Distance measurement method and distance measurement device

Abstract

The present application provides a ranging method and a ranging device, which help improve the accuracy of measuring the distance of a terminal device using a TA or a path loss, thereby improving the positioning accuracy of the terminal device. The ranging method includes: a first device receives a first TA corresponding to a terminal device, the first TA is used to determine first distance information of the terminal device according to a TA quantization interval corresponding to the first TA, the first distance information including a first distance between the terminal device and a network device; the first device determines second distance information of the terminal device; the first device performs a distance measurement on the terminal device based on the first distance information and the second distance information; wherein the second distance information is determined based on one or more of the following: a path loss corresponding to the terminal device; and a second TA, wherein the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and more specifically, to a ranging method and a ranging device. Background Art

[0002] In communication systems, distance measurements of terminal devices can be used to locate them. For example, the distance between a terminal device and a network device can be determined using the timing advance (TA) or path loss associated with the terminal device. This ranging method utilizes existing communication parameters and is relatively low in complexity. However, using these parameters to measure the distance of a terminal device can result in significant errors, resulting in low ranging accuracy. Summary of the Invention

[0003] The present invention provides a distance measurement method and a distance measurement device. The following describes various aspects of the present invention.

[0004] In a first aspect, a ranging method is provided, the ranging method comprising: a first device receiving a first TA corresponding to a terminal device, the first TA being used to determine first distance information of the terminal device based on a TA quantization interval corresponding to the first TA, the first distance information including a first distance between the terminal device and a network device; the first device determining second distance information of the terminal device; the first device performing distance measurement on the terminal device based on the first distance information and the second distance information; wherein the second distance information is determined based on one or more of: a path loss corresponding to the terminal device; and a second TA, wherein the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA.

[0005] In a second aspect, a ranging method is provided, which includes: a network device sends a first TA corresponding to a terminal device, and the first TA is used to determine the first distance information of the terminal device according to the TA quantization interval corresponding to the first TA, and the first distance information includes the first distance between the terminal device and the network device; the network device sends indication information related to the second distance information of the terminal device, and the second distance information is determined based on a second TA, wherein the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA; wherein the first distance information and the second distance information are used to perform distance measurement on the terminal device.

[0006] According to a third aspect, a ranging device is provided, which is a first device, comprising: a receiving unit for receiving a first TA corresponding to a terminal device, the first TA being used to determine first distance information of the terminal device based on a TA quantization interval corresponding to the first TA, the first distance information including a first distance between the terminal device and a network device; a determining unit for determining second distance information of the terminal device; a ranging unit for performing distance measurement on the terminal device based on the first distance information and the second distance information; wherein the second distance information is determined based on one or more of: a path loss corresponding to the terminal device; and a second TA, wherein the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA.

[0007] In a fourth aspect, a ranging device is provided, which is a network device, and the network device includes: a first sending unit, used to send a first TA corresponding to a terminal device, the first TA is used to determine the first distance information according to the TA quantization interval corresponding to the first TA, and the first distance information includes the first distance between the terminal device and the network device; a second sending unit, used to send indication information related to the second distance information of the terminal device, the second distance information is determined based on the second TA, wherein the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA; wherein the first distance information and the second distance information are used to perform distance measurement on the terminal device.

[0008] In a fifth aspect, a communication device is provided, comprising a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory to execute the method described in the first aspect or the second aspect.

[0009] In a sixth aspect, a device is provided, comprising a processor for calling a program from a memory to execute the method as described in the first aspect or the second aspect.

[0010] In a seventh aspect, a chip is provided, comprising a memory and a processor, wherein the memory stores executable code, and the processor is configured to execute the executable code to implement the method as described in the first aspect or the second aspect.

[0011] In an eighth aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method as described in the first aspect or the second aspect.

[0012] In a ninth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method as described in the first aspect or the second aspect.

[0013] In a tenth aspect, a computer program is provided, which enables a computer to execute the method as described in the first aspect or the second aspect.

[0014] In an embodiment of the present application, the first device determines first distance information and second distance information using a first TA and a second TA with a smaller path loss or TA quantization interval, respectively, to measure the distance of the terminal device. Based on the first distance information and the second distance information, the accuracy of the distance measurement can be further improved based on the determination of the approximate location of the terminal device. The ranging method provided in an embodiment of the present application can improve the ranging accuracy of the terminal device, thereby helping to improve the positioning accuracy of the terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure shows a wireless communication system applied in an embodiment of the present application.

[0016] Figure 2 The figure shows a schematic structural diagram of a communication system using a correlation positioning method.

[0017] Figure 3 Figure 2 is a schematic diagram of beamforming.

[0018] Figure 4 The figure shows the comparison between the path loss fitting distance and the actual distance.

[0019] Figure 5 The figure shows a flow chart of a distance measurement method provided in an embodiment of the present application.

[0020] Figure 6 FIG2 is a flow chart of another distance measurement method provided in an embodiment of the present application.

[0021] Figure 7 The figure shows a flow chart of a possible implementation method provided by an embodiment of the present application.

[0022] Figure 8 Shown is a flow chart of another possible implementation method provided by an embodiment of the present application.

[0023] Figure 9 The figure shows a flow chart of another possible implementation method provided by the embodiment of the present application.

[0024] Figure 10 The figure shows a flow chart of another possible implementation method provided by the embodiment of the present application.

[0025] Figure 11 The figure shows a flow chart of another possible implementation method provided by the embodiment of the present application.

[0026] Figure 12Shown is a structural schematic diagram of a distance measuring device provided in an embodiment of the present application.

[0027] Figure 13 Shown is a structural schematic diagram of another distance measuring device provided in an embodiment of the present application.

[0028] Figure 14 Shown is a structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Figures 1 to 4 Introduce the terminology and communication process involved in this application.

[0030] Communication System

[0031] Figure 1 A wireless communication system 100 to which embodiments of the present application may be applied may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide communication coverage for a specific geographic area and may communicate with the terminal device 120 within the coverage area.

[0032] Figure 1 One network device and two terminal devices are shown exemplarily. Optionally, the wireless communication system 100 may include multiple network devices and each network device may include another number of terminal devices within its coverage area. This embodiment of the present application does not limit this.

[0033] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth-generation communication (5G) system, new radio (NR) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), advanced long term evolution (LTE-A) system, NR system evolution system, LTE on unlicensed spectrum (LTE-U) system, NR on unlicensed spectrum (NR-U) system, non-terrestrial network (NTN) system, universal mobile communication system (Universal Mobile Communication System). Mobile telecommunication system (UMTS), wireless local area networks (WLAN), wireless fidelity (WiFi) or other communication systems. The technical solution provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0034] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal device in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user and can be used to connect people, objects, and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Optionally, the UE can be used to act as a network device. For example, the UE can act as a scheduling entity that provides sidelink signals between UEs in V2X or D2D, etc. For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and smart home devices communicate with each other without relaying the communication signals through a network device.

[0035] In an embodiment of the present application, the terminal device may also be a station (STATION, ST) in a WLAN, which may be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA) device, a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a next-generation communication system such as an NR network, or a terminal device in a future-evolved public land mobile network (PLMN) network, etc.

[0036] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a wireless access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. A network device may broadly cover various names as follows, or replace the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master station MeNB, secondary station SeNB, multi-standard radio (MSR) node, home network device, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The network device may be a macro network device, a micro network device, a relay node, a donor node, or the like, or a combination thereof. The network device may also refer to a communication module, modem or chip used to be set in the aforementioned device or apparatus. The network device may also be a mobile switching center and a device to device D2D, vehicle-to-everything (V2X), machine-to-machine (M2M) communication device that assumes the function of a network device, a network side device in a 6G network, a device that assumes the function of a network device in a future communication system, etc. The network device may support networks with the same or different access technologies. The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0037] Network devices can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile network device, and one or more cells can move based on the location of the mobile network device. In other examples, a helicopter or drone can be configured to act as a device that communicates with another network device.

[0038] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0039] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0040] In an embodiment of the present application, the network device can provide services for a cell, and the terminal device communicates with the network device through the transmission resources used by the cell (for example, frequency domain resources, or spectrum resources). The cell can be a cell corresponding to the network device, and the cell can belong to a macro network device or a network device corresponding to a small cell. The small cells here may include: metro cells, micro cells, picocells, femto cells, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0041] In the embodiments of this application, Figure 1 The wireless communication system shown may also include other network entities such as a mobility management entity (MME) and an access and mobility management function (AMF), but this embodiment of the present application does not limit this.

[0042] It should be understood that all or part of the functions of the communication device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform).

[0043] Positioning Technology in Communication Systems

[0044] See also Figure 2, the communication system 200 may further include a positioning device 230. The positioning device 230 may be used to determine the location information of the terminal device. The positioning device 230 may be located in the core network. The positioning device 230 may sometimes also be referred to as a positioning server. Taking the NR system as an example, the positioning device 230 may be a location management function (LMF). Taking other communication systems as an example, the positioning device 230 may be a location management unit (LMU), a location management center (LMC) or an evolved serving mobile location center (E-SMLC). It is understandable that the positioning device 230 may also be other network elements, nodes or devices for determining the location information of the terminal device, such as a network element or node for determining the location information of the terminal device in a future communication system. The embodiment of the present application does not specifically limit the name of the positioning device.

[0045] Positioning in the communication system 200 includes uplink positioning and downlink positioning. Some communication systems (such as NR systems) perform downlink positioning based on a positioning reference signal (PRS). PRS, also known as a downlink positioning reference signal (DL-PRS), is a reference signal used for positioning functions. For example, in the downlink positioning process, the terminal device 220 can first measure the PRS sent by the serving cell and the neighboring cell (or adjacent cell), and estimate the relevant information of the positioning measurement. Then, the terminal device 220 can report the relevant information of the positioning measurement as a measurement result of the PRS to the positioning device 230. The positioning device 230 can solve the position of the terminal device 220 based on the positioning measurement related information reported by the terminal device 220, thereby obtaining the position information of the terminal device 220. For example, the positioning device 230 can calculate the position information of the terminal device 220 based on the triangulation method or the triangulation method.

[0046] Some communication systems (such as NR systems) perform uplink positioning based on SRS. For example, during the uplink positioning process, the terminal device 220 sends a sounding reference signal (SRS). The network device 210 (the network device of the serving cell and the network device of the neighboring cell) can obtain the measurement result based on the SRS sent by the terminal. The measurement result of the SRS may include relevant information of the positioning measurement. Then, the network device 210 can send the relevant information of the positioning measurement to the positioning device 230. The positioning device 230 can solve the position of the terminal device 220 based on the positioning measurement related information reported by the network device 210, thereby obtaining the position information of the terminal device 220. For example, the positioning device 230 can calculate the position information of the terminal device 220 based on the triangulation positioning method or the triangulation positioning method.

[0047] The above-mentioned positioning measurement related information may include one or more of the following information: time information, distance information, power information, and angle information. More specifically, the positioning measurement related information may include one or more of the following information: time difference of arrival (TDOA), angle difference of arrival (ADOA), reference signal receive power (RSRP), etc.

[0048] In some application scenarios, terminal devices need to be positioned. Different application scenarios have different requirements for positioning accuracy. Depending on the positioning accuracy, positioning methods can include coarse positioning and fine positioning. Some applications require coarse positioning information of terminal devices, such as logistics monitoring, vehicle management, public safety, weather forecasting, and assisted navigation.

[0049] Common coarse positioning methods include those based on cell identifiers (cell IDs). This works like this: the positioning platform sends signaling to the core network to query the ID of the cell where the terminal device is located. The positioning platform then determines the approximate location of the terminal device based on data stored in the base station database. The accuracy of this positioning method depends on the size of the base station or sector, generally ranging from several hundred to several thousand meters. Compared to high-precision positioning, coarse positioning services are less complex.

[0050] TA-based positioning technology

[0051] TA reflects the transmission delay from the terminal device to the network equipment (for example, the serving cell base station or transmission point). That is, different terminal devices in different locations will have different TA values. Therefore, TA can be used to assist the positioning method based on cell-ID to locate the terminal device.

[0052] The network device can indicate the TA to the terminal device through the timing advance command (TAC). TAC has two variables, one is the initial timing advance instruction issued through the random access response (RAR), and the other is the timing advance instruction issued through the media access control (MAC)-control element (CE). The initial TAC through the RAR is approximately 12 bits, and its value range is 0-3846. The TAC through the MAC-CE is approximately 6 bits, and its value range is 0-63. TA can be controlled by the MAC layer and implemented by the physical layer.

[0053] The TA value can indicate the delay length from the terminal device to the network device, and the delay accuracy depends on the TA's quantization interval. The smaller the TA's quantization interval, the smaller the time interval indicated by the TA, and therefore the higher the transmission delay accuracy that can be indicated. In different communication systems, the TA's quantization interval varies. For example, in LTE, the TA's quantization interval is fixed at 0.52 microseconds. For another example, in NR, the TA's quantization interval is related to the subcarrier spacing (SCS). The subcarrier spacing can be determined through random access message 3. As shown in Table 1, as the subcarrier spacing increases, the delay accuracy that can be indicated by the TA increases, thereby improving the corresponding ranging accuracy.

[0054] Table 1

[0055] SCS TA quantization interval Distance measurement error 15kHz 0.52μs 78m 30kHz 0.26μs 39m 60kHz 0.13μs 19m 120kHz 0.07μs 10m

[0056] Table 1 shows the impact of the TA quantization interval on ranging accuracy. As shown in Table 1, when the subcarrier spacing is 15 kHz, the maximum ranging error using TA is 78 meters. Therefore, the maximum ranging error corresponding to the 0.52 microsecond quantization interval of the TA in LTE is also 78 meters.

[0057] When the subcarrier spacing is 15 kHz, according to the TA reporting capability, even if there is a direct path between the terminal device and the positioning device, the distance calculated by the terminal device or the positioning server through TA may have an error of 78 meters.

[0058] Taking the LTE system as an example, when users are evenly distributed within a cell, the maximum ranging error is 78 meters, and the average ranging error is 39 meters. This means that in the LTE system, the average error between the distance measured by the TA and the actual distance is 39 meters. In actual applications, considering non-line of sight (NLoS) conditions, the average error between the distance measured by the TA and the actual distance is greater than 39 meters.

[0059] Positioning technology based on path loss

[0060] As mentioned earlier, cell-ID-based positioning technology suffers from low positioning accuracy. To improve positioning accuracy, non-specific measurement quantities, such as signal measurement results, can be used to assist with cell-ID-based positioning. For example, the reference signal receiving power (RSRP) measured by a terminal device to monitor its connection status is a signal measurement result.

[0061] Non-specific measurement quantities can refer to measurements performed by terminal devices to maintain connections, or parameters notified to terminal devices by network equipment. These non-specific measurement quantities can be obtained by terminal devices or base stations. Non-specific measurement quantities can be obtained periodically, are not dependent on a specific service, and do not require complex service requests from the network equipment or terminal devices. In some cases, network equipment or terminal devices do not support certain specific services, making it impossible to obtain measurement quantities for these services.

[0062] Furthermore, the non-specific demand measurement quantity may not take into account the radio resource control (RRC) state of the terminal device. In other words, the terminal device may obtain the non-specific demand measurement quantity even in the RRC idle state.

[0063] Signal measurement results can be used to determine the path loss from the network device to the terminal device, and the distance between the network device and the terminal device can be calculated based on the path loss. For example, when using RSRP for positioning, the path loss can be calculated as the difference between RSRP and transmit power. Substituting the actual path loss into the relationship between path loss and distance can determine the distance.

[0064] In summary, using signal measurement results to assist positioning can be applied in various states, does not require the terminal device to enter the RRC connected state, and does not require the network equipment or the terminal device to activate specific functions. However, positioning based on signal measurement results also has accuracy issues.

[0065] The following uses RSRP as an example to describe the path loss-based positioning process.

[0066] During positioning, the positioning device can estimate the path loss of the network device based on the RSRP corresponding to the network device. Then, based on the relationship between the path loss and distance, it can determine the distance between the terminal device and the network device. Furthermore, the positioning device performs position calculation to obtain the location information of the terminal device. For example, the positioning device can determine the location information of the terminal device based on the distance between the terminal device and the network device and the location information of the network device.

[0067] In some embodiments, the positioning device can obtain path loss information based on the difference between the transmit power and the receive power (e.g., RSRP) of a reference signal. The relationship between path loss and distance is hereinafter referred to as a distance fitting formula. The distance fitting formula can be determined by fitting a large amount of path loss and the exact distance between the terminal device and the network device.

[0068] Conversion between distance and path loss requires consideration of numerous factors, including the height of network equipment, the height of terminal equipment, the usage scenario, whether transmission from terminal equipment to network equipment is line-of-sight or non-line-of-sight, the signal bandwidth of the network equipment, the operating frequency of the network equipment, and penetration loss. The relationship between distance and path loss varies depending on these factors.

[0069] When network equipment uses beamforming, the antenna beamforming gain of terminal equipment in different directions is different, such as Figure 3 As shown in the figure, given the same transmit power and path loss, the theoretically received power of a terminal device in different directions should be the same. However, due to beamforming, the antenna gain of network devices in different directions varies, resulting in different received power for the terminal device in two different directions.

[0070] After receiving the signal sent by the network device, the terminal device can perform power estimation. Accurate path loss information can be obtained based on the difference between the power of the received signal and the power of the transmitted signal minus the influence of the antenna gain. However, since the direction of the terminal device relative to the network device is unknown, the antenna gain is also unknown, and thus accurate path loss information cannot be obtained. Therefore, the path loss estimate will contain information about the antenna gain, resulting in an error in the antenna gain in the path loss estimate. In some cases, the antenna gain of the network device in all directions is also unknown. Therefore, the influence of the antenna gain can only be reflected in the path loss, resulting in inaccurate path loss information. Since accurate path loss information cannot be obtained, the distance information determined based on the path loss information will also be inaccurate. Furthermore, lower ranging accuracy will affect the positioning accuracy of the terminal device.

[0071] The situation in real networks is more complex. A terminal device may detect RSRP for multiple network devices in a single measurement. Since the parameters of each network device vary, it is impossible to obtain all the parameters of the network devices during fitting, resulting in large fitting errors.

[0072] Furthermore, each network device may have different coverage ranges, which can affect the distance fitting formula. Different distance fitting formulas should be used for different coverage ranges. The device performing distance fitting is unaware of the network device's coverage range or the distance between the network device and the terminal device, making it difficult to select an appropriate distance fitting formula. This means that positioning servers and other devices lack comprehensive and accurate information about network devices and signals, and therefore cannot accurately derive the fitting relationship between path loss and distance.

[0073] Figure 4 This is a comparison chart of the fitted distance based on path loss and the actual distance. Figure 4 As shown in the figure, due to the inability to obtain an accurate distance fitting formula, the error between the actual distance line 410 and the path loss fitting distance line 420 reaches 150-250 meters. Figure 4 The fitting distance obtained by the distance fitting formula shown has low accuracy when used for positioning.

[0074] In summary, the relationship between path loss and distance varies significantly depending on the location of the terminal device and the network device sending the signal. This results in greater uncertainty in the fitting, further affecting the accuracy of the position solution.

[0075] As can be seen above, both TA-based and path loss-based positioning technologies first measure the distance to the terminal device and then locate the terminal device based on this distance measurement. TA-based ranging is less complex, while path loss-based ranging does not consider the terminal device's connection status. However, using these parameters to measure the distance to the terminal device can result in significant errors, which in turn leads to low positioning accuracy. In single-station positioning, the distance measurement value is used for positioning, and ranging accuracy can also be referred to as positioning accuracy.

[0076] Therefore, how to improve the ranging accuracy of terminal devices is a problem that needs to be solved.

[0077] Based on this, the embodiment of the present application proposes a ranging method. Through this method, the ranging accuracy of the terminal device can be further improved on the basis of the above-mentioned ranging based on TA or path loss. Figure 5 The ranging method proposed in the embodiment of the present application is described in detail.

[0078] See also Figure 5In step S510, the first device receives the first TA corresponding to the terminal device.

[0079] The first device may be a variety of communication devices that estimate the distance to the terminal device. In some embodiments, the first device may be Figure 2 The positioning device shown is a positioning server, such as an LMF. In some embodiments, the first device can be a terminal device that needs to be positioned, or other terminal devices that need to be positioned, such as a low-power (RedCap) device. In some embodiments, the first device can be a third-party positioning server, such as a positioning organization not affiliated with the operator, or a related device that provides positioning services using positioning software.

[0080] The first device receiving the first TA corresponding to the terminal device may refer to the first device directly receiving the first TA from the network device, or may refer to the first device receiving and detecting the first TA that can be used for positioning, thereby determining the distance information between the terminal device and the network device. When the first device is a positioning server, the first device receiving the first TA may also include the first device receiving and detecting the TA quantization interval corresponding to the first TA. For simplicity, the TA quantization interval corresponding to the first TA may be referred to as the first quantization interval.

[0081] The first TA can be used to determine first distance information of the terminal device based on the first quantization interval. For example, the first distance information can be the distance between the network device and the terminal device determined based on the first TA. In another example, the first distance information can be information related to a distance fitting formula obtained based on the distance corresponding to the first TA. In another example, the first distance information can be location information of the terminal device determined based on multiple first TAs.

[0082] The first device can obtain the first TA in various ways. In some embodiments, the first device can initiate a positioning service request to a network device, and the network device (or serving cell) will indicate the first TA to the first device. In some embodiments, after obtaining the value of the first TA, the network device directly notifies the first device. In some embodiments, the first TA is indicated by the network device to the terminal device via the TAC.

[0083] In some embodiments, when the network device sends the first TA to the first device, it may simultaneously send the measurement time corresponding to the first TA to improve the accuracy of the first distance information. The measurement time corresponding to the first TA may be the time of access measurement or the time of TA update. For a mobile terminal device, the time of initiating a positioning request may be different from the time of accessing the TA measurement or the TA update. The first device can obtain the current position of the terminal device by correcting the TA measurement or TA update time in combination with the moving speed and direction of the terminal device. In other words, the measurement time of the first TA can be used to determine the first distance information based on the movement information of the mobile device.

[0084] As a possible implementation, the measurement time corresponding to the first TA may be the time when the base station receives the uplink pilot for measuring the TA. The first device may send the uplink pilot to the base station, and the base station receives the pilot and measures the first TA, and then sends the TA.

[0085] As one possible implementation, when the first device is a positioning server, the terminal device's movement speed and direction information can be directly reported by the terminal device to the positioning server. As another possible implementation, the positioning server can obtain the terminal device's movement speed and direction information by comparing previous and subsequent measurements. As yet another possible implementation, the positioning server can obtain movement information by comparing derived values ​​of previous and subsequent measurements.

[0086] In some embodiments, when the first device is a positioning server, without the terminal device's movement speed and direction information, the positioning server can directly obtain the terminal device's distance value based on the first TA's measurement value. This distance value can be used for coarse positioning of the terminal device.

[0087] The first quantization interval can be determined based on the subcarrier spacing used in communications between the terminal device and the network device. As previously mentioned, the subcarrier spacing can be determined based on message 3 randomly accessed by the terminal device. In other words, the first TA can be an actual communication parameter between the network device and the terminal device. The first device can obtain first distance information corresponding to the first TA based on the first TA and the first quantization interval.

[0088] The first distance information may include a first distance between the terminal device and the network device. In some embodiments, the first distance may be directly determined based on the first TA and the first quantization interval. For example, if the first TA received by the first device is 2 and the distance corresponding to the first quantization interval is 78 meters as shown in Table 1, the first distance may be 156 meters.

[0089] As a possible implementation manner, the first distance may be greater than the actual distance between the terminal device and the network device, or may be less than the actual distance, or the first distance may be consistent with the actual distance.

[0090] In step S520, the first device determines second distance information of the terminal device.

[0091] The second distance information may be determined based on one or more types of information, such as a path loss corresponding to the terminal device, or a second TA having a quantization interval smaller than the first TA.

[0092] The TA quantization interval (second quantization interval) corresponding to the second TA is smaller than the first quantization interval, and more accurate distance information can be obtained. Taking a distance of 100 meters as an example, assuming that the first quantization interval is 0.5 microseconds, the value of the first TA is 1, and the distance obtained is 75 meters, with a ranging error of 25 meters. Assuming that the second quantization interval is 0.1 microseconds, the value of the second TA can be 2. The distance obtained by combining the first TA and the second TA is 105 meters, and the ranging error is 5 meters. The value of the second TA can also be 5. The distance obtained based only on the second TA is 95 meters, and the ranging error is also 5 meters. In other words, whether the first TA and the second TA are combined for joint ranging, or the ranging is performed based only on the second TA, the ranging accuracy is higher than the ranging based only on the first TA. It can be seen that the second quantization interval is smaller than the first quantization interval, which helps to improve the ranging accuracy.

[0093] In some embodiments, when estimating the TA, the base station estimates the uplink pilot or preamble sequence sent by the terminal device. The base station estimates the timing advance corresponding to the terminal device with greater accuracy than the quantization interval of the TA. For example, if the timing advance is expressed as a distance, and the base station estimates a distance error of 10 meters, the error may be approximately 40 meters based on the quantization interval of the TA. Therefore, by instructing the first device based on a smaller quantization interval, the base station can more accurately represent the ranging result.

[0094] The second quantization interval may be determined by one or more types of information, such as ranging accuracy of the terminal device, subcarrier spacing corresponding to the first TA, or ratio of a TA quantization interval corresponding to the second TA to a TA quantization interval corresponding to the first TA.

[0095] In some embodiments, the second quantization interval can be determined based on the ranging accuracy or positioning accuracy of the terminal device. In practical applications, some terminal devices have high positioning accuracy, while others have low positioning accuracy. Therefore, the second quantization interval can have different values ​​for different terminal devices. For example, for a terminal device with high positioning accuracy, the second quantization interval can be relatively low.

[0096] In some embodiments, the second quantization interval may be determined based on the subcarrier spacing corresponding to the first TA. Based on the subcarrier spacing corresponding to the first TA, multiple candidate values ​​of the second quantization interval may be determined, and the candidate values ​​correspond to the subcarrier spacing corresponding to the first TA.

[0097] In some embodiments, the second quantization interval can be determined based on the ratio between the second quantization interval and the first quantization interval. As a possible implementation method, the protocol can directly stipulate that the ratio of the second quantization interval to the first quantization interval is 1 / 4. As another possible implementation method, the protocol can stipulate how to derive the ratio between the second quantization interval and the first quantization interval through the parameters of wireless communication. As another possible implementation method, the ratio of the second quantization interval to the first quantization interval can be selected from multiple candidate values ​​and indicated by the index of the candidate value. For example, SIB1 can indicate the serial number corresponding to the candidate ratio. For example, SIB1 can indicate that the serial numbers corresponding to the candidate ratio are 0, 1, 2, and 3, which correspond to 1 / 2 respectively.

[0098] The first quantization interval, 1 / 4 of the first quantization interval, 1 / 8 of the first quantization interval, and 1 / 16 of the first quantization interval.

[0099] In some embodiments, the second quantization interval may be determined based on the above-mentioned information. For example, for a terminal device with low ranging accuracy, the second quantization interval may be determined by selecting a relatively large value from among multiple candidate values.

[0100] The second quantization interval can be notified to the first device by the network device. In some embodiments, the indication information of the second quantization interval can be carried in the broadcast information. The first device can determine the measurement distance corresponding to the second quantization interval based on the received broadcast information. For example, the second quantization interval can be notified through the system information block 1 (system information block, SIB1). In some embodiments, the network device can indicate the second quantization interval to the positioning server through NR positioning protocol a (NR positioning protocol a, NRPPa) signaling. In some embodiments, the first device can request the second quantization interval from the network device. The network device sends the second quantization interval and / or the second TA according to the request of the first device.

[0101] The second TA can be sent to the first device in a variety of ways. In some embodiments, the network device can indicate the second TA to the terminal device through MAC signaling. In some embodiments, after the network device notifies the terminal device of the second TA, the terminal device can report to the positioning server through LTE positioning protocol (LPP) signaling. In some embodiments, the network device can indicate the second TA to the positioning server through NRPPa signaling. In some embodiments, the first device can request the second TA from the network device. The network device sends the second TA according to the request of the first device. The first device can receive the second TA indicated by the network device to determine the second distance information. In some embodiments, the second quantization interval can also be sent at the same time as the second TA is sent. That is, the first device can request the second TA and / or the second quantization interval from the network device. The network device can send the second TA and / or the second quantization interval according to the request of the first device.

[0102] As a possible implementation, when the network device sends the second TA to the first device, it may also simultaneously send the measurement time corresponding to the second TA. The measurement time may be the time during which the base station receives an uplink pilot signal used to measure the TA. The first device may send the uplink pilot signal to the base station, and the base station may receive the pilot signal, perform a measurement of the second TA, and send the measurement signal.

[0103] The second distance information can be determined based on the path loss corresponding to the terminal device. In some embodiments, the path loss can be combined with a distance fitting formula to determine the distance between the network device and the terminal device. In some embodiments, the path loss can be used to determine more accurate distance information based on the first distance in the first distance information.

[0104] The terminal device may also determine the corresponding path loss based on signal measurement results (e.g., RSRP). For example, the terminal device may determine the path loss based on the difference between the power of the signal transmitted by the network device and the RSRP. In some embodiments, when the first device is a positioning server, after sending a positioning service request, the terminal device may send the path loss to the positioning server. Alternatively, the terminal device may directly report the path loss to the positioning server.

[0105] In some embodiments, the first device may determine the distance between the terminal device and the network device based on a path loss and distance fitting formula, wherein the path loss and distance fitting formula may be based on information of a serving cell corresponding to the terminal device or information of a neighboring cell corresponding to the terminal device.

[0106] In step S530, the first device measures the distance to the terminal device according to the first distance information and the second distance information.

[0107] As can be seen from the foregoing, the first distance information determined by the first TA can be used to determine the approximate distance between the terminal device and the network device, that is, to roughly locate the terminal device. The second distance information can be used to perform a more accurate distance measurement of the terminal device based on the first distance information.

[0108] In some embodiments, the second distance information may include a second distance between the terminal device and the network device. The first device may determine the distance between the network device and the terminal device based on the first distance and the second distance to perform distance measurement on the terminal device. That is, the first device may determine the distance between the terminal device and the network device based on the first TA and the second TA. For example, the first distance and the second distance are two non-overlapping distances between the network device and the terminal device, and the final distance can be obtained by adding them. That is, the sum of the first distance and the second distance can be used as the result of the distance measurement. For another example, the first distance and the second distance are two overlapping distances between the network device and the terminal device, and the final distance can be obtained by subtracting the overlapping part. That is, the difference between the first distance and the second distance can be used as the result of the distance measurement. For another example, the result of the distance measurement can be determined based on the second distance.

[0109] In some embodiments, the first distance information may include a first distance determined based on a first TA, and the second distance information may include a path loss corresponding to the terminal device. Since the quantization interval corresponding to the first TA is large, the error between the first distance and the actual distance is large. In other words, the first distance can determine the approximate range of the terminal device. Although the path loss has a large error, there is a certain correspondence between the path loss and the distance. In other words, the corresponding distance interval can be determined based on the change interval of the path loss. After determining the first distance, the first device can determine whether the actual distance is greater than or less than the first distance based on the path loss change interval, thereby relatively accurately determining the location information of the terminal device.

[0110] As a possible implementation, the first device may determine a more accurate third distance between the terminal device and the network device based on the first distance and the first distance fitting formula. The third distance may be used as a distance measurement result to locate the terminal device. The first distance fitting formula is used to determine the distance between the terminal device and the network device based on path loss.

[0111] As a possible implementation method, the first device can determine a first distance interval based on the first distance, and the first distance interval can include multiple distance intervals, that is, multiple second distance intervals. The first device can also determine multiple path loss change intervals corresponding to the multiple second distance intervals through the first distance fitting formula. That is, each second distance interval in the first distance interval will have a corresponding path loss range. According to the actual path loss value of the terminal device, the path loss change interval can be determined, thereby determining the second distance interval corresponding to the path loss. The third distance can be determined based on the second distance interval corresponding to the path loss. For example, the third distance can be determined based on the midpoint of the second distance interval corresponding to the path loss. For example, the third distance is the distance corresponding to the midpoint of the second distance interval. Compared with the first distance, the third distance is closer to the actual distance between the terminal device and the network device. For example, the third distance is determined based on the setting position of the second distance interval corresponding to the path loss.

[0112] As a possible implementation, the first distance interval may include multiple equidistant or unequally spaced second distance intervals. The multiple second distance intervals may also be determined based on one or more types of information. The multiple types of information may include the ranging accuracy or positioning accuracy of the terminal device, the width of the first distance interval, or the first distance fitting formula. The number of the multiple distance intervals may be an integer greater than or equal to 2. The greater the number of second distance intervals, the higher the positioning accuracy of the terminal device.

[0113] As a possible implementation, the first distance interval can be determined based on the first distance and the first quantization interval. The ranging error corresponding to the first quantization interval can be used to determine the value range of the first distance interval. For example, the first distance interval can be half of the ranging error. As another possible implementation, the second distance interval can directly satisfy [D-0.5×Δd, D+0.5×Δd], where D represents the first distance and Δd represents the distance corresponding to the first TA when the first TA is 1 (the ranging error corresponding to the first quantization interval).

[0114] In some embodiments, when the second distance information is determined based on path loss, the first distance information can be used to modify the distance fitting formula. As previously mentioned, the path loss obtained based on the detected power is affected by multiple factors, so the distance obtained based on the path loss and distance fitting formula will be greater than the actual distance. Figure 4 The error shown is 150-250 meters. The distance fitting formula can be corrected by the distance obtained by other positioning methods. For example, when the subcarrier spacing is 15kHz, the maximum ranging error based on TA is 78 meters, which means that the error of TA ranging is less than Figure 4 Therefore, it is possible to consider adding the parameters determined by the first TA to the distance fitting formula to improve the accuracy of the distance fitting formula.

[0115] As a possible implementation method, the first device can correct the first distance fitting formula corresponding to the network device according to the first TA to obtain a second distance fitting formula, wherein the second distance fitting formula is used to locate the terminal device according to the path loss.

[0116] As a possible implementation, the first distance fitting formula can be modified based on the first TA or multiple TAs, where the multiple TAs include the first TA. The multiple TAs can correspond to multiple TA distances between multiple different locations and the network device. Multiple different locations indicate multiple path losses.

[0117] Specifically, the first device may determine multiple fitting distances based on multiple path losses and the first distance fitting formula. The multiple fitting distances may correspond one-to-one to multiple TA distances. A second distance fitting formula may be determined based on the multiple fitting distances and the multiple TA distances. For example, correction may be performed directly by determining multiple differences between the multiple fitting distances and the corresponding multiple TA distances. In another example, correction may be performed by averaging the multiple differences. In another example, the second distance fitting formula may be obtained by subtracting the average of the multiple differences from the first distance fitting formula.

[0118] In some embodiments, the second distance information may also be the path loss of the neighboring cell corresponding to the terminal device, thereby modifying the distance fitting formula for the neighboring cell based on the first distance information. In other words, the network device belongs to the neighboring cell corresponding to the terminal device, and the first distance fitting formula is the distance fitting formula for the neighboring cell. If the first TA of the serving cell is used to modify the distance fitting formula for the neighboring cell, the distance between the neighboring cell and the serving cell cannot be too far.

[0119] As a possible implementation, when a neighboring cell meets the first condition, the first device may modify the first distance fitting formula corresponding to the neighboring cell based on the first TA to obtain a second distance fitting formula. The second distance fitting formula can be used to locate the terminal device based on the path loss between the terminal device and the neighboring cell. For example, the first condition may include the distance between the neighboring cell and the serving cell being less than a first threshold. The first threshold can be determined based on actual conditions.

[0120] As a possible implementation method, the first device can determine the first location information corresponding to the terminal device, and then determine the second location information based on the first location information and the first TA. The second location information will be used to correct the first distance fitting formula corresponding to the neighboring cell. The first location information can be determined according to the distance fitting formula of the serving cell, or it can be determined according to other positioning methods. The second location information may be the point closest to the first location of the terminal device, and the distance from the point to the network device is the distance corresponding to the first TA. In other words, the distance from the second location indicated by the second location information to the network device should be an integer multiple of the distance corresponding to the first quantization interval. For example, the distance between the position corresponding to the second location information and the position corresponding to the first location information may be less than the fourth distance, and the fourth distance is the distance corresponding when the first TA is 1, that is, the distance corresponding to the first quantization interval.

[0121] As a possible implementation, the first device may determine a fifth distance between the terminal device and the neighboring cell based on the second location information, and modify the first distance fitting formula using the fifth distance to determine the second distance fitting formula.

[0122] The specific method by which the first device locates the terminal device based on the first distance information and the second distance information will be described in more detail in conjunction with the embodiments.

[0123] Combined with the previous article Figure 5 The present invention introduces a distance measurement method based on the perspective of the first device. Figure 6 The present invention introduces a distance measurement method from the perspective of network equipment. Figure 5 Compared with the method of locating equipment or terminal equipment, Figure 6 The method shown is a distance measurement method for network devices. Therefore, for simplicity, Figure 6 No longer Figure 5 The terms that have appeared are explained in detail.

[0124] Figure 6 The ranging method shown is introduced from the perspective of interaction between the network device and the first device.

[0125] See also Figure 6 In step S610, the network device sends a first TA corresponding to the terminal device. The first TA is used to determine first distance information based on the corresponding first quantization interval. For mobile terminal devices, the network device sends the measurement time corresponding to the first TA when sending the first TA, so as to determine the first distance information based on the terminal device's mobility information.

[0126] In step S620, the network device sends an indication message related to second distance information of the terminal device. The second distance information is determined based on a second TA, and the second quantization interval corresponding to the second TA is smaller than the first quantization interval. The first distance information and the second distance information are used to measure the distance of the terminal device.

[0127] In some embodiments, the indication information related to the second distance information of the terminal device may be a second TA. The network device may send the second TA directly to the first device. In some embodiments, the indication information related to the second distance information of the terminal device may include the second TA and the second quantization interval. When the first device is a terminal device, the network device may directly notify. When the first device is a positioning server, the network device may notify the positioning server through NRPPa signaling. In some embodiments, the indication information related to the second distance information of the terminal device may also be a correction parameter determined according to the second TA, such as a corrected distance based on the first distance.

[0128] Figure 5 and Figure 6 The ranging method proposed in the embodiment of the present application is introduced from the perspectives of the first device and the network device respectively. The ranging method can determine the approximate range of the distance between the terminal device and the network device through the first TA, and then use the second TA or path loss to further estimate the distance from the terminal device to the network device. The path loss can be obtained by measuring RSRP. In actual applications, the terminal device can not only measure the RSRP of the serving cell, but also measure the RSRP of the neighboring cell. Using the ID and RSRP of the neighboring cell, the distance from the terminal device to the network device can also be further optimized.

[0129] In order to describe this application more clearly, Figures 7 to 11 , various possible implementation methods of this application are described in detail in the form of multiple embodiments.

[0130] Example 1

[0131] When the second distance information is determined according to the second TA, this embodiment can locate the terminal device based on a TA with a smaller quantization interval. A TA with a smaller quantization interval can also be called a small-granularity TA.

[0132] This embodiment locates the terminal device through the positioning server. Figure 7 , the method for high-precision positioning based on TA in this embodiment is introduced. Figure 7 This method is presented from the perspective of the interaction between the terminal device, the network device, and the positioning server. The dotted line indicates that the process is optional.

[0133] See also Figure 7In step S710, the positioning server or the terminal device sends a positioning service request to the network device.

[0134] In step S720, the network device (or serving cell) indicates a first TA to a positioning server or terminal device. The first TA allows for an estimated distance between the terminal device and the network device, i.e., a first distance. Based on the first distance, high-precision positioning can be achieved with minimal complexity.

[0135] In step S730, the network device indicates a second TA to the positioning server based on the first TA. The second TA can be used to estimate the remaining distance beyond the first distance, i.e., the second distance. Therefore, indicating the second distance with a smaller TA granularity can yield a more accurate distance. The second TA can also be represented as TA_s.

[0136] In step S740, the positioning server estimates the distance between the terminal device and the network device according to the distance information corresponding to the first TA and the second TA.

[0137] Although the network device can obtain a distance with higher accuracy than the first quantization interval through an advanced synchronization estimation method (for example, a subspace method) when detecting the preamble sequence based on UL synchronization. However, the positioning based on TA is determined based on the TA value and the corresponding distance. Therefore, the network device can determine the second TA and the corresponding second quantization interval based on this distance. For example, the distance from the terminal device to the network device is 115 meters, and the distance measured by the network device is 110 meters. When the granularity of the first TA is 78 meters, step S720 indicates to the terminal device or positioning server that the first TA is 1, and the first TA of 1 corresponds to the first distance of 78 meters from the terminal device to the network device. The granularity of the second TA is 10 meters, and step S730 indicates to the terminal device or positioning server that the second TA is 3, and the second TA of 3 corresponds to the second distance of 30 meters from the terminal device to the network device. Through the indication of the two TAs in steps S720 and S730, the distance between the terminal device and the network device is 108 meters. Compared with the distance determined based on the first TA, the error of embodiment 1 can be reduced by 30 meters.

[0138] Example 2

[0139] In this embodiment, the second distance information is still determined by the second TA, but the terminal device performs positioning by itself. Figure 8 , the ranging method of this embodiment is introduced. Figure 8 This method is embodied from the perspective of interaction between terminal devices and network devices.

[0140] See also Figure 8In step S810, the terminal device requests the network device for a second TA corresponding to the second quantization interval. The terminal device may request the network device for a TA indication with a smaller quantization interval when it wishes to use the TA for positioning or when it wishes to improve TA synchronization accuracy.

[0141] In step S820, the network device indicates the second TA to the terminal device through RRC signaling.

[0142] In step S830, the terminal device estimates the delay between the terminal device and the network device according to the first TA and the second TA in combination with the first quantization interval and the second quantization interval.

[0143] In step S840, the terminal device calculates the distance between the terminal device and the network device based on the delay obtained in step S830.

[0144] In actual applications, when the terminal device executes step S830, it can also estimate the delay directly based on the second TA and the second quantization interval. That is, the terminal device may not use the quantization interval corresponding to the subcarrier spacing for assisted positioning, but instead request a quantization interval different from the quantization interval corresponding to the subcarrier spacing for assisted positioning. In this case, the network device can directly indicate the corresponding second TA based on the second quantization interval. The terminal device or the positioning server can determine the distance between the network device and the terminal device based on the second TA, thereby improving the positioning accuracy by improving the ranging accuracy.

[0145] Example 3

[0146] As mentioned above, although the error of path loss is large, the distance measurement based on TA can be corrected. In this embodiment, the first distance information is determined according to the first TA, and the second distance information is determined according to the path loss. Specifically, the first device can receive the first TA and determine the path loss corresponding to the terminal device. Among them, the first TA can be combined with the first quantization interval to determine the first distance information. The path loss can be used to determine the second distance information according to the distance fitting formula. Figure 9 , the ranging method of this embodiment is introduced.

[0147] See also Figure 9 In step S910, the distance fitting formula is calculated using the path loss. The distance fitting formula is the first distance fitting formula described above. The first device can determine the distance fitting formula based on multiple path losses and actual distances.

[0148] In step S920, a first distance interval is determined based on the TA distance and segmented to determine a corresponding path loss segment. The TA distance can be a distance determined based on the first TA, or a TA distance determined according to the method described in the first embodiment.

[0149] The distance interval is the first distance interval [D-0.5×Δd, D+0.5×Δd]. Multiple second distance intervals can be obtained by segmenting the first distance interval. The corresponding path loss segment can be a path loss range obtained based on the distance, and the multiple second distance intervals can correspond to multiple path loss variation intervals.

[0150] In step S930, the segment interval where the currently detected road loss is located is determined. The segment interval is the road loss variation interval where the actually measured road loss is located.

[0151] In step S940, the second distance interval corresponding to the segmented interval is determined. The second distance interval corresponding to the detected path loss can be determined by the path loss change interval.

[0152] In step S950, the midpoint of the second distance interval is the distance to the terminal device. Taking the midpoint of the second distance interval corresponding to the path loss as the final distance can be closer to the actual distance and reduce the ranging error.

[0153] Example 4

[0154] This embodiment uses the TA value to assist the positioning based on the path loss. That is, the distance fitting formula based on the path loss is corrected using the distance corresponding to the TA value. By correcting, a relatively accurate distance fitting formula can be obtained. Therefore, the second distance information is determined based on the path loss. Figure 10 , the ranging method of this embodiment is introduced.

[0155] See also Figure 10 In step S1010, an estimated distance is determined based on the existing path loss and the distance formula. The estimated distance is also referred to as the fitted distance. The existing path loss can be multiple known path losses corresponding to multiple different locations within the coverage area of ​​the network device. Different locations may have different first TAs. Based on the first TAs at different locations, multiple TA distances corresponding to the estimated distance can be obtained.

[0156] In step S1020, the difference between the estimated distance and the TA distance is calculated. A plurality of difference values ​​can be obtained based on the estimated distance and the corresponding TA distance. The difference value can indicate that the TA distance is closer to the actual distance than the estimated distance.

[0157] In step S1030, the average of the multiple differences in step S1020 is calculated. Averaging the multiple differences and using the average to modify the distance fitting formula is done to simplify computational complexity. In practical applications, other statistical processing can also be performed on the multiple differences, and the results used to modify the distance fitting formula.

[0158] In step S1040, the average value is subtracted from the distance fitting formula. As mentioned above, since the path loss includes multiple influencing factors, the fitting distance obtained by the distance fitting formula is much larger than the actual distance. By subtracting the average value, the fitting distance can be closer to the actual distance.

[0159] The first device can more accurately locate the terminal device through the corrected distance fitting formula and the path loss corresponding to the terminal device.

[0160] Example 5

[0161] In this embodiment, the network device associated with the distance fitting formula is the neighboring cell corresponding to the terminal device. Compared to the serving cell, the neighboring cell does not directly communicate with the terminal device, and therefore the corresponding first TA cannot be obtained. In this embodiment, the first device can use the first TA of the serving cell to modify the distance fitting formula of the neighboring cell.

[0162] As can be seen from the previous text, when a terminal device is measuring, it can not only obtain the signal measurement results of the serving cell, but also the signal measurement results of the neighboring cells. Taking the path loss obtained by RSRP as an example, the terminal device can obtain the RSRP of multiple cells and locate the terminal device by determining the distance between the terminal device and multiple cells. However, the path loss of the neighboring cell and its corresponding distance fitting formula also have the problem of large errors. Figure 11 , the ranging method of this embodiment is introduced.

[0163] See also Figure 11 In step S1110, a first position of the terminal device is calculated. The first position can be estimated by a distance fitting formula of the serving cell or determined by other methods.

[0164] In step S1120, a second position is determined based on the first position and the TA distance. In other words, a new position is determined based on the position in step S1110. The new position is the point closest to the first position, and the distance from this point to the serving cell is the TA distance. The TA distance is determined based on the TA value and the quantization interval corresponding to the TA.

[0165] In step S1130, a determination is made as to whether the distance between the neighboring cell and the serving cell meets a preset threshold. The preset threshold can be the first threshold described above, or different thresholds can be set for different neighboring cells based on actual conditions. The distance between the neighboring cell and the serving cell is calculated. Only when the distance between the serving cell and the neighboring cell is less than the preset threshold can the neighboring cell use the serving cell's TA adjustment fitting formula.

[0166] In step S1140, the distance between the terminal device and the neighboring cell is determined based on the second position.

[0167] In step S1150, a distance fitting formula for the neighboring cell is determined based on the distance in step S1140. A new distance fitting formula is determined based on the distance between the terminal device and the neighboring cell. This may be achieved by modifying the initial distance fitting formula for the neighboring cell using the method described in Example 4 or by other methods.

[0168] Therefore, the use of TA can improve the accuracy of the path loss fitting distance, which can not only be used to improve the accuracy of the distance fitting formula corresponding to the serving cell, but also improve the accuracy of the distance fitting formula corresponding to the neighboring cell.

[0169] As can be seen from the above-mentioned embodiments, the present invention provides a solution for adjusting TA-based or path loss-based ranging, so that positioning or ranging performance can meet the requirements of various scenarios. For example, the use of different TA granularities can meet different ranging accuracy requirements. In another example, the TA value can be used to assist in fitting RSRP measurement results, making the distance fitted by RSRP closer to the actual distance.

[0170] Combined with the above Figures 5 to 11 , describes the method embodiment of the present application in detail. Figures 12 to 14 , the device embodiment of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so that parts not described in detail can be referred to the previous method embodiment.

[0171] Figure 12 1 is a schematic block diagram of a distance measuring device provided in an embodiment of the present application. The distance measuring device may be the first device described above. The first device may be any positioning device or terminal device described above. Figure 12 The illustrated apparatus 1200 includes a receiving unit 1210 , a determining unit 1220 , and a ranging unit 1230 .

[0172] The receiving unit 1210 may be configured to receive a first TA corresponding to a terminal device, where the first TA is used to determine first distance information of the terminal device according to a TA quantization interval corresponding to the first TA, where the first distance information includes a first distance between the terminal device and a device;

[0173] The determining unit 1220 may be configured to determine second distance information of the terminal device;

[0174] The distance measuring unit 1230 is configured to measure the distance of the terminal device according to the first distance information and the second distance information;

[0175] The second distance information is determined based on one or more of the following: a path loss corresponding to the terminal device; and a second TA, wherein a TA quantization interval corresponding to the second TA is smaller than a TA quantization interval corresponding to the first TA.

[0176] Optionally, the receiving unit 1210 is further configured to receive a second TA, and determine second distance information according to the second TA and a TA quantization interval corresponding to the second TA.

[0177] Optionally, the TA quantization interval corresponding to the second TA is determined based on one or more of the following information: the ranging accuracy of the terminal device; the subcarrier spacing corresponding to the first TA; and the ratio between the TA quantization interval corresponding to the second TA and the TA quantization interval corresponding to the first TA.

[0178] Optionally, indication information of the TA quantization interval corresponding to the second TA is carried in the broadcast information.

[0179] Optionally, the receiving unit 1210 is further configured to receive indication information of the second TA and / or the TA quantization interval corresponding to the second TA through NRPPa signaling.

[0180] Optionally, the second distance information includes a second distance between the terminal device and the network device, and the sum / difference of the first distance and the second distance is used as a result of the distance measurement.

[0181] Optionally, the first receiving unit is further configured to receive a measurement time corresponding to the first TA and / or the second TA, where the measurement time is a time when the base station receives an uplink pilot for measuring the TA.

[0182] Optionally, the device 1200 also includes a sending unit for sending a request for a second TA and / or a TA quantization interval corresponding to the second TA to the network device; the receiving unit 1210 is also used to receive the second TA and / or the TA quantization interval corresponding to the second TA indicated by the network device; the determination unit 1220 is also used to determine the distance between the terminal device and the network device based on the first TA and the second TA.

[0183] Optionally, the determining unit 1220 is further configured to determine a path loss, where the path loss is used to determine the second distance information according to a first distance fitting formula, and the first distance fitting formula is used to determine the distance between the terminal device and the network device.

[0184] Optionally, the first distance information includes a first distance between the terminal device and the network device, and the determination unit 1220 is further used to determine a third distance between the terminal device and the network device based on the first distance and the first distance fitting formula, and the third distance is used to perform distance measurement on the terminal device.

[0185] Optionally, the determination unit 1220 is also used to determine a first distance interval based on the first distance, the first distance interval including multiple second distance intervals; determine multiple path loss change intervals corresponding one-to-one to the multiple second distance intervals through the first distance fitting formula; determine the third distance between the terminal device and the network device based on the first distance interval corresponding to the path loss, and the third distance is used as the result of the distance measurement.

[0186] Optionally, the first distance interval is determined according to the first distance and a TA quantization interval corresponding to the first TA.

[0187] Optionally, the plurality of second distance intervals are determined according to one or more of the following information: ranging accuracy of the terminal device, width of the first distance interval, and a first distance fitting formula.

[0188] Optionally, the first distance interval satisfies the following relationship:

[0189] [D-0.5×Δd, D+0.5×Δd];

[0190] Wherein, D represents the first distance, and Δd represents the distance corresponding to the first TA when the first TA is 1.

[0191] Optionally, the third distance is a distance corresponding to a midpoint of the first distance interval corresponding to the path loss.

[0192] Optionally, the second distance information is determined based on the path loss, and the device 1200 also includes a first correction unit, which can be used to correct the first distance fitting formula corresponding to the network device according to the first TA to obtain a second distance fitting formula, wherein the second distance fitting formula is used to locate the terminal device according to the path loss.

[0193] Optionally, the first TA is one of multiple TAs used to correct the first distance fitting formula, and the multiple TAs correspond to multiple TA distances between multiple different locations and the network device.

[0194] Optionally, multiple different positions correspond to multiple path losses, and the determination unit 1210 is further used to determine multiple fitting distances based on the multiple path losses and the first distance fitting formula, and the multiple fitting distances correspond one-to-one to the multiple TA distances; and determine the second distance fitting formula based on the multiple fitting distances and the multiple TA distances.

[0195] Optionally, the determining unit 1220 is further configured to determine a plurality of differences between the plurality of fitting distances and the corresponding plurality of TA distances; and determine a second distance fitting formula according to the plurality of differences and the first distance fitting formula.

[0196] Optionally, the determining unit 1220 is further configured to determine an average value of the plurality of difference values; and determine a second distance fitting formula according to the average value and the first distance fitting formula.

[0197] Optionally, the network device belongs to a neighboring cell corresponding to the terminal device, and the first distance fitting formula is the distance fitting formula corresponding to the neighboring cell. The device 1200 also includes a second correction unit, which can be used to correct the first distance fitting formula according to the first TA when the neighboring cell meets the first condition to obtain a second distance fitting formula. The second distance fitting formula is used to locate the terminal device according to the path loss between the terminal device and the neighboring cell.

[0198] Optionally, the first condition includes that the distance between the neighboring cell and the serving cell is less than a first threshold.

[0199] Optionally, the determination unit 1220 is also used to determine the first location information corresponding to the terminal device; determine the second location information corresponding to the terminal device based on the first TA, wherein the distance between the position corresponding to the second location information and the position corresponding to the first location information is less than a fourth distance, and the fourth distance is the distance corresponding to the first TA when the first TA is 1.

[0200] Optionally, the determination unit 1220 is further used to determine a fifth distance between the terminal device and the neighboring cell according to the second location information; and determine a second distance fitting formula based on the fifth distance and the first distance fitting formula.

[0201] Figure 13 FIG2 is a schematic block diagram of another distance measuring device provided in an embodiment of the present application. The distance measuring device can be any of the network devices described above. Figure 13 The illustrated apparatus 1300 includes a first sending unit 1310 and a second sending unit 1320 .

[0202] A first sending unit 1310 may be configured to send a first TA corresponding to a terminal device, where the first TA is used to determine first distance information according to a TA quantization interval corresponding to the first TA, where the first distance information includes a first distance between the terminal device and the network device;

[0203] The second sending unit 1320 is configured to send indication information related to second distance information of the terminal device, where the second distance information is determined based on a second TA, wherein a TA quantization interval corresponding to the second TA is smaller than a TA quantization interval corresponding to the first TA;

[0204] The first distance information and the second distance information are used to measure the distance of the terminal device.

[0205] Optionally, the TA quantization interval corresponding to the second TA is determined based on one or more of the following information: the positioning accuracy of the terminal device; the subcarrier spacing corresponding to the first TA; and the ratio between the TA quantization interval corresponding to the second TA and the TA quantization interval corresponding to the first TA.

[0206] Optionally, indication information of the TA quantization interval corresponding to the second TA is carried in the broadcast information.

[0207] Optionally, the second sending unit 1320 is further configured to send indication information of the second TA and / or the TA quantization interval corresponding to the second TA to the positioning server through NRPPa signaling.

[0208] Optionally, the second distance information includes a second distance between the terminal device and the network device, and the sum / difference of the first distance and the second distance is used as a result of the distance measurement.

[0209] Optionally, the first sending unit 1310 is further configured to send a measurement time corresponding to the first TA and / or the second TA, where the measurement time is a time when the base station receives an uplink pilot for TA measurement.

[0210] Optionally, the apparatus 1300 further includes a receiving unit for receiving a request for a second TA and / or a TA quantization interval corresponding to the second TA sent by the first device; the second sending unit 1320 is further used to indicate the second TA and / or the TA quantization interval corresponding to the second TA to the first device.

[0211] Figure 14 Shown is a schematic structural diagram of a communication device according to an embodiment of the present application. Figure 14 The dotted line in the figure indicates that the unit or module is optional. The device 1400 can be used to implement the method described in the above method embodiment. The device 1400 can be a chip or the positioning device, terminal device, and network device mentioned above.

[0212] The device 1400 may include one or more processors 1410. The processor 1410 may support the device 1400 to implement the method described in the above method embodiment. The processor 1410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0213] The apparatus 1400 may further include one or more memories 1420. The memories 1420 store programs that can be executed by the processor 1410, causing the processor 1410 to perform the methods described in the above method embodiments. The memories 1420 may be independent of the processor 1410 or integrated into the processor 1410.

[0214] The apparatus 1400 may further include a transceiver 1430. The processor 1410 may communicate with other devices or chips via the transceiver 1430. For example, the processor 1410 may transmit and receive data with other devices or chips via the transceiver 1430.

[0215] The present application also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to the auxiliary positioning device, device under test, or network-side device provided in the present application, and the program causes a computer to execute the methods performed by the auxiliary positioning device, device under test, or network-side device in various embodiments of the present application.

[0216] It should be understood that the computer-readable storage medium mentioned in the embodiments of the present application can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0217] The present application also provides a computer program product. This computer program product includes a program. This computer program product can be applied to the auxiliary positioning device, device under test, or network-side device provided in the present application, and the program causes a computer to execute the methods performed by the auxiliary positioning device, device under test, or network-side device in various embodiments of the present application.

[0218] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0219] The present application also provides a computer program. This computer program can be applied to the auxiliary positioning device, device under test, or network-side device provided in the present application, and the computer program enables a computer to execute the method performed by the auxiliary positioning device, device under test, or network-side device in each embodiment of the present application.

[0220] The terms "system" and "network" in this application may be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first," "second," "third," and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

[0221] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0222] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0223] In the embodiment of the present application, "pre-configuration" can be achieved by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device. This application does not limit its specific implementation method.

[0224] In the embodiments of the present application, the "protocol" may refer to a standard protocol in the communication field, for example, it may include an LTE protocol, a NR protocol, and related protocols used in future communication systems, and this application does not limit this.

[0225] In the embodiments of the present application, determining B based on A does not mean determining B only based on A. B can also be determined based on A and / or other information.

[0226] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0227] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0228] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0229] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0230] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0231] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A distance measurement method, characterized in that: include: A first device receives a first timing advance TA corresponding to a terminal device, where the first TA is used to determine first distance information of the terminal device according to a TA quantization interval corresponding to the first TA, where the first distance information includes a first distance between the terminal device and a network device; The first device determines second distance information of the terminal device, where the second distance information is determined based on a path loss or a second TA corresponding to the terminal device, the path loss is used to determine the distance between the terminal device and the network device according to a first distance fitting formula, and a TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA; The first device performs distance measurement on the terminal device according to the first distance information and the second distance information, including: When the second distance information is determined based on the second TA, the second distance information includes a second distance between the terminal device and the network device, a sum / difference between the first distance and the second distance is used as a result of the distance measurement, and the first distance and the second distance are two distances between the same network device and the terminal device; When the second distance information is determined based on the path loss corresponding to the terminal device, a first distance interval is determined according to the first distance, and the first distance interval includes multiple second distance intervals. Through the first distance fitting formula, multiple path loss change intervals corresponding one-to-one to the multiple second distance intervals are determined. Based on the second distance interval corresponding to the path loss, the third distance between the terminal device and the network device is determined, and the third distance is used as the result of the distance measurement.

2. The distance measurement method according to claim 1, wherein: The TA quantization interval corresponding to the second TA is determined based on one or more of the following information: ranging accuracy of the terminal device; The subcarrier spacing corresponding to the first TA; and A ratio between a TA quantization interval corresponding to the second TA and a TA quantization interval corresponding to the first TA.

3. The distance measurement method according to claim 1, wherein: The indication information of the TA quantization interval corresponding to the second TA is carried in the broadcast information.

4. The distance measurement method according to claim 1, wherein: The first device is a positioning server, and the first device determines the second distance information of the terminal device, including: The first device receives indication information of the second TA and / or the TA quantization interval corresponding to the second TA through new radio positioning protocol NRPPa signaling.

5. The distance measurement method according to claim 1, wherein: The ranging method further includes: The first device receives the measurement time corresponding to the first TA and / or the second TA, where the measurement time is the time when the base station receives the uplink pilot for measuring the TA.

6. The distance measurement method according to claim 1, wherein: The first device is a terminal device, and the ranging method further includes: The first device sends a request for the second TA and / or a TA quantization interval corresponding to the second TA to the network device; The first device receives the second TA and / or a TA quantization interval corresponding to the second TA indicated by the network device; The first device determines the distance between the terminal device and the network device based on the first TA and the second TA.

7. The distance measurement method according to claim 1, wherein: The first distance interval is determined according to the first distance and a TA quantization interval corresponding to the first TA; and / or, The first distance interval satisfies the following relationship: [D-0.5×Δd, D+0.5×Δd]; Wherein, D represents the first distance, and Δd represents the distance corresponding to the first TA when the first TA is 1.

8. The distance measurement method according to claim 1, wherein: The multiple second distance intervals are determined according to one or more of the following information: the ranging accuracy of the terminal device, the width of the first distance interval, and the first distance fitting formula.

9. The distance measurement method according to claim 1, wherein: The third distance is a distance corresponding to a midpoint of the second distance interval corresponding to the path loss.

10. A distance measurement method, characterized in that: include: The network device sends a first timing advance TA corresponding to the terminal device, where the first TA is used to determine first distance information of the terminal device according to a TA quantization interval corresponding to the first TA, where the first distance information includes a first distance between the terminal device and the network device; The network device sends indication information related to second distance information of the terminal device, where the second distance information is determined based on a second TA; Among them, the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA, the second distance information includes the second distance between the terminal device and the network device, the sum / difference of the first distance and the second distance is the result of distance measurement of the terminal device, and the first distance and the second distance are two distances between the same network device and the terminal device.

11. The distance measurement method according to claim 10, characterized in that: The TA quantization interval corresponding to the second TA is determined based on one or more of the following information: ranging accuracy of the terminal device; The subcarrier spacing corresponding to the first TA; and A ratio between a TA quantization interval corresponding to the second TA and a TA quantization interval corresponding to the first TA.

12. The distance measurement method according to claim 10, characterized in that: The indication information of the TA quantization interval corresponding to the second TA is carried in the broadcast information.

13. The distance measurement method according to claim 10, characterized in that: The network device sending indication information related to the second distance information of the terminal device includes: The network device sends indication information of the second TA and / or the TA quantization interval corresponding to the second TA to the positioning server through New Radio Positioning Protocol NRPPa signaling.

14. The distance measurement method according to claim 10, characterized in that: The ranging method further includes: The network device sends a measurement time corresponding to the first TA and / or the second TA, where the measurement time is a time when the base station receives an uplink pilot for TA measurement.

15. The distance measurement method according to claim 10, characterized in that: The network device sending indication information related to the second distance information of the terminal device includes: The network device receives, from the first device, a request for the second TA and / or a TA quantization interval corresponding to the second TA; The network device indicates the second TA and / or a TA quantization interval corresponding to the second TA to the first device.

16. A distance measuring device, characterized in that: The distance measuring device is a first device, and the first device includes: A receiving unit, configured to receive a first timing advance TA corresponding to a terminal device, where the first TA is used to determine first distance information of the terminal device according to a TA quantization interval corresponding to the first TA, where the first distance information includes a first distance between the terminal device and a network device; a determining unit, configured to determine second distance information of the terminal device, where the second distance information is determined based on a path loss or a second TA corresponding to the terminal device, the path loss being used to determine the distance between the terminal device and the network device according to a first distance fitting formula, and a TA quantization interval corresponding to the second TA being smaller than the TA quantization interval corresponding to the first TA; A distance measuring unit, configured to perform distance measurement on the terminal device according to the first distance information and the second distance information, comprising: When the second distance information is determined based on the second TA, the second distance information includes a second distance between the terminal device and the network device, a sum / difference between the first distance and the second distance is used as a result of the distance measurement, and the first distance and the second distance are two distances between the same network device and the terminal device; When the second distance information is determined based on the path loss corresponding to the terminal device, a first distance interval is determined according to the first distance, and the first distance interval includes multiple second distance intervals. Through the first distance fitting formula, multiple path loss change intervals corresponding one-to-one to the multiple second distance intervals are determined. Based on the second distance interval corresponding to the path loss, the third distance between the terminal device and the network device is determined, and the third distance is used as the result of the distance measurement.

17. A distance measuring device, characterized in that: The distance measuring device is a network device, and the network device includes: A first sending unit, configured to send a first timing advance TA corresponding to a terminal device, where the first TA is used to determine first distance information of the terminal device according to a TA quantization interval corresponding to the first TA, where the first distance information includes a first distance between the terminal device and the network device; A second sending unit, configured to send indication information related to second distance information of the terminal device, where the second distance information is determined based on a second TA; Among them, the TA quantization interval corresponding to the second TA is smaller than the TA quantization interval corresponding to the first TA, the second distance information includes the second distance between the terminal device and the network device, the sum / difference of the first distance and the second distance is the result of distance measurement of the terminal device, and the first distance and the second distance are two distances between the same network device and the terminal device.

18. A communication device, characterized in that: The device comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory to execute the ranging method according to any one of claims 1 to 15.

19. A computer-readable storage medium, characterized in that A program is stored thereon, and the program enables a computer to execute the distance measurement method according to any one of claims 1 to 15.

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