponding to the k-th frequency point is determined by the first device after receiving the CTE signal sent by the second device through the n-th antenna corresponding to the k-th frequency point; the second phase information of the n-th antenna corresponding to the k-th frequency point is determined by the second device after receiving the CTE signal sent by the first device through the n-th antenna corresponding to the k-th frequency point; at least two antennas are two or more antennas among the N antennas; k is a positive integer less than or equal to K, and n is a positive integer.

[0053] The above method incorporates both the frequency domain phase information of K different frequency points and the spatial domain phase information of different antennas corresponding to each of the K frequency points, simultaneously reflected in the first and / or second phase information. Therefore, the server can calculate the distance and angle information of the second device relative to the first device based on the first and / or second phase information. Compared to methods that rely on the spatial positions of the antennas of the first device and only use the distance between the antennas of the first device and the phase difference between the received signals to determine the azimuth and elevation angles of the signal between the first and second devices, requiring multiple first devices for positioning the second device, the solution of this application allows a single first device to locate the distance and angle information of the second device relative to the first device, effectively improving the accuracy of the positioning angle, especially the elevation angle, and increasing the positioning coverage.

[0054] One possible implementation is that the server can obtain first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points.

[0055] One possible implementation is that the server determines the location information based on the third phase information, first correlation, and second correlation of different antennas corresponding to each of the K frequency points. The third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the nth antenna corresponding to the kth frequency point includes frequency domain phase information and spatial domain phase information. The frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna's position. The first correlation indicates the correlation between the phase difference between different frequency points and their corresponding frequency domain phase information. The first correlation is determined based on the frequency hopping order of the K frequency points. The second correlation indicates the correlation between the relative positions of different antennas and the phase difference between their corresponding spatial domain phase information. The second correlation is determined based on the switching order of the antennas corresponding to each of the K frequency points.

[0056] One possible implementation is that the third phase information corresponding to the nth antenna at the kth frequency point is the sum of the first phase information corresponding to the nth antenna at the kth frequency point and the second phase information corresponding to the nth antenna at the kth frequency point.

[0057] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. The first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point.

[0058] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna corresponding to the kth frequency point.

[0059] One possible implementation is that the server can determine the location information by performing maximum likelihood estimation on the parameters of the location information based on an objective function. Here, the objective function is a function of the location information-based parameters determined by the phase difference of different antennas corresponding to each of the K frequency points and the first and second correlation relationships. The phase difference of the nth antenna corresponding to the kth frequency point is determined by the third phase information of the nth antenna corresponding to the kth frequency point and reference phase information. The reference phase information is the third phase information corresponding to an antenna at one of the K frequency points.

[0060] One possible implementation is that the server can send location information to the first device; and / or, send location information to the second device.

[0061] After determining the location information using the above method, the server can send the location information to the first device and / or to the second device.

[0062] One possible implementation is that the angle information includes at least one of azimuth and pitch angle information.

[0063] Fourthly, this application provides a communication device, which can be a first device including N antennas. The first device can be a network device, a terminal device, or a component in a network device, such as a chip, or a component in a terminal device, such as a chip. The first device includes N antennas, and the first device and the second device support K frequency points; the second device is the device to be located in this application. The second device can be a terminal device, or a component in a terminal device, such as a chip.

[0064] The communication device may include a receiving module and a transmitting module. Optionally, the communication device may also include a processing module. For the k-th frequency point out of K frequency points: the receiving module is used to receive a fixed-frequency spread CTE signal from the second device on at least two antennas corresponding to the k-th frequency point, and / or the transmitting module is used to transmit the CTE signal to the second device on at least two antennas; at least one of the first phase information of different antennas corresponding to each of the K frequency points and the second phase information of different antennas corresponding to each of the K frequency points is used to determine the position information of the second device relative to the first device, the position information including distance information and angle information.

[0065] Wherein, the CTE signal received by the first device at the nth antenna corresponding to the kth frequency point is used to determine the first phase information of the nth antenna corresponding to the kth frequency point; the CTE signal transmitted by the first device at the nth antenna corresponding to the kth frequency point is received by the second device at the kth frequency point and is used to determine the second phase information of the nth antenna corresponding to the kth frequency point; k is a positive integer less than or equal to K, and at least two antennas are two or more antennas out of N antennas; n is a positive integer.

[0066] Fifthly, this application provides a communication device, which can be a second device, a terminal device, or a component within a terminal device, such as a chip. The second device is the device to be located in this application. The second device and the first device support K frequency points; the first device includes N antennas, and the first device can be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip.

[0067] The communication device may include a processing module, a receiving module, and a transmitting module. For the k-th frequency point out of K frequency points: the transmitting module is used to transmit a fixed-frequency extended CTE signal to the first device at the k-th frequency point; and / or the receiving module is used to receive CTE signals transmitted by the first device from at least two antennas corresponding to the k frequency points, respectively. The processing module is used to determine the position information of the second device relative to the first device based on at least one of the first phase information and the second phase information of the different antennas corresponding to each of the K frequency points. The position information includes distance information and angle information.

[0068] Wherein, the first phase information of the nth antenna corresponding to the kth frequency point is determined by the first device after receiving the CTE signal sent by the second device on the nth antenna corresponding to the kth frequency point; the second phase information of the nth antenna corresponding to the kth frequency point is determined by the second device after receiving the CTE signal sent by the first device on the nth antenna corresponding to the kth frequency point; k is a positive integer less than or equal to K, and at least two antennas are two or more antennas out of N antennas; n is a positive integer.

[0069] Sixthly, this application provides a communication device, which can be a server, such as a positioning server or other types of servers, without limitation herein. This communication device can be used to determine the position information of a second device relative to a first device. The first device can be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip. The second device can be a terminal device, or a component within a terminal device, such as a chip. The second device is the device to be located in this application. The first and second devices support K frequency points, and the first device includes N antennas.

[0070] The communication device may include an acquisition module and a processing module. Optionally, the communication device may further include a transceiver module. The communication module is used to acquire first phase information and / or second phase information of at least two antennas corresponding to each of the K frequency points. The processing module is used to determine the position information of the second device relative to the first device based on at least one of the first phase information and the second phase information of different antennas corresponding to each of the K frequency points. The position information includes distance information and angle information.

[0071] Specifically, for the k-th frequency point among K frequency points: the first phase information of the n-th antenna corresponding to the k-th frequency point is determined by the first device after receiving the CTE signal sent by the second device through the n-th antenna corresponding to the k-th frequency point; the second phase information of the n-th antenna corresponding to the k-th frequency point is determined by the second device after receiving the CTE signal sent by the first device through the n-th antenna corresponding to the k-th frequency point; at least two antennas are two or more antennas among the N antennas; k is a positive integer less than or equal to K, and n is a positive integer.

[0072] In a seventh aspect, this application provides a communication device including a processor and a memory storing computer-executable instructions. When the device is running, the processor executes the computer-executable instructions stored in the memory to cause the device to perform any of the implementation methods of the first aspect described above.

[0073] Eighthly, this application provides a communication device including a processor and a memory storing computer execution instructions. When the device is running, the processor executes the computer execution instructions stored in the memory to cause the device to perform any of the implementation methods of the second aspect described above.

[0074] Ninthly, this application provides a communication device including a processor and a memory storing computer-executable instructions. When the device is running, the processor executes the computer-executable instructions stored in the memory to cause the device to perform any of the implementation methods of the third aspect described above.

[0075] In a tenth aspect, this application provides a communication device, which may be a network device, a terminal device, or a component in a network device, such as a chip, or a component in a terminal device, such as a chip. The device may include a processor and a memory for storing computer-executable instructions. When the device is running, the processor executes the computer-executable instructions stored in the memory to cause the device to perform any of the implementation methods of the first, second, or third aspects described above.

[0076] Eleventhly, embodiments of this application also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform any of the methods implemented in the first to third aspects described above.

[0077] In a twelfth aspect, embodiments of this application also provide a computer program product, which includes a computer program that, when executed, causes any one of the implementation methods of the first to third aspects to be executed.

[0078] In a thirteenth aspect, embodiments of this application also provide a chip system, including: a processor for executing any of the implementation methods of the first to third aspects described above.

[0079] In a fourteenth aspect, embodiments of this application also provide a communication system, including communication devices as described in the fourth, seventh, or tenth aspects, and communication devices as described in the fifth, eighth, or eleventh aspects. Optionally, it may also include communication devices as described in the sixth, ninth, or twelfth aspects.

[0080] The technical effects that can be achieved by any of the third to fourteenth aspects mentioned above can be described with reference to the technical effects that can be achieved by any possible design in the first or second aspect mentioned above, and will not be repeated here. Attached Figure Description

[0081] Figure 1A schematic diagram of a system architecture provided for an embodiment of this application;

[0082] Figure 2 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0083] Figure 3 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0084] Figure 4 A schematic diagram of fading channels for different antennas;

[0085] Figure 5 This is a schematic diagram of the structure of an AOA positioning system provided in an embodiment of this application;

[0086] Figure 6 This is a schematic diagram of the structure of an AOD positioning system provided in an embodiment of this application;

[0087] Figure 7 This is a schematic diagram of the structure of an AOD positioning system provided in an embodiment of this application;

[0088] Figure 8 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0089] Figure 9 A schematic diagram illustrating antenna switching as provided in an embodiment of this application;

[0090] Figure 10 A schematic diagram of the CTE signal format provided in the embodiments of this application;

[0091] Figure 11 This is a schematic diagram of the structure of an AOA positioning system provided in an embodiment of this application;

[0092] Figure 12 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0093] Figure 13 A schematic diagram illustrating antenna switching as provided in an embodiment of this application;

[0094] Figure 14a A flowchart illustrating a positioning method provided in an embodiment of this application;

[0095] Figure 14b A schematic diagram illustrating antenna switching as provided in an embodiment of this application;

[0096] Figure 15a A flowchart illustrating a positioning method provided in an embodiment of this application;

[0097] Figure 15bA schematic diagram of phase information provided in an embodiment of this application;

[0098] Figure 16 A flowchart illustrating a method for determining the location information of a second device, provided in an embodiment of this application;

[0099] Figure 17 A flowchart illustrating a method for determining the location information of a second device, provided in an embodiment of this application;

[0100] Figure 18 This is a schematic diagram illustrating how the angle of the second device relative to the first device is determined in the prior art.

[0101] Figure 19 This is a schematic diagram illustrating the effect of determining the angle information of the second device relative to the first device according to an embodiment of this application.

[0102] Figure 20 A schematic diagram of the signal-to-noise ratio for determining the position information of the second device relative to the first device, provided in an embodiment of this application;

[0103] Figure 21 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0104] Figure 22 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0105] Figure 23 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0106] Figure 24 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0107] The present application will now be described in further detail with reference to the accompanying drawings.

[0108] The technical solutions of this application embodiment can be applied to various communication systems, such as satellite communication systems and traditional mobile communication systems. The satellite communication system can be integrated with traditional mobile communication systems (i.e., terrestrial communication systems). Examples of communication systems include: wireless local area network (WLAN) communication systems, WiFi systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, 5th generation (5G) systems or new radio (NR) systems, 6th generation (6G) systems, and other future communication systems. It also supports communication systems that integrate multiple wireless technologies. For example, it can also be applied to systems that integrate non-terrestrial networks (NTN) with terrestrial mobile communication networks, such as drones, satellite communication systems, and high altitude platform station (HAPS) communication.

[0109] Figure 1 This is an example of a communication system applicable to embodiments of this application. The communication system includes at least one network device and at least one terminal device, and optionally, may also include a server. The server can communicate with the network device and with the terminal. The server can also forward data transmitted between the terminal device and the server through the network device; this is not limited thereto. See also Figure 1 This includes network equipment and three terminal devices. These three terminal devices can be cellular phones, smartphones, laptops, handheld communication devices, handheld computing devices, satellite radio devices, GPS devices, PDAs, and / or any other suitable devices for communication over a wireless communication system, and all can connect to the network equipment. All six terminal devices are capable of communicating with the network equipment. Of course... Figure 1 The number of terminal devices mentioned is just an example; there could be fewer or more.

[0110] The network equipment in this application can be an evolved Node B (eNB or eNodeB) in LTE; or a base station in a 5G network, a broadband network gateway (BNG), an aggregation switch, or a non-3rd generation partnership project (3GPP) access device, etc. This application does not specifically limit this type of equipment. For example, the base station in this application can include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, next-generation base stations (gNodeB, gNB), transmitting and receiving points (TRP), transmitting points (TP), mobile switching centers, and equipment that performs base station functions in device-to-device (D2D), vehicle-to-everything (V2X), machine-to-machine (M2M) communication, and Internet of Things (IoT) communication, etc. This application does not specifically limit this type of equipment.

[0111] Network devices can communicate and interact with core network devices to provide communication services to terminal devices. Core network devices, for example, are those in the 5G network core network (CN). The core network, as the bearer network, provides the interface to the data network, offering communication connectivity, authentication, management, policy control, and data service delivery to user equipment (UE). Network devices connect to core network devices wirelessly or via wired connections. Core network devices and network devices can be independent physical devices; or the functions of the core network device and the logical functions of the network device can be integrated on the same physical device; or some core network device functions and some network device functions can be integrated on the same physical device.

[0112] The terminal device mentioned in the embodiments of this application can be a device with wireless transceiver function, specifically referring to user equipment (UE), access terminal, subscriber unit, user station, mobile station, remote station, remote terminal, mobile device, user terminal, wireless communication device, user agent, or user device. Terminal devices can also be satellite phones, cellular phones, smartphones, wireless data cards, wireless modems, machine-type communication devices, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, in-vehicle devices, communication devices mounted on high-altitude aircraft, wearable devices, drones, robots, terminals in device-to-device (D2D) communication, terminals in vehicle-to-everything (V2X) communication, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, and wireless terminals in smart cities. This application does not limit the scope of wireless terminals, such as those in a city, smart homes, or future communication networks.

[0113] In addition, in this embodiment, the terminal device can refer to a device for implementing the functions of a terminal, or a device that enables the terminal device to implement those functions, such as a chip system, which can be installed in the terminal device. For example, the terminal device can also be a vehicle detector or a sensor in a gas station.

[0114] In this application, "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Multiple" in this application refers to two or more. Furthermore, it should be understood that in the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0115] The positioning system may include a first device and a second device, wherein the first device may be, for example, a first device, a second device, a third device, a fourth device, a fifth device, a sixth device, a fifth ... Figure 1 The network device shown can also be, for example, Figure 1 The terminal device shown can be a second device, which can be the terminal device to be located, for example, such as... Figure 1 The terminal device shown. This positioning system may also include a positioning server, for example, such as... Figure 1 The server shown is used to determine the position and angle information between the second device and the first device based on the phase information measured by the first device and the second device.

[0116] This application provides a positioning method, such as Figure 2 As shown, this method can be applied to, for example... Figure 1 In the system architecture, the method includes:

[0117] S201: The second device sends a location request to the first device.

[0118] S202: The first device sends a positioning response to the second device.

[0119] Considering that there may be multiple devices to be located in the location area of ​​the first device, for example, when the first device is a network device, the area where the serving cell of the first device is located can be the location area of ​​the first device. In this case, when the second device is located in the serving cell of the first device, the second device can send a location request to the first device. Correspondingly, the first device can receive the location request initiated by the second device and send a location response to the second device, triggering the synchronization between the first device and the second device, and preparing for the subsequent transmission of location signals.

[0120] For example, when the first device is a terminal device, its positioning area can be the area that can be measured based on its Bluetooth positioning. In this case, when the second device is located within the positioning area of ​​the first device, the second device can send a positioning request to the first device. Correspondingly, the first device can send a positioning response to the second device based on the positioning request, thus establishing synchronization between the first and second devices.

[0121] In other words, during the synchronization process, the first and second devices activate their respective oscillators. After activating its oscillator, the first device can determine its local oscillator signal, which can be used to modulate the transmitted signal or demodulate the received signal. Accordingly, the first device can determine the phase of the transmitted and received signals. Similarly, after activating its oscillator, the second device can determine its local oscillator signal, which can be used to modulate the transmitted signal or demodulate the received signal. Accordingly, the second device can determine the phase of the transmitted and received signals.

[0122] After the first device and the second device are synchronized, the first phase information of the CTE signal received by the first device from the second device can be calculated with the second phase information of the CTE signal received by the second device from the first device, thereby establishing the relationship between the relative position between the first device and the second device and the third phase information of the CTE signal, in preparation for determining the relative position between the first device and the second device.

[0123] S203: At the kth frequency of the K frequency points, the second device sends a CTE signal to the first device.

[0124] The first and second devices can support multiple frequency points. According to the LTE R8 protocol, LTE supports two duplex modes: FDD (Frequency Division Duplex) and TDD (Time Division Duplex); it supports 31 frequency bands from 700MHz to 2.6GHz. That is, the frequency bands supported by the UE under E-UTRA (LTE) radio access technology can include the 31 frequency bands in both FDD and TDD modes. Possible frequency bands under NR radio access technology can include n77 and n78. Specifically, n77 corresponds to the uplink operating frequency band of [3300, 4200]MHz and the downlink operating frequency band of [3300, 4200]MHz, while n78 corresponds to the uplink operating frequency band of [3300, 3800]MHz and the downlink operating frequency band of [3300, 3800]MHz. Multiple frequency points can be included within each frequency band.

[0125] When the first device is a network device, the network device can also determine the frequency points supported by each cell based on the cell it serves. For example, if the cell is an LTE cell, it can support at least one frequency point. Therefore, the network device can determine the frequency points it supports based on the cells it serves.

[0126] When both the first and second devices are terminal devices, the multiple frequency points that the first and second devices can support can be determined based on the UE's capabilities. The terminal device may determine the supported frequency points based on its own capabilities. The network device can determine the frequency points supported by the terminal device based on the capability information reported by the terminal device.

[0127] One possible implementation is to measure the distance between the first and second devices based on Bluetooth signals. This can be determined by using phase information obtained from frequency hopping to transmit and receive signals at multiple frequency points. For example, the first device is the transmitting device and the second device is the receiving device. The first and second devices transmit and receive measurement signals at multiple frequency points. The phase change of the measurement signal during its propagation in the air is related to the frequency point. Therefore, based on the correspondence between the phase difference of different frequency points and the distance, the distance between the first and second devices can be calculated according to the congruence theorem.

[0128] like Figure 3 As shown, taking a certain frequency band as an example, at each frequency point, the second device transmits a CTE signal (or CTE data packet) and continuously keeps its oscillator running in preparation for receiving the CTE signal transmitted by the first device. The initial phase value generated when the second device starts its oscillator can be represented as θ2, which is related to the initial phase of the second device starting its oscillator. The initial phase of the first device receiving the CTE signal can be represented as θ1, which is related to the initial phase of the first device starting its oscillator.

[0129] Since the initial phase of the signal generated each time the oscillator is restarted is random, during the interaction between the first and second devices, both devices keep their oscillators continuously on. That is, when the second device's oscillator is continuously on, the initial phase value θ2 remains unchanged. When the first device's oscillator is continuously on, the initial phase value remains unchanged. During this time, in one round-trip interaction, i.e., within the interval between the transmitting and receiving signals of the first and second devices, their respective oscillators continuously oscillate to ensure that the phase difference of the local oscillator signals between the first and second devices remains constant during the interaction. In other words, the initial phase difference of the CTE signals between the first and second devices remains unchanged. Specifically, at each frequency point, the phase difference (θ2-θ1) of the local oscillator signals of the first and second devices remains unchanged during the round-trip signal process, and the reflected signal remains in sync with the received signal to facilitate subsequent determination of the distance between the first and second devices.

[0130] Correspondingly, the first device receives the CTE signal sent by the second device at the k-th frequency point.

[0131] Taking a single interaction as an example, the first device receives a CTE signal sent by the second device (e.g., Figure 5 As shown in the ping diagram, the first device can first perform analog-to-digital conversion on the received carrier signal and then process it through a digital front end (DFE) to obtain a CTE signal. Then, the first device obtains the first phase information in the frequency domain of the sampling point corresponding to the sampling time from the CTE signal. The relationship between the first phase information in the frequency domain of the received CTE signal and the distance to the second device can satisfy:

[0132]

[0133] Where, φ T (f k d) represents the first phase information in the frequency domain of the CTE signal sent by the second device and received by the first device, d represents the distance between the first device and the second device, fk represents the frequency value corresponding to the frequency point of the CTE signal sent by the second device, c is the speed of light, and Δt represents the time delay between the time when the first device receives the CTE signal sent by the second device and the time delay between sending the corresponding CTE signal to the second device.

[0134] S204: The first device sends a CTE signal to the second device at the k-th frequency point.

[0135] After receiving the CTE signal from the second device, the first device, after a predetermined time delay Δt, modulates the CTE signal using the same local oscillator signal at the same frequency as when it was received, and then echoes the CTE signal back to the second device (e.g., Figure 3 As shown in the diagram (pong), the CTE signal is a CTE signal with the same frequency during the round trip between the second device and the first device.

[0136] After receiving the CTE signal sent by the first device, the second device can demodulate the received CTE signal using the same local oscillator signal from the transmission. This allows the second device to obtain the frequency-domain second phase information of the CTE signal received from the first device. The relationship between the frequency-domain second phase information of the received CTE signal and the distance to the second device can satisfy the following:

[0137]

[0138] Where, φ R (f k d) represents the second phase information in the frequency domain of the CTE signal sent by the first device and received by the second device, d represents the distance between the first device and the second device, fk represents the frequency value corresponding to the frequency point of the CTE signal sent by the second device, c is the speed of light, and Δt represents the time delay between the time when the first device sends the corresponding CTE signal to the second device and the time when the first device receives the CTE signal sent by the second device.

[0139] Adding the first phase information and the second phase information, that is, multiplying the CTE signal received by the first device and the CTE signal received by the second device, can eliminate the phase offset caused by the time delay and the initial phase difference between the first device and the second device. This allows us to determine the phase change corresponding to the round-trip path of the signal during an interaction, that is, the third phase information in the frequency domain, which facilitates the subsequent calculation of the correct position information between the second device and the first device.

[0140] Correspondingly, the third phase information in the frequency domain The relationship between the relative distance d between the second device and the first device, for example, a third association relationship, can satisfy:

[0141]

[0142] S205: Based on the frequency hopping order, determine whether the frequency point is the Kth frequency point, that is, determine whether all K frequency points have been executed. If yes, execute S306; otherwise, switch to the (k+1)th frequency point and return to S202.

[0143] For example, the second device sends a CTE signal at a switched frequency to the first device. The first device receives and samples the CTE signal at the switched frequency, and then sends a CTE signal back to the second device. The frequency of the signal interaction between the first and second devices is the same. By repeating the above steps, bidirectional CTE signal transmission at different frequencies can be achieved.

[0144] In S205, the second device can switch frequencies according to the frequency hopping order. The first device can also switch frequencies according to the frequency hopping order.

[0145] One possible implementation is that, when the first device is a network device, the frequency hopping order can be configured by the first device itself and then sent to the second device. Alternatively, it can be sent by other network devices to both the first and second devices. For example, the frequency hopping order could be configured by the core network or higher layers, and then sent to both the first and second devices. When the first device is a terminal device, the frequency hopping order can be configured by the network device for both the first and second devices, and then sent to both devices.

[0146] For example, the first device can send first indication information to the second device, the first indication information being used to indicate the frequency hopping order. Alternatively, the first device can receive first indication information sent by the network device, the first indication information being used to indicate the frequency hopping order. Then, the first device can send first indication information to the second device, the first indication information being used to indicate the frequency hopping order.

[0147] Another possible implementation is that the frequency hopping order can be determined by pre-configuration or protocol specification, and the first and second devices can determine the frequency hopping order accordingly.

[0148] After obtaining the corresponding third phase information in the frequency domain at multiple frequency points, the distance between the first and second devices can be calculated based on the relationship between the third phase information and the frequency points, using the congruence theorem. However, considering the positioning requirements, simply obtaining the distance between the first and second devices is insufficient for locating the second device; the angle information between them must also be obtained. Therefore, determining the distance between the first and second devices solely through frequency hopping is insufficient for locating the second device. In other words, single-device positioning, such as single-base station positioning, is not possible, which would impose significant overhead on equipment deployment and costs. Furthermore, considering that the channel fading generated by different antennas may vary when the first and second devices transmit and receive CTE signals under different environments, signal propagation is susceptible to frequency-selective fading.

[0149] For example, such as Figure 4 As shown, the measurement results for two antennas are presented. The horizontal axis represents the number of channels measured by frequency hopping, and the vertical axis represents the phase after unwrapping. Both antennas exhibited fading in some channels. Antenna 1 showed significant channel fading in the channel index range of 0-10, while antenna 2 showed significant channel fading in the channel index range of 25-30. In one measurement, partial channel fading even led to severe signal errors and rendered the signal unusable. Therefore, to reduce the impact of channel fading on ranging, this application combines the phase measurement results of different antennas to improve the robustness of the ranging results.

[0150] Therefore, in this embodiment, during the transmission and reception of CTE signals between the first device and the second device at the same frequency, the angle between the first device and the second device is measured based on the antenna array. That is, before or during S203, the spatial phase information of the CTE signals from multiple antennas is measured. The frequency domain phase information and the spatial domain phase information are combined to comprehensively determine the distance and angle information of the second device relative to the first device, thereby improving the accuracy of determining the distance and angle information of the second device relative to the first device and achieving high coverage and high precision positioning of a single device (e.g., the first device).

[0151] like Figure 5 and Figure 6 As shown, the angle information between the first device and the second device is determined based on the receiver's AOA and / or the transmitter's AOD.

[0152] This application is applicable to Bluetooth positioning systems. The first device may include multiple antenna arrays; for example, the first device may include N antennas. The first device may be equipped with a set of high-speed switches to control the time-division multiplexing of different antennas, enabling switching between at least two antennas in the antenna array. The second device may include one antenna. Of course, the second device may also include multiple antennas. The following example illustrates this with a second device including one antenna. The method of having a second device with multiple antennas can be referred to in this example and will not be elaborated further here.

[0153] When the first device deploys an antenna array with N antennas, it can be divided into the angle of arrival of the receiver and the angle of departure of the transmitter, depending on the application scenario. Accordingly, the angle between the first device and the second device can be determined based on the angle of arrival or the angle of departure. Figure 2 and Figure 3 The overall structure of the AOA / AOD positioning system is described separately.

[0154] For the AOA positioning system Figure 2 In this setup, the first device can be a receiver, and the second device can be a transmitter. The transmitter has a single antenna, while the receiver has multiple antennas. During orientation, the AOA transmitter transmits a special Bluetooth signal called the CTE signal, which has a baseband sine wave. When receiving the CTE signal, the AOA receiver continuously switches between the antennas and samples the baseband signal (containing phase information) of each antenna. The processor in the receiver calculates the angle based on the sampled baseband signal from each antenna.

[0155] For AOD systems Figure 3 In this setup, the first device can be a transmitting device, and the second device can be a receiving device. The transmitting device has multiple antennas, while the receiving device has a single antenna. During orientation, the AOD transmitting device transmits a CTE signal while continuously switching between the various antennas. When receiving the signal, the AOD receiving device identifies the transmitting antenna corresponding to each part of the CTE signal and samples the baseband signal corresponding to each antenna. The processor in the receiving device then calculates the angle based on the sampled baseband signal from each antenna.

[0156] At each frequency point, the antenna switching action of the first device can occur during at least one process of transmitting or receiving signals. For example, antenna switching can occur when the first device receives a CTE signal, when the first device retransmits a CTE signal, or in both processes of receiving and transmitting a CTE signal. Examples 1 to 3 below illustrate how to obtain the first phase information and the second phase information based on antenna switching.

[0157] Example 1

[0158] In this example, it can be applied to AOD positioning systems, such as... Figure 7 As shown, the first device (e.g., a beacon node) is equipped with an antenna and a radio frequency (RF) switch module. The controller in the beacon node can use a Bluetooth 5.0 or higher protocol stack to control the RF switch module. Specifically, during broadcasting, it controls the RF switch module connected to the controller by setting a direct finding enabled command, enabling the transmission of CTE signals on different antennas corresponding to the k-th frequency point. Figure 8 As shown, steps S203 and S204 may include the following steps:

[0159] S203a: For the k-th frequency point, the second device sends a CTE signal to the first device.

[0160] exist Figure 5 and Figure 6 In this process, the signal transmitted by the antenna at the transmitting end is a modulated carrier signal. After the receiving end receives and processes the carrier signal, it can obtain the baseband signal, which is the CTE signal in the embodiments of this application.

[0161] Accordingly, the first device receives the CTE signal.

[0162] Combination Figure 9 An example of the CTE signal interaction cycle in the example, S2031a could be a ping (e.g., S203) within a CTE interaction, during which the antenna of the first device does not switch. During this process, the first device can obtain the first phase information corresponding to the k-th frequency point. Taking the example that the antenna of the first device is operating as the n-th antenna during this process, the first device can obtain the first phase information on the n-th antenna corresponding to the k-th frequency point. Considering the possibility of sampling multiple sampled data, for example, in each sampling period within M sampling periods, the first device can sample the CTE signal transmitted by the second device to obtain M pieces of first phase information corresponding to the k-th frequency point. In this case, the spatial first phase information in the first phase information is the same.

[0163] S2041a: For the k-th frequency point, the first device transmits a CTE signal to the second device on the n-th antenna. Here, n ranges from 1 to M. k .

[0164] S2042a: For the k-th frequency point, the first device switches the antenna according to the antenna switching mode.

[0165] Combination Figure 9Examples of CTE signal interaction cycles, S2041a and S2042a, can be implemented as a pong in a CTE interaction, in which the antenna of the first device switches the Mk antennas corresponding to the k-th frequency point.

[0166] One possible implementation is that, when the first device is a network device, the antenna switching mode or antenna switching sequence can be configured by the first device itself and then sent to the second device. Alternatively, it can be sent to the first and second devices by other network devices. For example, it could be an antenna switching mode configured by the core network or higher layers, which is then sent to the first and second devices. When the first device is a terminal device, the antenna switching mode can be configured by a network device for both the first and second devices, and then sent to both devices.

[0167] For example, the first device can send a first indication message to the second device, the first indication message indicating the antenna switching sequence. Alternatively, the first device can receive a first indication message sent by a network device, the first indication message indicating the antenna switching sequence. Then, the first device can send the first indication message to the second device, the first indication message indicating the antenna switching sequence.

[0168] Another possible implementation is that the antenna switching order can be determined by pre-configuration or protocol specification, and the first and second devices can determine the antenna switching order accordingly.

[0169] Another possible implementation is that the frequency hopping order and the antenna switching order can be sent together. For example, the first device can receive first indication information, which indicates the frequency hopping order of the K frequency points and the antenna switching order corresponding to each of the K frequency points. Alternatively, the frequency hopping order and the antenna switching order can be sent separately. For example, the first device can receive second indication information and third indication information, where the second indication information indicates the frequency hopping order, and the third indication information indicates the antenna switching order.

[0170] like Figure 9 The diagram illustrates how, in AOD mode, the first device switches antennas while transmitting a CTE signal. For example, a set of high-speed switches controls Mk antennas corresponding to the k-th frequency point in the first device to transmit the CTE signal in a time-division multiplexing manner. Specifically, after switching to the first antenna corresponding to the k-th frequency point during the switching cycle, a CTE signal is transmitted to the second device during transmission cycle (Send slot) 1. After switching to the second antenna corresponding to the k-th frequency point during the switching cycle, a CTE signal is transmitted to the second device during transmission cycle 2. After switching to the n-th antenna corresponding to the k-th frequency point during the switching cycle, a CTE signal is transmitted to the second device during transmission cycle n.

[0171] Correspondingly, when switching between multiple antennas according to the switching mode, the switched antenna can also be used to receive and sample the CTE signal sent by the second device. That is, after the first device switches to the first antenna corresponding to the k-th frequency point in transmission period 1, it can receive the CTE signal sent by the second device on the first antenna corresponding to the k-th frequency point. After the first device switches to the second antenna corresponding to the k-th frequency point in transmission period 2, it can receive and sample the CTE signal sent by the second device on the second antenna corresponding to the k-th frequency point.

[0172] S2043a: Return to step S2041a until all Mk antennas corresponding to the k-th frequency point have been sampled.

[0173] It should be noted that the timing and mode of the first device switching can be implemented in multiple ways. It should also be noted that S2041a can be executed before S2042a, simultaneously with S2042a, or after S2042a. No restrictions are imposed here.

[0174] Figure 10 This describes the specific format of the CTE signal and the antenna switching method. Basic configuration parameters for the CTE signal can include the CTE signal frequency, sampling frequency, switching mode parameters (switching and sampling time slot lengths), array configuration parameters (number of antennas, array type), and number of carrier frequencies. For example, the CTE signal frequency is 250 kHz, the sampling frequency is 4 MHz, the switching and sampling time slots are both 2 μs, the number of antennas is N, the number of carrier frequencies is K, and the number of samples collected by each antenna at each frequency point (channel) is M.

[0175] For example, CTE is a single-tone spread signal with a maximum duration of 160 μs. At a data rate of 1 Mbps, the baseband frequency of the CTE signal is 250 kHz (at a data rate of 2 Mbps, the baseband frequency of the CTE signal is 500 kHz). During the reference period, the receiver acquires an IQ sample every 2 μs and reports it to the processor. This processor can refer to an application processor (AP) or a microcontroller.

[0176] After the reference period, the first device (e.g., the transmitter of AOD) performs an antenna switch once in each switching cycle (Switch slot) corresponding to the transmitted signal. For example, the antenna switch can occur before or after S2032a. At the same relative position in each transmission cycle (Send slot), the receiver collects an IQ sampling point and reports it to the processor; the processor can use the first phase information contained in these IQ sampling points and the second phase information obtained by the second device to perform angle estimation. For example, the antenna switching frequency supported by the Bluetooth protocol can be 250kHz, which is equivalent to performing an antenna switch every 4μs after the reference period (i.e., the Switch slot and Send slot each occupy 2μs).

[0177] For example, the second device can send a CTE signal to the first device, and the first device receives the first spatial phase information corresponding to the CTE signal from the second device on the nth antenna, which can satisfy:

[0178]

[0179] Among them, f k This represents the frequency of the k-th frequency point where the first and second devices transmit and receive CTE signals, where c is the speed of light, (x n ,y n ,z n ) represents the position of the nth antenna. θ is the direction angle of the AOD. This is the pitch angle of AOD.

[0180] The position of each antenna in the first device can be preset, that is, the position of the nth antenna can be preset in the first device.

[0181] Accordingly, the first device can transmit a CTE signal to the second device on the nth antenna, and the second device can receive the CTE signal transmitted by the first device on the nth antenna, thereby determining the spatial second phase information corresponding to the CTE signal. This spatial second phase information can satisfy:

[0182]

[0183] Correspondingly, the relationship between the spatial third phase information of the nth antenna at the kth frequency point and the location information of the second device can be determined. For example, the fourth correlation relationship can satisfy:

[0184] 4πf k / c(x n sinφcosθ+y n sinφsinθ+z n cosφ)

[0185] Considering a scenario where multiple sampling points may exist on each antenna, there is a time-domain phase difference between the third phase information determined based on different sampling points. Therefore, the first phase information for the nth antenna at the kth frequency point can also include M time-domain first phase information, where the m1th time-domain first phase information among these M time-domain first phase information satisfies:

[0186] -2πf k (tm1)+θ2-θ1

[0187] Where tm1 can represent the sampling time at the m1-th sampling moment after the first device receives the CTE signal sent by the second device.

[0188] Correspondingly, the second phase information for the nth antenna at the kth frequency point can also include M time-domain second phase information, of which the m2th time-domain second phase information satisfies:

[0189] -2πf k (tm2)-θ2+θ1

[0190] Where tm2 can represent the sampling time at the m2th sampling moment after the first device receives the CTE signal sent by the second device.

[0191] Therefore, the time-domain third phase information of the nth antenna at the kth frequency point can satisfy:

[0192] 2πf k (tm1+tm2)

[0193] One possible implementation is that the second device determines whether the interaction on the K frequency points has ended. If yes, it determines that the third phase information acquisition is complete and executes S206. If no, it executes S205 until the interaction is complete.

[0194] It should be noted that the antenna switching modes on different channels can be the same or different. Considering that the channel fading between the first and second devices may differ in different environments at each frequency, one possible implementation is to sample all antennas of the first device at each frequency. In this case, the value of Mk is N. Another possible implementation is to select a subset of antennas for switching based on the corresponding channel fading at each frequency, that is, to select Mk antennas from N antennas as sampling antennas, in order to improve the accuracy of the second device's positioning and reduce the positioning overhead of the second device. The method of selecting a subset of antennas based on the channel fading can be determined based on the channel quality reported by the second device. For example, the first device can determine the different channel fading conditions of the second device under different antennas based on the measurement report reported by the second device, and then determine the Mk antennas corresponding to the k-th frequency.

[0195] Example 2

[0196] This example can be applied to AOA positioning systems; see [link / reference]. Figure 11 Based on the AOA positioning principle, the controller in the first device controls the switching of antennas by controlling the RF switch, and accordingly receives the CTE signal sent by the second device, realizing the transmission of CTE signals on different antennas corresponding to the k-th frequency point. For example... Figure 12 As shown, steps S203 and S204 may include the following steps:

[0197] S2031b: For the k-th frequency point, the first device switches to the n-th antenna according to the antenna switching mode to receive the CTE signal sent by the second device.

[0198] Where n takes values ​​from 1 to M. k Combining Figure 13 An example of one interaction cycle of the CTE signal in the process, S2031b to S2033b, can be implemented by ping (e.g., S203) in a CTE interaction, in which the antenna of the first device switches the Mk antennas corresponding to the k-th frequency point.

[0199] For example, the first device can use a set of high-speed switches to control Mk antennas out of N antennas in the first device to receive CTE signals transmitted by the second device in a time-division multiplexing manner. It should be noted that the switching timing and mode of the first device can be implemented in various ways, such as... Figure 13As shown, in AOA mode, the first device switches antennas while transmitting a CTE signal. For example, if it switches to the first antenna corresponding to the k-th frequency point during the switching period, it receives the CTE signal transmitted by the second device on the first antenna corresponding to the k-th frequency point during sampling period 1. If it switches to the n-th antenna corresponding to the k-th frequency point during the switching period, it receives the CTE signal transmitted by the second device on the n-th antenna corresponding to the k-th frequency point during sampling period n.

[0200] After the reference period, the first device (e.g., the receiver of the AOA) performs an antenna switch once in each switching slot corresponding to the received signal. For example, the antenna switch can occur in S2031a. At the same relative position in each sampling slot, the first device collects an IQ sampling point and reports it to the processor; the processor can use the first phase information contained in these IQ sampling points and the second phase information obtained by the second device to perform angle estimation. For example, the antenna switching frequency supported by the Bluetooth protocol can be 250kHz, which is equivalent to performing an antenna switch every 4μs after the reference period (i.e., the Switch slot and Sample slot each occupy 2μs).

[0201] It should be noted that S2031b can be executed before S2032b, simultaneously with S2032b, or after S2032b; no restrictions are imposed here.

[0202] S2032b: For the k-th frequency point, the second device sends a CTE signal to the first device.

[0203] Accordingly, the first device receives the CTE signal on the nth antenna.

[0204] That is, the first device receives the CTE signal sent by the second device and switches the operation of multiple antennas according to the switching mode; for example, a set of high-speed switches is used to control Mk antennas out of N antennas in the first device to receive and sample in a time-division manner. The spatial first phase information and temporal first phase information obtained after sampling can be referred to Example 1, and will not be repeated here.

[0205] S2033b: Return to step S2031b until all Mk antennas corresponding to the k-th frequency point have been sampled.

[0206] After the second device receives and samples the data, the obtained spatial second phase information and temporal second phase information can be referred to Example 1, and will not be repeated here.

[0207] S204b: For the k-th frequency point, the first device sends a CTE signal to the second device.

[0208] Correspondingly, the second device receives the CTE signal sent by the first device to the second device.

[0209] Combination Figure 13 As shown in the CTE signal interaction period, S204b can be implemented as a pong (e.g., S204) in a CTE interaction, during which the antenna of the first device does not switch. During this process, the second device can obtain the second phase information corresponding to the k-th frequency point based on the received CTE signal. If the first device transmits the CTE signal on the n-th antenna corresponding to the k-th frequency point, then the second phase information corresponding to the k-th frequency point is the second phase information of the n-th antenna corresponding to the k-th frequency point. The second device can sample the CTE signal transmitted by the first device in each of the M sampling periods to obtain M pieces of second phase information corresponding to the k-th frequency point. At this time, the spatial second phase information is the same.

[0210] One possible implementation is that the second device determines whether the interaction on the K frequency points has ended. If yes, it determines that the third phase information acquisition is complete and executes S206. If no, it executes S205 until the interaction is complete.

[0211] Example 3

[0212] In this example, it can be applied to a positioning system where both AOA and AOD coexist. In this case, the first device switches antennas during the reception and transmission of CTE signals on different antennas corresponding to the k-th frequency point, thus enabling the transmission of CTE signals on different antennas corresponding to the k-th frequency point. Figure 14a As shown, steps S203 and S204 may include the following steps:

[0213] S2031c: For the k-th frequency point, the first device switches to the n-th antenna according to the antenna switching mode to receive the CTE signal sent by the second device.

[0214] Where n takes values ​​from 1 to M. k Combining Figure 14b An example of the interaction cycle of the CTE signal in the example, S2031c~S2033c, can be implemented by ping in a CTE interaction, in which the antenna of the first device switches the Mk antennas corresponding to the k-th frequency point.

[0215] For example, the first device uses a set of high-speed switches to control Mk antennas out of N antennas in the first device to transmit and receive CTE signals and sample them in a time-division multiplexing manner. It should be noted that the switching timing and mode of the first device can be implemented in various ways, such as... Figure 14bAs shown, in AOA and AOD modes, the first device switches the antenna during the process of transmitting and receiving CTE signals. That is, S2031c can be executed before, simultaneously with, or after S2032c; this is not limited here.

[0216] S2032c: For the k-th frequency point, the second device sends a CTE signal to the first device.

[0217] Accordingly, the first device receives the CTE signal on the nth antenna.

[0218] S2033c: Return to step S2031c until all Mk antennas corresponding to the k-th frequency point have been sampled.

[0219] S2041c: The first device switches to the nth antenna according to the antenna switching mode.

[0220] Where n takes values ​​from 1 to M. k Combining Figure 14b An example of the interaction cycle of the CTE signal in the example, S2041c~S2043c, can be implemented as a pong in a CTE interaction, in which the antenna of the first device switches the Mk antennas corresponding to the k-th frequency point.

[0221] It should be noted that, as Figure 14b As shown, in AOA and AOD modes, the first device switches the antenna during the process of transmitting and receiving CTE signals. S2041c can be executed before, simultaneously with, or after S2042c; this is not limited here.

[0222] S2042c: The first device sends a CTE signal to the second device on the nth antenna.

[0223] Correspondingly, the second device receives the CTE signal sent to the second device by the first device on the nth antenna.

[0224] S2043c: Return to step S2041c until all Mk antennas corresponding to the k-th frequency point have been sampled.

[0225] One possible implementation is that the second device determines whether the interaction on the K frequency points has ended. If yes, it determines that the third phase information acquisition is complete and executes S206. If no, it executes S205 until the interaction is complete.

[0226] Following S205, the first phase information and the second phase information can be used to determine the location information of the second device. One possible implementation, combining Examples 1 and 3, is that in AOD positioning mode, the first device can determine the location information of the second device. Combining Examples 2 and 3, in AOA positioning mode, the second device can determine its location information. Another possible implementation, combining Examples 1 and 3, is that the server can determine the location information of the second device.

[0227] The following examples use scenarios one through three to illustrate the point.

[0228] Scenario 1: Using the first device as a method to determine the location information of the second device, such as... Figure 15a As shown, it includes the following steps:

[0229] S1501: The first device obtains the first phase information and the second phase information.

[0230] The first phase information can be the CTE signal received by the nth antenna at the kth frequency point to determine the first phase information of the nth antenna at the kth frequency point, and the second phase information can be the CTE signal received by the nth antenna at the kth frequency point to determine the second phase information of the nth antenna at the kth frequency point.

[0231] The first phase information corresponding to the K frequency points and the second phase information corresponding to the K frequency points are used to determine the position information between the first device and the second device. The position information includes distance information and angle information.

[0232] In one possible implementation, the first device can send a request message to the second device, which can be used to request the first device to obtain second phase information. Correspondingly, after receiving the request message, the second device can send the second phase information to the first device. This second phase information can be sent after executing S204, or after executing S2032a, S2032b, or S2033c, or even after executing S205; no limitation is made here.

[0233] The IQ data collected by the first and second devices, and the sampling data matrix of the CTE signal corresponding to the first phase information collected by the first device, can be represented as follows: The sampling data matrix of the CTE signal corresponding to the second phase information acquired by the second device can be represented as follows: The first phase information includes time-domain first phase information, spatial-domain first phase information, and frequency-domain first phase information. The second phase information includes time-domain second phase information, spatial-domain second phase information, and frequency-domain second phase information. For example... Figure 15bAs shown, the first phase information can include sampled data from multiple snapshots in the time domain, sampled data from multiple carrier frequencies in the frequency domain, and sampled data from multiple antennas in the spatial domain. The second phase information can also include sampled data from multiple snapshots in the time domain, sampled data from multiple carrier frequencies in the frequency domain, and sampled data from multiple antennas in the spatial domain.

[0234] S1502: The first device determines the third phase information based on the first phase information and the second phase information.

[0235] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0236] Furthermore, the first device can determine the position information of the second device relative to the first device based on at least one of the first phase information of the different antennas corresponding to each of the K frequency points and the second phase information of the different antennas corresponding to each of the K frequency points.

[0237] Referring to Example 1, during the determination of the first phase information, the antenna of the first device did not switch. Therefore, the third phase information of the nth antenna corresponding to the kth frequency point is determined based on the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0238] At this time, the first device can determine the position information of the second device relative to the first device based on the second phase information of the different antennas corresponding to each of the K frequency points.

[0239] Wherein, the first phase information corresponding to the k-th frequency point can be the first phase information determined after sampling in S2031a. Taking the first phase information received by the first device under the n-th antenna as an example, the third phase information of the n-th antenna corresponding to the k-th frequency point is determined based on the first phase information of the n-th antenna corresponding to the k-th frequency point and the second phase information of the n-th antenna corresponding to the k-th frequency point. The third phase information of the (n+1)-th antenna corresponding to the k-th frequency point is determined based on the first phase information of the n-th antenna corresponding to the k-th frequency point and the second phase information of the (n+1)-th antenna corresponding to the k-th frequency point. The third phase information of the (n-1)-th antenna corresponding to the k-th frequency point is determined based on the first phase information of the n-th antenna corresponding to the k-th frequency point and the second phase information of the (n-1)-th antenna corresponding to the k-th frequency point.

[0240] For example, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. The first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point.

[0241] Referring to Example 2, during the determination of the second phase information, the antenna of the first device did not switch. Therefore, the third phase information of the nth antenna corresponding to the kth frequency point is determined based on the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point.

[0242] At this time, the first device can determine the position information of the second device relative to the first device based on the first phase information of the different antennas corresponding to each of the K frequency points.

[0243] Taking the second phase information transmitted by the first device under the nth antenna as an example, the third phase information of the nth antenna corresponding to the kth frequency point is determined based on the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The third phase information of the (n+1)th antenna corresponding to the kth frequency point is determined based on the first phase information of the (n+1)th antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the (n-1)th antenna corresponding to the kth frequency point is determined based on the first phase information of the (n-1)th antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0244] Referring to Example 3, during the determination of the first and second phase information, the antennas of the first device are switched. Therefore, the third phase information of the nth antenna corresponding to the kth frequency point can be determined based on the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point. Similarly, the third phase information of the (n+1)th antenna corresponding to the kth frequency point can be determined based on the first phase information and the second phase information of the (n+1)th antenna corresponding to the kth frequency point.

[0245] At this time, the first device can determine the position information of the second device relative to the first device based on the first phase information of the different antennas corresponding to each of the K frequency points and the second phase information of the different antennas corresponding to each of the K frequency points.

[0246] One possible implementation is that the third phase information corresponding to the nth antenna at the kth frequency point is the sum of the first phase information corresponding to the nth antenna at the kth frequency point and the second phase information corresponding to the nth antenna at the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna at the kth frequency point.

[0247] For example, the sampled data of the CTE signal obtained by the first device and the sampled data of the CTE signal obtained by the second device can be multiplied by a dot, that is, the corresponding first phase information and second phase information can be added together to obtain the corresponding phase information. The phase result after addition is the phase change corresponding to the round-trip path of the signal flight. For example, the sampled data matrix of the CTE signal corresponding to the third phase information can satisfy:

[0248]

[0249] in, This represents the sampled data matrix of the CTE signal corresponding to the first phase information. This represents the sampled data matrix of the CTE signal corresponding to the second phase information. Correspondingly, the matrix corresponding to the third phase information can satisfy:

[0250]

[0251] in, The matrix representing the third phase information. The matrix representing the first phase information. This represents the matrix corresponding to the second phase information.

[0252] S1503: The first device determines the phase difference based on the third phase information.

[0253] To reduce the computational complexity of determining the position information of the second device using phase information, the phase difference between different third phase information can be determined based on the third phase information. One possible implementation is to use one of the multiple third phase information as a reference phase information and determine the phase difference between the reference phase information and the other third phase information. Subtracting the reference phase information from the other third phase information yields the corresponding phase difference between each third phase information and the reference phase information.

[0254] One possible implementation is that the phase difference of the nth antenna corresponding to the kth frequency point is determined based on the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information; the reference phase information is the third phase information corresponding to an antenna at one of the K frequency points.

[0255] For example, taking the first third phase information as the reference phase information, after subtracting the first third phase information from all subsequent third phase information and normalizing them, the sampled data matrix of the phase difference corresponding to the third phase information can satisfy:

[0256]

[0257] Correspondingly, the phase difference matrix corresponding to the third phase information can satisfy:

[0258]

[0259] in, This represents the phase difference matrix corresponding to the third phase information.

[0260] The antenna switching mode and frequency hopping sequence (or frequency hopping pattern) can determine the first and second correlations, i.e., the relationships between the third phase information. Different frequency hopping sequences correspond to different relationships between the third phase information in the frequency domain, i.e., the first correlation. Optionally, different frequency hopping sequences and carrier frequency sizes (i.e., the channel frequency corresponding to each frequency point) can correspond to different relationships between the third phase information in the frequency domain. This relationship can be used to determine the phase difference corresponding to the third phase information in the frequency domain and the distance information between the second and first devices. Different antenna switching modes correspond to different relationships between the third phase information in the spatial domain, i.e., the second correlation. Optionally, different antenna switching sequences and the spatial positional relationship between antennas (i.e., the antenna array configuration) can correspond to different relationships between the third phase information in the spatial domain. This relationship can be used to determine the phase difference corresponding to the third phase information in the spatial domain and the angle information between the second and first devices.

[0261] It should be noted that before the first device determines the location information of the second device, it can also obtain the frequency hopping order and the antenna switching order by receiving the first instruction information, so as to determine the first association relationship and the second association relationship.

[0262] The first instruction message can be referenced in the manner of Examples 1 to 3, and will not be repeated here.

[0263] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is determined based on the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0264] The third phase information of the nth antenna corresponding to the kth frequency point includes: frequency domain third phase information and spatial domain third phase information; the frequency domain third phase information is related to the frequency point, and the spatial domain third phase information is related to the antenna position.

[0265] The first association relationship is used to indicate the association relationship between different frequency points and the phase difference of the corresponding frequency domain third phase information; the first association relationship is determined according to the frequency hopping order of the K frequency points; the second association relationship is used to indicate the association relationship between the relative position between different antennas and the phase difference of the corresponding spatial domain third phase information of the different antennas; the second association relationship is determined according to the switching order of the antennas corresponding to each of the K frequency points.

[0266] The first correlation relationship determines the frequency hopping order of K frequency points, specifically the first, second, and so on up to the Kth frequency point. The second correlation relationship determines the switching order of the Mk antennas corresponding to each frequency point, specifically the first, second, and so on up to the Mkth antennas for each frequency point.

[0267] S1504: The first device determines the position information of the second device based on the phase difference, the first correlation relationship, and the second correlation relationship.

[0268] One possible implementation is that the location information is obtained by performing maximum likelihood estimation on an objective function determined based on the phase differences corresponding to the K frequency points and the first and second correlation relationships.

[0269] That is, by using the frequency hopping order of the K frequency points determined by the first correlation relationship and the switching order of the Mk antennas corresponding to each frequency point determined by the second correlation relationship, the relationship between the phase difference corresponding to each third phase information and the position information of the second device can be determined.

[0270] For example, the matrix corresponding to the phase difference of the third phase information. The following relationship can be satisfied between the location information of the second device and the location information of the second device:

[0271]

[0272] in, This is the third phase information in the frequency domain. This is the third phase information in the spatial domain. This represents the third phase information in the time domain. k Let x be the frequency of the k-th channel, c be the speed of light, and (x) be the frequency of the k-th n ,y n ,z n ) represents the position of the nth antenna.CTE For the CTE signal frequency, t m The sampling time is the sampling point corresponding to the relative reference phase information of the m-th sampling point.

[0273] The parameters of the location information of the second device satisfy:

[0274]

[0275] Where d is the distance between the first device and the second device. Let θ be the elevation angle of the signal incident, and θ be the azimuth angle of the signal incident.

[0276] Therefore, based on the relationship between the phase difference corresponding to each third phase information and the position information of the second device, and the parameters of the position information, an objective function for the maximum likelihood optimization of the position information of the second device can be established. For example, based on the third phase information... The objective function can be determined using the parameter vector of location information. Maximum likelihood estimation. For example, the objective function is a parameter vector. The maximum likelihood estimate of the log-likelihood function, at which point the objective function Λ can satisfy:

[0277]

[0278] in, The maximum likelihood estimation can determine the objective function Λ to be maximized, which is the parameter vector of the location information. satisfy:

[0279]

[0280] The parameter range satisfies 0 ≤ d ≤ d max , 0≤φ≤π / 2, 0≤θ<2π, and

[0281] One possible implementation is to perform a grid search on the objective function when performing maximum likelihood estimation to obtain the location information of the globally optimal parameter estimate. For example, when performing maximum likelihood estimation on the log-likelihood function, a grid search approach can be used for angles and distances to obtain the global optimal solution, ultimately determining the position information of the second device relative to the first device. For instance, the position information of the second device relative to the first device satisfies:

[0282]

[0283] Optionally, after S1504, the first device may also send the location information to the second device or the server.

[0284] Scenario 2: Using a second device as a method to determine the location information of the second device, such as... Figure 16 As shown, it includes the following steps:

[0285] S1601: The second device obtains the first phase information and the second phase information.

[0286] In one possible implementation, the second device can send a request message to the first device, which can be used to request the second device to obtain the first phase information. Correspondingly, after receiving the request message, the first device can send the first phase information to the second device. This first phase information can be sent after executing S203, or after executing S2031a, S2031b, or S2032c, or even after executing S205; no limitation is made here.

[0287] S1602: The second device determines the third phase information based on the first phase information and the second phase information.

[0288] For specific determination methods, please refer to S1502, which will not be elaborated here.

[0289] S1603: The second device determines the phase difference based on the third phase information.

[0290] For specific determination methods, please refer to S1503, which will not be elaborated here.

[0291] S1604: The second device determines its position information based on the phase difference, the first correlation relationship, and the second correlation relationship.

[0292] For specific determination methods, please refer to S1504, which will not be elaborated here.

[0293] It should be noted that in S1604, the second device can also determine the first association relationship and the second association relationship by obtaining indication information. For example, the second device can receive first indication information, which is used to indicate the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points. The first indication information can be sent from the first device to the second device, or it can be sent from the network device to the second device; this is not limited here. For details, please refer to the method by which the first device obtains the first indication information, which will not be elaborated further here.

[0294] For example, the second device can receive second and third indication information to obtain the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points. The specific method for the first device to obtain the second and third indication information is similar and will not be elaborated here.

[0295] For example, the second device can also obtain the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points according to the pre-configuration or protocol specified method. Specifically, the method by which the first device obtains the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points can be referred to, and will not be repeated here.

[0296] Optionally, after S1604, the second device may also send the location information to the first device, so that the first device can obtain the location information of the second device.

[0297] Scenario 3: Using a server to determine the location information of a second device, such as... Figure 17 As shown, it includes the following steps:

[0298] S1701: The server obtains the first phase information and the second phase information.

[0299] In one possible implementation, the server can send a request message to the first device, which can be used to request first phase information. Correspondingly, after receiving the request message, the first device can send the first phase information to the second device. This first phase information can be sent after executing S203, or after executing S2031a, S2031b, or S2032c, or even after executing S205; no limitation is made here.

[0300] In one possible implementation, the server can send a request message to the second device, which can be used to request second phase information. Correspondingly, after receiving the request message, the second device can send the second phase information to the first device. This second phase information can be sent after executing S204, or after executing S2032a, S2032b, or S2033c, or even after executing S205; no limitation is made here.

[0301] S1702: The server determines the third phase information based on the first phase information and the second phase information.

[0302] For specific determination methods, please refer to S1502, which will not be elaborated here.

[0303] S1703: The server determines the phase difference based on the third phase information.

[0304] For specific determination methods, please refer to S1503, which will not be elaborated here.

[0305] S1704: The server determines the location information of the second device based on the phase difference, the first association relationship, and the second association relationship.

[0306] For specific determination methods, please refer to S1504, which will not be elaborated here.

[0307] It should be noted that in S1604, the server can also determine the first association relationship and the second association relationship by obtaining indication information. For example, the server can receive first indication information, which is used to indicate the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points. The first indication information can be sent to the server by the first device or by the network device; this is not limited here. For details on how the first device obtains the first indication information, please refer to the method described above, which will not be elaborated upon here.

[0308] For example, the server can receive second and third indication information to obtain the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points. The specific method for obtaining the second and third indication information by the first device can be referred to, and will not be elaborated here.

[0309] For example, the server can also obtain the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points according to the pre-configuration or protocol-defined method. For details, please refer to the method by which the first device obtains the frequency hopping order of the K frequency points and the switching order of the antennas corresponding to each of the K frequency points, which will not be elaborated here.

[0310] Optionally, after S1704, the server may also send the location information of the second device to the first device. Correspondingly, the first device may send this location information to the second device. Optionally, the server may send this location information to the second device. Optionally, the second device may send the location information to the first device, so that the first device obtains the location information of the second device.

[0311] Compared to the scheme that determines the azimuth and elevation angles of the signal between the first and second devices solely based on the spatial position of each antenna and the phase difference between the antennas and the received signals, the above method can effectively improve the measurement accuracy of elevation and azimuth angles. By combining frequency domain phase information and spatial domain phase information to calculate distance and angle information simultaneously, the accuracy of positioning angles, especially elevation angles, can be effectively improved, thus increasing the positioning coverage and achieving single-point positioning.

[0312] Compared to existing Bluetooth positioning technologies, such as signal strength-based positioning (which has lower accuracy and is more susceptible to environmental interference), another approach is angle-based positioning, such as AOA and AOD positioning. Taking AOA positioning as an example, combined with... Figure 6The roller of the first device controls the antenna to transmit signals by controlling the RF switch, and calculates the phase difference Δφ of the signals received by the two antennas of the Beacon node, satisfying the formula:

[0313]

[0314] In this formula, d0 represents the distance between the two mutually perpendicular antennas, λ is the wavelength of the signal received by the two antennas, and β is the AOA angle. Therefore, the calculation yields:

[0315]

[0316] The AOA angle can be obtained from the above formula. Since the distance d0 between the antennas is much smaller than the distance between the first device and the second device, the AOA angle can be regarded as the azimuth angle β of the first device relative to the second device.

[0317] like Figure 18 As shown, the lower bounds of the measurement accuracy of elevation and azimuth angles are defined when the signal incident angle changes. The array configuration is a uniform circular array with a signal-to-noise ratio of 0 dB. The trends of the lower bounds of elevation and azimuth angle estimation accuracy are opposite as the incident signal elevation angle changes. Specifically, as the incident signal elevation angle increases, the lower bound of azimuth angle estimation accuracy gradually decreases, while the lower bound of elevation angle estimation accuracy gradually increases. Because the detection range of the elevation angle is limited, the coverage area is small, and the elevation angle accuracy is not high enough, decreasing further with increasing angle. Especially in practical applications, when the incident signal elevation angle is greater than 60 degrees, effective elevation angle estimation cannot be obtained solely through the distance between antennas and the phase difference between antennas, making single-base station positioning impossible. Therefore, coverage is limited to an area with a radius 1.7 times the height.

[0318] Based on the positioning method of this application, such as Figure 19 As shown, simulation reveals how the positioning error varies with the incident signal elevation angle. Key simulation parameters include an incident signal azimuth angle of 45°, an incident signal elevation angle of 0–90°, CRLB for angle measurement error, a median angle measurement error of 0.5 m, and a signal-to-noise ratio of 0 dB. Figure 19 As shown, in existing technologies, the azimuth angle of the second device relative to the first device is determined by the distance between multiple antennas. However, when the incident signal elevation angle is large, the positioning error increases dramatically. This application, on the other hand, can maintain high positioning accuracy even at large elevation angles by relying on azimuth and distance estimation results, without depending on elevation angle measurement. Precise positioning at large elevation angles translates to a large coverage area, demonstrating the improved positioning accuracy and stability, as well as the expanded coverage area, of this application.

[0319] like Figure 20 The diagram illustrates a possible example of how the positioning error varies with the signal-to-noise ratio (SNR) in an embodiment of this application. This SNR variation is based on 1000 Monte Carlo simulations performed under different SNR conditions, and the RMSE of the positioning. Key simulation parameters include an incident signal azimuth angle of 45°, an incident signal elevation angle of 60°, CRLB for angle measurement error, and an exponential decrease in angle measurement error with increasing SNR, with an SNR variation of -10 to 20 dB. The results show that the positioning accuracy of this application is significantly higher than the method of determining the azimuth angle of the second device relative to the first device by measuring the distance between multiple antennas.

[0320] By combining multi-antenna data to mitigate some channel fading, and obtaining more location information through single-positioning measurements, single-base station positioning is supported. Each sample contains both angle and distance information, and through a joint estimation algorithm, the location information of the second device becomes more accurate; effectively improving single-base station positioning accuracy, coverage, and robustness.

[0321] In the embodiments provided above, the methods provided by the embodiments of this application have been described from the perspective of interaction between various devices. To implement the functions of the methods provided in the embodiments of this application, network devices or terminal devices may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0322] The module division in this embodiment is illustrative and represents only one logical functional division; in actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0323] like Figure 21 As shown, this application provides a communication device 2100. The communication device 2100 may include a processing module 2110, a receiving module 2120, and a transmitting module 2130. The communication device can be a first device, which includes N antennas. The first device can be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip. The first device includes N antennas, and the first device and the second device support K frequency points. The second device is the device to be located in this application. The second device can be a terminal device, or a component within a terminal device, such as a chip.

[0324] Specifically, for the kth frequency point among the K frequency points: the receiving module 2120 is used to receive a fixed-frequency extended CTE signal from the second device on at least two antennas corresponding to the kth frequency point, and / or the transmitting module 2130 is used to transmit a CTE signal to the second device on at least two antennas; at least one of the first phase information of the different antennas corresponding to each of the K frequency points and the second phase information of the different antennas corresponding to each of the K frequency points is used to determine the position information of the second device relative to the first device, the position information including: distance information and angle information.

[0325] Wherein, the CTE signal received by the first device at the nth antenna corresponding to the kth frequency point is used to determine the first phase information of the nth antenna corresponding to the kth frequency point; the CTE signal transmitted by the first device at the nth antenna corresponding to the kth frequency point is received by the second device at the kth frequency point and is used to determine the second phase information of the nth antenna corresponding to the kth frequency point; k is a positive integer less than or equal to K, and at least two antennas are two or more antennas out of N antennas; n is a positive integer.

[0326] One possible implementation is that the receiving module 2120 can be used to receive first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points.

[0327] One possible implementation is that the location information is determined based on the third phase information, the first correlation relationship, and the second correlation relationship of different antennas corresponding to each of the K frequency points;

[0328] The third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the nth antenna corresponding to the kth frequency point includes frequency domain phase information and spatial domain phase information. The frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first correlation relationship indicates the correlation between the phase difference between different frequency points and the corresponding frequency domain phase information. The first correlation relationship is determined based on the frequency hopping order of the K frequency points. Optionally, the first correlation relationship can also be determined based on the frequency hopping order and carrier frequency of the K frequency points. The second correlation relationship indicates the correlation between the relative positions of different antennas and the phase difference of the corresponding spatial domain phase information of different antennas. The second correlation relationship is determined based on the switching order of the antennas corresponding to each of the K frequency points. Optionally, the second correlation relationship is determined based on the switching order of the antennas corresponding to each of the K frequency points and the positional relationship between the antennas.

[0329] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0330] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point.

[0331] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna corresponding to the kth frequency point.

[0332] One possible implementation is that the location information is obtained by performing maximum likelihood estimation on the parameters of the location information based on an objective function; wherein, the objective function is a function of the parameters based on the location information determined by the phase difference of different antennas corresponding to each of the K frequency points and the first and second correlation relationships; the phase difference of the nth antenna corresponding to the kth frequency point is determined by the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information; the reference phase information is the third phase information of an antenna corresponding to one of the K frequency points.

[0333] In one possible implementation, processing module 2110 can be used to switch to the nth antenna and receive the CTE signal from the second device on the nth antenna via receiving module 2120, until at M k The reception of CTE signals on each antenna continues until the process is complete; n ranges from 1 to M. k M k Each antenna is at least two antennas corresponding to the k-th frequency point, and Mk is a positive integer less than or equal to N.

[0334] In one possible implementation, the processing module 2110 can be used to switch to the nth antenna and transmit a CTE signal to the second device via the transmitting module 2130 on the nth antenna until M... k The transmission of CTE signals on each antenna continues until the process is complete, with n ranging from 1 to M. k M k Each antenna is at least two antennas corresponding to the k-th frequency point, and Mk is a positive integer less than or equal to N.

[0335] In one possible implementation, the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signals of the CTE signals transmitted by the first device on at least two antennas corresponding to the k-th frequency point remains unchanged.

[0336] One possible implementation is that the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device at the k-th frequency point remains unchanged.

[0337] In one possible implementation, the processing module 2110 may also perform any of the following: obtain location information; send the location information to the second device via the sending module 2130; and / or send the location information to the server.

[0338] One possible implementation is that the angle information includes at least one of azimuth and pitch angle information.

[0339] like Figure 22 As shown, this application provides a communication device 2200, which can be a second device, a terminal device, or a component within a terminal device, such as a chip. The second device is the device to be located in this application. The second device and the first device support K frequency points; the first device includes N antennas, and the first device can be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip.

[0340] The communication device 2200 may include a processing module 2210, a receiving module 2220, and a transmitting module 2230. For the k-th frequency point out of K frequency points: the transmitting module 2220 is used to transmit a fixed-frequency extended CTE signal to the first device at the k-th frequency point, and / or the receiving module 2230 is used to receive CTE signals transmitted by the first device from at least two antennas corresponding to the k frequency points, respectively. The processing module 2210 is used to determine the position information of the second device relative to the first device based on at least one of the first phase information and the second phase information of the different antennas corresponding to each of the K frequency points. The position information includes distance information and angle information.

[0341] Wherein, the first phase information of the nth antenna corresponding to the kth frequency point is determined by the first device after receiving the CTE signal sent by the second device on the nth antenna corresponding to the kth frequency point; the second phase information of the nth antenna corresponding to the kth frequency point is determined by the second device after receiving the CTE signal sent by the first device on the nth antenna corresponding to the kth frequency point; k is a positive integer less than or equal to K, and at least two antennas are two or more antennas out of N antennas; n is a positive integer.

[0342] In one possible implementation, the receiving module 2220 can also be used to receive first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points.

[0343] One possible implementation is that the processing module 2210 can be used to determine the location information based on the third phase information, the first correlation relationship, and the second correlation relationship of the different antennas corresponding to each of the K frequency points.

[0344] The third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the nth antenna corresponding to the kth frequency point includes frequency domain phase information and spatial domain phase information. The frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first correlation relationship is used to indicate the correlation between the phase difference of different frequency points and the corresponding frequency domain phase information. The first correlation relationship is determined based on the frequency hopping order of the K frequency points. The second correlation relationship is used to indicate the correlation between the relative position of different antennas and the phase difference of the corresponding spatial domain phase information of different antennas. The second correlation relationship is determined based on the switching order of the antennas corresponding to each of the K frequency points.

[0345] One possible implementation is that the third phase information of the nth antenna corresponding to the kth frequency point is determined by the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point.

[0346] Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point.

[0347] Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point; the second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna corresponding to the kth frequency point.

[0348] One possible implementation is that the processing module 2210 can be used to perform maximum likelihood estimation of the parameters of the location information based on the objective function to determine the location information.

[0349] The objective function is a function of parameters based on location information, determined by the phase difference of different antennas at each of the K frequency points and the first and second correlation relationships. The phase difference of the nth antenna corresponding to the kth frequency point is determined by the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information. The reference phase information is the third phase information of an antenna corresponding to one of the K frequency points.

[0350] In one possible implementation, the phase difference between the local oscillator signal of the CTE signal transmitted by the first device on at least two antennas corresponding to the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point remains unchanged.

[0351] One possible implementation is that the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device at the k-th frequency point remains unchanged.

[0352] One possible implementation is that the sending module 2230 can be used to send location information to a second device; and / or send location information to a server.

[0353] like Figure 23 As shown, this application provides a communication device 2300, which can be a server, such as a positioning server or other types of servers, without limitation herein. The communication device 2300 can be used to determine the position information of a second device relative to a first device. The first device can be a network device, a terminal device, or a component within a network device, such as a chip, or a component within a terminal device, such as a chip. The second device can be a terminal device, or a component within a terminal device, such as a chip. The second device is the device to be located in this application. The first and second devices support K frequency points, and the first device includes N antennas.

[0354] The communication device 2300 may include an acquisition module 2320 and a processing module 2310. Optionally, the communication device may also include a transceiver module 2330.

[0355] The module 2320 is used to obtain the first phase information of at least two antennas corresponding to each of the K frequency points and / or the second phase information of at least two antennas corresponding to each of the K frequency points.

[0356] The processing module 2310 is used to determine the position information of the second device relative to the first device based on at least one of the first phase information of the different antennas corresponding to each of the K frequency points and the second phase information of the different antennas corresponding to each of the K frequency points. The position information includes distance information and angle information.

[0357] Specifically, for the k-th frequency point among K frequency points: the first phase information of the n-th antenna corresponding to the k-th frequency point is determined by the first device after receiving the CTE signal sent by the second device through the n-th antenna corresponding to the k-th frequency point; the second phase information of the n-th antenna corresponding to the k-th frequency point is determined by the second device after receiving the CTE signal sent by the first device through the n-th antenna corresponding to the k-th frequency point; at least two antennas are two or more antennas among the N antennas; k is a positive integer less than or equal to K, and n is a positive integer.

[0358] In one possible implementation, module 2320 can also be used to obtain first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points.

[0359] One possible implementation is that the processing module 2310 is used to determine the location information based on the third phase information, the first correlation relationship, and the second correlation relationship of the different antennas corresponding to each of the K frequency points.

[0360] The third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information and the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the nth antenna corresponding to the kth frequency point includes frequency domain phase information and spatial domain phase information. The frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first correlation relationship is used to indicate the correlation between the phase difference between different frequency points and the corresponding frequency domain phase information. The first correlation relationship is determined based on the frequency hopping order of the K frequency points. The second correlation relationship is used to indicate the correlation between the relative position between different antennas and the phase difference between the corresponding spatial domain phase information of different antennas. The second correlation relationship is determined based on the switching order of the antennas corresponding to each of the K frequency points.

[0361] One possible implementation is that the third phase information corresponding to the nth antenna at the kth frequency point is the sum of the first phase information corresponding to the nth antenna at the kth frequency point and the second phase information corresponding to the nth antenna at the kth frequency point. Alternatively, the third phase information of the nth antenna at the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information corresponding to the nth antenna at the kth frequency point, wherein the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna at the kth frequency point. Alternatively, the third phase information of the nth antenna at the kth frequency point is the sum of the first phase information corresponding to the nth antenna at the kth frequency point and the second phase information corresponding to the kth frequency point, wherein the second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal transmitted by the first device from any antenna at the kth frequency point.

[0362] One possible implementation is that the processing module 2310 is used to perform maximum likelihood estimation on the parameters of the location information according to the objective function to determine the location information.

[0363] The objective function is a function of parameters based on location information, determined by the phase difference of the antennas corresponding to each of the K frequency points and the first and second correlation relationships. The phase difference of the nth antenna corresponding to the kth frequency point is determined by the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information.

[0364] One possible implementation is that the transceiver module 2330 is used to send location information to a first device; and / or, to send location information to a second device.

[0365] One possible implementation is that the angle information includes at least one of azimuth and pitch angle information.

[0366] Optionally, the communication devices 2100-2300 may further include a storage unit for storing data or instructions (also referred to as code or programs). Each of the aforementioned units can interact with or be coupled to the storage unit to implement the corresponding method or function. For example, processing modules 2110, 2210, or 2310 can read data or instructions from the storage unit, enabling the communication device to implement the methods described in the above embodiments.

[0367] It should be understood that the division of units in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, all units in the device can be implemented entirely through software calls from processing elements; all units can be implemented entirely in hardware; or some units can be implemented through software calls from processing elements, and some units can be implemented in hardware. For example, each unit can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as a program in memory, called and executed by a processing element of the device. Moreover, these units can be fully or partially integrated together, or implemented independently. The processing element mentioned here can also be called a processor, which can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above units can be implemented through integrated logic circuits in the processor element, or it can be implemented through software calls from processing elements.

[0368] In one example, a unit in any of the above devices can be one or more integrated circuits configured to implement the methods described above, such as: one or more application-specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs), or a combination of at least two of these forms of integrated circuits. As another example, when a unit in the device can be implemented in the form of a processing element scheduler, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling programs. Furthermore, these units can be integrated together to implement a system-on-a-chip (SOC).

[0369] The receiving unit described above (e.g., a receiving unit) is an interface circuit of the device used to receive signals from other devices. For example, when the device is implemented as a chip, the receiving unit is an interface circuit for the chip to receive signals from other chips or devices. The transmitting unit described above (e.g., a transmitting unit) is an interface circuit of the device used to transmit signals to other devices. For example, when the device is implemented as a chip, the transmitting unit is an interface circuit for the chip to transmit signals to other chips or devices.

[0370] refer to Figure 24This is a schematic diagram of the structure of a communication device 2400 provided in an embodiment of this application. This communication device is used to implement the operation of the first device, the second device, or the server in the above embodiments. The server, for example, can be a location server or other types of servers, and is not limited here. The communication device 2400 can be used to determine the position information of the second device relative to the first device. The first device can be a network device, a terminal device, or a component in a network device, such as a chip, or a component in a terminal device, such as a chip. The second device can be a terminal device, or a component in a terminal device, such as a chip. The second device is the device to be located in this application. The first and second devices support K frequency points, and the first device includes N antennas.

[0371] like Figure 24 As shown, taking a communication device as an example, specifically a terminal device, the communication device includes an antenna 2410, a radio frequency (RF) device 2420, and a signal processing unit 2430. The antenna 2410 is connected to the RF device 2420. In the downlink direction, the RF device 2420 receives information sent by a network device or other terminal device through the antenna 2410 and sends the information to the signal processing unit 2430 for processing. In the uplink direction, the signal processing unit 2430 processes the information from the terminal device and sends it to the RF device 2420. The RF device 2420 processes the information from the terminal device and then sends it to the network device or other terminal device through the antenna 2410. In the sidelink direction, the signal processing unit 2430 processes the information from the second device and sends it to the RF device 2420. The RF device 2420 processes the information from the second device and then sends it to the first device or other terminal device through the antenna 2410.

[0372] Taking a communication device as the first device, specifically a network device, as an example, the communication device includes: an antenna 2410, a radio frequency (RF) device 2420, and a signal processing unit 2430. The antenna 2410 is connected to the RF device 2420. In the uplink direction, the RF device 2420 receives information sent by a second device or other terminal device through the antenna 2410, and then sends the information to the signal processing unit 2430 for processing. In the downlink direction, the signal processing unit 2430 processes the information from the network device and sends it to the RF device 2420. The RF device 2420 processes the information from the network device and then sends it to the second device or other terminal device via the antenna 2410.

[0373] Taking a communication device as the first device and a terminal device as an example, the communication device includes: an antenna 2410, a radio frequency (RF) device 2420, and a signal processing unit 2430. The antenna 2410 is connected to the RF device 2420. In the downlink direction, the RF device 2420 receives information sent by a network device or server through the antenna 2410 and sends the information to the signal processing unit 2430 for processing. In the uplink direction, the signal processing unit 2430 processes the information from the first device and sends it to the RF device 2420, which then processes the information and sends it to the network device or server through the antenna 2410. In the sidelink direction, the signal processing unit 2430 processes the information from the first device and sends it to the RF device 2420, which then processes the information and sends it to a second device or other terminal device through the antenna 2410.

[0374] The signal processing section 2430 is used to process data at each communication protocol layer. The signal processing section 2430 can be a subsystem of the communication device. The communication device may also include other subsystems, such as a central processing subsystem for processing the communication device's operating system and application layers; or a peripheral subsystem for connecting to other devices. The signal processing section 2430 can be a separately configured chip. Optionally, the above-mentioned components can be located within the signal processing section 2430.

[0375] The signal processing section 2430 may include one or more processing elements 2431, such as a main control CPU and other integrated circuits, and an interface circuit 2433. Furthermore, the signal processing section 2430 may also include a storage element 2432. The storage element 2432 is used to store data and programs. The program for executing the method performed by the communication device in the above methods may or may not be stored in the storage element 2432, for example, it may be stored in a memory outside the signal processing section 2430. When needed, the signal processing section 2430 loads the program into a cache for use. The interface circuit 2433 is used for communication with devices. The above devices may be located in the signal processing section 2430, which can be implemented by a chip. The chip includes at least one processing element and an interface circuit, wherein the processing element is used to execute the various steps of any of the methods executed by the communication device, and the interface circuit is used to communicate with other devices. In one implementation, the unit implementing each step of the above method can be implemented in the form of a processing element scheduler. For example, the device includes a processing element and a storage element. The processing element calls the program stored in the storage element to execute the method executed by the communication device in the above method embodiments. The storage element can be a storage element located on the same chip as the processing element, i.e., an on-chip storage element.

[0376] In another implementation, the program for executing the method performed by the communication device in the above method can be located on a storage element on a different chip than the processing element, i.e., an off-chip storage element. In this case, the processing element calls or loads the program from the off-chip storage element onto the on-chip storage element to call and execute the method executed by the communication device (first device, second device, or server) in the above method embodiments.

[0377] In another implementation, the unit in the communication device that implements each step of the above method can be configured as one or more processing elements disposed on the signal processing section 2430. These processing elements can be integrated circuits, such as one or more ASICs, one or more DSPs, one or more FPGAs, or combinations of these types of integrated circuits. These integrated circuits can be integrated together to form a chip.

[0378] The units implementing each step of the above method can be integrated together as a system-on-a-chip (SOC). This SOC chip is used to implement the above method. The chip can integrate at least one processing element and a storage element, with the processing element calling a stored program from the storage element to implement the method executed by the communication device; alternatively, the chip can integrate at least one integrated circuit to implement the method executed by the communication device; or, a combination of the above implementation methods can be used, with some unit functions implemented by the processing element calling a program, and some unit functions implemented by the integrated circuit.

[0379] As can be seen, the above apparatus may include at least one processing element and an interface circuit, wherein at least one processing element is used to execute the method provided by any of the communication devices in the above method embodiments. The processing element may execute part or all of the steps executed by the communication device in a first manner: that is, by calling a program stored in a storage element; or in a second manner: that is, by combining instructions with the integrated logic circuits of the hardware in the processor element; of course, part or all of the steps executed by the communication device may also be executed by combining the first and second methods.

[0380] The processing element here, as described above, can be a general-purpose processor, such as a CPU, or one or more integrated circuits configured to implement the above methods, such as one or more ASICs, or one or more microprocessors (DSPs), or one or more FPGAs, or a combination of at least two of these integrated circuit forms. The storage element can be a single memory or a collective term for multiple storage elements.

[0381] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0382] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer, implements the method described in any of the method embodiments corresponding to the first device, the second device, or the server in the above embodiments.

[0383] This application also provides a computer program product that, when executed by a computer, implements the method described in any of the method embodiments of the first device, the second device, or the server described above.

[0384] It should be noted that terms such as "first" and "second," for example, "first instruction information," "second instruction information," etc., are used only to distinguish the purpose of description and should not be interpreted as indicating or implying relative importance or order. "At least one" refers to one or more, while "more" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0385] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer programs. When a computer program is loaded and executed on a computer, it generates, in whole or in part, the processes or functions described in the embodiments of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program can be transferred from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0386] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method described in any of the above-described methods of the sending end or receiving end.

[0387] It should be understood that the aforementioned processing device can be a chip. The processor can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor that reads software code stored in memory. The memory can be integrated into the processor or located outside the processor and exist independently.

[0388] The above are merely specific embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A positioning method, characterized in that, Applied to a first device, the first device including N antennas, and a second device supporting K frequency points, the method includes: Receive first indication information, the first indication information being used to indicate the frequency hopping order of the K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points; For the kth frequency point among the K frequency points: the first device receives a fixed-frequency spread CTE signal from the second device on at least two antennas corresponding to the kth frequency point, and / or transmits a CTE signal to the second device on at least two antennas; k is a positive integer less than or equal to K, and the at least two antennas are two or more antennas among the N antennas; Wherein, the CTE signal received by the first device at the nth antenna corresponding to the kth frequency point is used to determine the first phase information of the nth antenna corresponding to the kth frequency point; the CTE signal transmitted by the first device at the nth antenna corresponding to the kth frequency point and received by the second device at the kth frequency point is used to determine the second phase information of the nth antenna corresponding to the kth frequency point; where n is a positive integer; The first phase information of the different antennas corresponding to each of the K frequency points and / or the second phase information of the different antennas corresponding to each of the K frequency points are used to determine the position information of the second device relative to the first device. The position information includes distance information and angle information.

2. The method as described in claim 1, characterized in that, The location information is determined based on the third phase information, the first correlation relationship, and the second correlation relationship of the different antennas corresponding to each of the K frequency points; The third phase information of the nth antenna corresponding to the kth frequency point is determined based on the first phase information of the nth antenna corresponding to the kth frequency point and / or the second phase information of the nth antenna corresponding to the kth frequency point. The third phase information of the nth antenna corresponding to the kth frequency point includes: frequency domain phase information and spatial domain phase information; the frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first association relationship is used to indicate the association relationship between different frequency points and the phase difference of the corresponding frequency domain phase information; the first association relationship is determined according to the frequency hopping order of the K frequency points; The second association relationship is used to indicate the relationship between the relative positions of different antennas and the phase difference of the spatial phase information corresponding to the different antennas; the second association relationship is determined according to the switching order of the antennas corresponding to each of the K frequency points.

3. The method as described in claim 2, characterized in that, The third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point. Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal sent by the first device from any antenna corresponding to the kth frequency point.

4. The method according to any one of claims 2-3, characterized in that, The location information is obtained by performing maximum likelihood estimation on the parameters of the location information based on the objective function; Wherein, the objective function is a function of parameters based on location information, determined according to the phase difference of different antennas corresponding to each of the K frequency points and the first and second correlation relationships; The phase difference of the nth antenna corresponding to the kth frequency point is determined based on the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information; the reference phase information is the third phase information of an antenna corresponding to one of the K frequency points.

5. The method according to any one of claims 1-4, characterized in that, Receiving CTE signals from the second device on at least two antennas corresponding to the k-th frequency point includes: Switch to the nth antenna, and receive the CTE signal from the second device on the nth antenna until at M k The reception and transmission of CTE signals on each antenna is completed until the process is finished; n takes values ​​from 1 to M. k The M k Each antenna is at least two antennas corresponding to the k-th frequency point, where Mk is a positive integer less than or equal to N.

6. The method according to any one of claims 1-5, characterized in that, Sending a CTE signal to the second device on the at least two antennas corresponding to the k-th frequency point includes: Switch to the nth antenna and transmit a CTE signal to the second device on the nth antenna until at M k The process continues until the reception and transmission of CTE signals on each antenna is completed, where n ranges from 1 to M. k The M k Each antenna is at least two antennas corresponding to the k-th frequency point, where Mk is a positive integer less than or equal to N.

7. The method according to any one of claims 1-6, characterized in that, Receiving a CTE signal from the second device on at least two antennas corresponding to the k-th frequency point, and / or transmitting a CTE signal to the second device on at least two antennas corresponding to the k-th frequency point, including: The phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device on at least two antennas corresponding to the k-th frequency point remains unchanged; Alternatively, the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device at the k-th frequency point remains unchanged.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Obtain the location information; Send the location information to the second device; and / or send the location information to the server.

9. The method according to any one of claims 1-8, characterized in that, The angle information includes at least one of azimuth and pitch angle information.

10. A positioning method, characterized in that, Applied to a second device, the second device and the first device support K frequency points; the first device includes N antennas, the method includes: Receive first indication information, the first indication information being used to indicate the frequency hopping order of the K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points; For the kth frequency point among the K frequency points: the second device sends a fixed-frequency extended CTE signal to the first device at the kth frequency point, and / or receives CTE signals sent by the first device from at least two antennas corresponding to the k frequency points at the kth frequency point; k is a positive integer less than or equal to K, and the at least two antennas are two or more antennas among the N antennas; Based on the first phase information of the different antennas corresponding to each of the K frequency points and / or the second phase information of the different antennas corresponding to each of the K frequency points, the position information of the first device relative to the second device is determined, wherein the position information includes: distance information and angle information; Wherein, the first phase information of the nth antenna corresponding to the kth frequency point is determined by the first device after receiving the CTE signal sent by the second device on the nth antenna corresponding to the kth frequency point; the second phase information of the nth antenna corresponding to the kth frequency point is determined by the second device after receiving the CTE signal sent by the first device on the nth antenna corresponding to the kth frequency point at the kth frequency point; where n is a positive integer.

11. The method as described in claim 10, characterized in that, Determining the position information of the first device relative to the second device based on at least one of the first phase information of different antennas corresponding to each of the K frequency points and the second phase information of different antennas corresponding to each of the K frequency points includes: The location information is determined based on the third phase information, the first correlation relationship, and the second correlation relationship of the different antennas corresponding to each of the K frequency points; Wherein, the third phase information of the nth antenna corresponding to the kth frequency point is determined based on at least one of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; The third phase information of the nth antenna corresponding to the kth frequency point includes: frequency domain phase information and spatial domain phase information; the frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first association relationship is used to indicate the association relationship between different frequency points and the phase difference of the corresponding frequency domain phase information; the first association relationship is determined according to the frequency hopping order of the K frequency points; The second association relationship is used to indicate the relationship between the relative positions of different antennas and the phase difference of the spatial phase information corresponding to the different antennas; the second association relationship is determined according to the switching order of the antennas corresponding to each of the K frequency points.

12. The method as described in claim 11, characterized in that, The third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point. Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point. Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal sent by the first device from any antenna corresponding to the kth frequency point.

13. The method according to any one of claims 11-12, characterized in that, The step of determining the location information based on the third phase information, first correlation relationship, and second correlation relationship of different antennas corresponding to each of the K frequency points includes: The location information is determined by performing maximum likelihood estimation on the parameters of the location information based on the objective function; Wherein, the objective function is a function of parameters based on the location information determined according to the phase difference corresponding to different antennas at each of the K frequency points and the first and second correlation relationships, and the phase difference of the nth antenna corresponding to the kth frequency point is determined according to the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information, wherein the reference phase information is the third phase information of an antenna corresponding to one of the K frequency points.

14. The method according to any one of claims 10-13, characterized in that, For the kth frequency among the K frequency points: the second device transmits a CTE signal to the first device at the kth frequency point, and receives CTE signals transmitted by the first device from at least two antennas corresponding to the k frequency points at the kth frequency point, including: The phase difference between the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signals of the CTE signals transmitted by the first device on at least two antennas corresponding to the k-th frequency point remains unchanged; Alternatively, the phase difference between the local oscillator signal of the CTE signal transmitted by the second device at the k-th frequency point and the local oscillator signal of the CTE signal transmitted by the first device at the k-th frequency point remains unchanged.

15. The method according to any one of claims 10-14, characterized in that, The method further includes: Send the location information to the first device; and / or Send the location information to the server.

16. The method according to any one of claims 10-15, characterized in that, The angle information includes at least one of azimuth and pitch angle information.

17. A positioning method, characterized in that, Applied to a server, the method includes: Obtain first indication information, which is used to indicate the frequency hopping order of K frequency points and the switching order of at least two antennas corresponding to each of the K frequency points; Obtain first phase information of at least two antennas corresponding to each of the K frequency points and / or second phase information of at least two antennas corresponding to each of the K frequency points, wherein a first device and a second device support the K frequency points, the first device includes N antennas, and the at least two antennas are one or more of the N antennas; Specifically, for the k-th frequency point among the K frequency points: the first phase information of the n-th antenna corresponding to the k-th frequency point is determined by the first device after receiving the CTE signal sent by the second device at the n-th antenna corresponding to the k-th frequency point; the second phase information of the n-th antenna corresponding to the k-th frequency point is determined by the second device after receiving the CTE signal sent by the first device at the n-th antenna corresponding to the k-th frequency point at the k-th frequency point; k is a positive integer less than or equal to K, and n is a positive integer; Based on the first phase information of the different antennas corresponding to each of the K frequency points and / or the second phase information of the different antennas corresponding to each of the K frequency points, the position information of the first device relative to the second device is determined, wherein the position information includes distance information and angle information.

18. The method as described in claim 17, characterized in that, The step of determining the position information of the first device relative to the second device based on the first phase information of the different antennas corresponding to each of the K frequency points and the second phase information of the different antennas corresponding to each of the K frequency points includes: The location information is determined based on the third phase information, the first correlation relationship, and the second correlation relationship of the different antennas corresponding to each of the K frequency points; Wherein, the third phase information of the nth antenna corresponding to the kth frequency point is determined based on the first phase information of the nth antenna corresponding to the kth frequency point and / or the second phase information of the nth antenna corresponding to the kth frequency point; The third phase information of the nth antenna corresponding to the kth frequency point includes: frequency domain phase information and spatial domain phase information; the frequency domain phase information is related to the frequency point, and the spatial domain phase information is related to the antenna position. The first association relationship is used to indicate the association relationship between the phase difference between different frequency points and the corresponding frequency domain phase information; the first association relationship is determined according to the frequency hopping order of the K frequency points; The second association relationship is used to indicate the relationship between the relative positions of different antennas and the phase difference between the spatial phase information corresponding to the different antennas; the second association relationship is determined according to the switching order of the antennas corresponding to each of the K frequency points.

19. The method as described in claim 18, characterized in that, The third phase information corresponding to the nth antenna at the kth frequency point is the sum of the first phase information corresponding to the nth antenna at the kth frequency point and the second phase information corresponding to the nth antenna at the kth frequency point; Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information corresponding to the kth frequency point and the second phase information of the nth antenna corresponding to the kth frequency point; the first phase information corresponding to the kth frequency point is determined based on the CTE signal received by the first device from any antenna corresponding to the kth frequency point. Alternatively, the third phase information of the nth antenna corresponding to the kth frequency point is the sum of the first phase information of the nth antenna corresponding to the kth frequency point and the second phase information corresponding to the kth frequency point. The second phase information corresponding to the kth frequency point is determined based on the second device receiving the CTE signal sent by the first device from any antenna corresponding to the kth frequency point.

20. The method according to any one of claims 18-19, characterized in that, The step of determining the location information based on the third phase information, first correlation relationship, and second correlation relationship of different antennas corresponding to each of the K frequency points includes: The location information is determined by performing maximum likelihood estimation on the parameters of the location information based on the objective function; Wherein, the objective function is a function of parameters based on the location information determined according to the phase difference of different antennas corresponding to each of the K frequency points and the first and second correlation relationships, the phase difference of the nth antenna corresponding to the kth frequency point is determined according to the third phase information of the nth antenna corresponding to the kth frequency point and the reference phase information, and the reference phase information is the third phase information corresponding to an antenna at one of the K frequency points.

21. The method according to any one of claims 17-20, characterized in that, The method further includes: Send the location information to the first device; and / or The location information is sent to the second device.

22. The method according to any one of claims 17-21, characterized in that, The angle information includes at least one of azimuth and pitch angle information.

23. A communication device, characterized in that, include: A processor and a communication interface, the communication interface being used for the device to communicate, the processor being coupled to a memory for storing programs or instructions, which, when executed by the processor, cause the device to perform the method as claimed in any one of claims 1-9, or the method as claimed in any one of claims 10-16, or the method as claimed in any one of claims 17-22.

24. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-9, 10-16, or 17-22.

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